I’m trying to create a new model. I made new folder and sdf file in Tools/sitl_gazebo/models.
This drone has single thrust rotor and three rotors for roll/pitch/yaw each.
Also I made new mixer file as below
pitch axis
M: 1
O: -10000 -10000 0 -10000 10000
S: 0 1 15000 15000 0 -13000 13000
roll axis
M: 1
O: -10000 -10000 0 -10000 10000
S: 0 0 15000 15000 0 -13000 13000
yaw axis
M: 1
O: -10000 -10000 0 -10000 10000
S: 0 2 15000 15000 0 -10000 10000
thrust
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
I think only thrust motor should rotate when armed, but when I try to arm all rotors rotate.
So to figure out what’s wrong, I tried on iris model and mixer.
I changed mixer as above but all rotors of iris model also rotates.
What am I missing? It would be very thankful if anyone can share your idea.