I have some questions about the meanings of Mixer’s inputs

[Sparkle-knight]

What do the Mixer’s inputs mean

[bresch]

You can see the input of the mixer (aka. control allocator) as desired torques (or angular acceleration) and thrust (or linear acceleration). Those values are normalized between -1 and 1.

[Sparkle-knight]

Thanks for your reply! So the δAsp、δEsp、δRsp are different torques and δTsp is thrust? If so, what’s the differences between these torques.

[Dhruvil]

one is for rudder, one for elevator, one for aileron.