I’m still struggling to understand the concept of the mixer for VTOL’s.
What is the difference of control group 0 and 1 for a tailsitter?
If I mix roll on an output channel in control group 0 it is only used for MC mode?
If I mix roll on an output channel in control group 1 it is only used for MC and FW mode?
Is there a way to mix an output so that it is used in FW mode only?
My aim is to use different sets of control surfaces in MC and FW mode.
Thanks in advance
Thomas
see here： https://github.com/PX4/Firmware/blob/master/src/modules/vtol_att_control/tailsitter.cpp#L278
The definition of control group 0/1 is here:
http://dev.px4.io/master/en/concept/mixing.html
eg：https://github.com/PX4/Firmware/blob/master/ROMFS/px4fmu_common/mixers/vtol_tailsitter_duo.main.mix#L16
group 0 ---- two motor （‘R’ defaults to group 0）
group 1 ---- two servo （‘S 1 0’：1 mean group 1）
You can see if this PR can achieve your goal:
https://github.com/PX4/Firmware/pull/13917
Thanks a lot for your reply. I digged deeper into the code. However, I still struggle to understand how master or v1.10 work successfully with TBS Caipiroshka in MC mode (hover). The elevons are mixed on control group 1 which is FW. In the code I see that actuator_out_1 is only defined for roll and pitch, but not yaw. But using the v1.10 on Pixhawk with Caipiroshka model I have the elevons also controlling yaw in MC mode. The mixer doesn’t link the elevons to control group 0 resp. actuator_out_0. How does this work? Would be great if someone could explain it me 
Thanks!
In v1.10: The output of the mc attitude controller determines the hover state
In master： mc attitude controller output only affects throttle, roll when hover state
fw attitude controller output affects pitch and yaw when hover state
how master or v1.10 work successfully with TBS Caipiroshka in MC mode (hover).
because： The output of mc attitude control is the same as that of fw attitude control, which can successfully control the servo