I have yet another question, this time about the simulation setup for the multirotor.
By looking at the multirotor.yaml file, it seems to me that the simulated multirotor is set up as a Quad X frame. However, when I set the parameter
MIXER to equal 2, and run the simulation with a simple positive reference input on i.e. the desired roll angle, the quadrotor tilts towards one of its rotors (and not towards the point between two rotors, as you would expect for the Quad X configuration). The result is exactly equal when I set
MIXER equal to 1. Am I missing something here?
Also, I am a bit confused about the axis of the quadrotor, so I was hoping you could confirm this: after checking which axis the quadrotor rotates around for different reference inputs, I found that all of the angles are defined around axes in the NED frame. Roll, pitch and yaw are all supposed to be defined in the NED-frame for ROSflight, right?