Tilt-Quadrotor Mixer and Airframe files (#9496)

ROMFS/px4fmu_common/init.d/4100_tiltquadrotor

+#!nsh
+#
+# @name Tilt-Quadrotor
+#
+# @url http://www.alivaero.com/the-project.html
+#
+# @type Tilt-Quad
+# @class Copter
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output AUX1 Outer servo motor for rotor 2 arm
+# @output AUX2 Outer servo motor for rotor 4 arm
+# @output AUX3 Inner servo motor for rotor 2 arm
+# @output AUX4 Inner servo motor for rotor 4 arm
+#
+# @maintainer Ricardo Marques <marques.ricardo17@gmail.com>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+#Parameters here:
+param set LED_RGB_MAXBRT 8
+
+
+# Configure this as Quadrotor
+# set MAV_TYPE 14
+
+# Set mixer
+set MIXER tilt_quad
+set MIXER_AUX tilt_quad
+
+set PWM_OUT 1234

ROMFS/px4fmu_common/mixers/tilt_quad.aux.mix

+Tilt-Quadrotor mixer for PX4FMU (2/2) V2.0
+===========================
+
+This file defines the aux outputs mixer for a Tilt-quadrotor in the + configuration.
+
+
+# @output AUX1 Outer servo motor for rotor 2 arm
+# @output AUX2 Outer servo motor for rotor 4 arm
+# @output AUX3 Inner servo motor for rotor 2 arm
+# @output AUX4 Inner servo motor for rotor 4 arm
+
+Servo 1
+
+M: 1
+O:       10000  10000     0 -10000  10000
+S: 0 1   -1000  -1000     0 -10000  10000
+
+Servo 2
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 1   1000   1000      0 -10000  10000
+
+Servo 3
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 2 -10000 -10000      0 -10000  10000
+S: 3 5  10000  10000      0 -10000  10000
+
+Servo 4
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 2  10000  10000      0 -10000  10000
+S: 3 5  10000  10000      0 -10000  10000
+
+

ROMFS/px4fmu_common/mixers/tilt_quad.main.mix

+Tilt-Quadrotor mixer for PX4FMU (1/2) V2.0
+===========================
+
+This file defines the main outputs mixer for a Tilt-quadrotor in the + configuration.
+
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+
+Motor 1
+
+M: 2
+O:      10000   10000     0 -10000  10000
+S: 0 1  10000   10000     0 -10000  10000
+S: 0 3  10000   10000     0 -10000  10000
+
+Motor 2
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 3  10000  10000      0 -10000  10000
+
+Motor 3
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 1 -10000 -10000      0 -10000  10000
+S: 0 3  10000  10000      0 -10000  10000
+
+Motor 4
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 0 -10000 -10000      0 -10000  10000
+S: 0 3  10000  10000      0 -10000  10000
+