How to custom mixer in PX4?

PX4 Autopilot
1

I want to use the FMU AUX 5 as an encoder sensor on a Pixhawk C6, but I can’t read sensor data (using the rpm_capture driver) after arming it. My questions are:

  • Is the mixer code located in the control allocator or in ~/src/lib/mixer_module?
  • If I need to edit the mixer, what should I do to avoid damaging other configurations?
  • Is there a template for editing the mixer, like the driver and module?
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