Yaw vectoring mix

#1

I’m trying to mix control for this air frame : https://www.youtube.com/watch?v=8VPS4DjgtXg
on the video Yaw and pitch are controled as evry multicopters
it has 2 servos for pitching rotors front or back and I try to mix to get :

  • yaw control by differential rotor tilt between right and left

  • Speed X control by tilting more or less frontward both side same amount (while keeping pitch set point to 0)
    I’m just making test on bench for now
    here’s my test mix

    Motors

    R: 4x 10000 10000 10000 0

    #Tilt Servos
    M:2
    O: 10000 10000 0 -10000 10000
    S: 0 1 6000 6000 0 -10000 10000
    S: 0 2 6000 6000 0 -10000 10000
    M:2
    O: 10000 10000 0 -10000 10000
    S: 0 1 6000 6000 0 -10000 10000
    S: 0 2 -6000 -6000 0 -10000 10000
    I’m working in manual mode and I dont understand why when acting on yaw stick M1.MANUAL_CONTROL.r moves while yaw sp don’t
    as you can see

MAV_TYPE is 21 (tilt rotor VTOL) but for now I’m just testing in MC mode
I’ve test using roll instead of yaw control input and it mix well :

# Motors
R: 4x 10000 10000 10000 0

#Tilt Servos
M:2
O:      10000  10000      0 -10000  10000
S: 0 1  6000  6000      0 -10000  10000
S: 0 0  6000  6000      0 -10000  10000
M:2
O:      10000  10000      0 -10000  10000
S: 0 1  6000  6000      0 -10000  10000
S: 0 0  -6000 -6000     0 -10000  10000

I missed something …

edit :
I tested also with Virtual MC control group and it give nothing on yaw and pitch …