Merge pull request #220 from christianrauch/fix_x2_gear

fix Skydio X2 thrust gear

Author: kevinzakka

CHANGELOG.md

@@ -2,6 +2,10 @@
 
 All notable changes to this repository will be documented here.
 
+## [2025-12-12]
+
+- fix Skydio X2 gear settings for yaw control
+
 ## [2025-05-30]
 
 - Added an MJX-tuned version of the G1 model.

CONTRIBUTORS.md

@@ -21,6 +21,7 @@ Built by the Google DeepMind team with contributions from the open-source commun
 - [Andrew Luo](https://github.com/Andrew-Luo1)
 - [Ayzaan Wahid](https://github.com/ayzaan)
 - [Chintan Desai](https://github.com/hello-chintan)
+- [Christian Rauch](https://github.com/christianrauch)
 - [Dada Tian](https://github.com/lonelyfluency)
 - [Eugene Frizza](https://github.com/eufrizz)
 - [Haochen Shi](https://github.com/hshi74)

skydio_x2/x2.xml

@@ -55,8 +55,8 @@
   <actuator>
     <motor class="x2" name="thrust1" site="thrust1" gear="0 0 1 0 0 -.0201"/>
     <motor class="x2" name="thrust2" site="thrust2" gear="0 0 1 0 0  .0201"/>
-    <motor class="x2" name="thrust3" site="thrust3" gear="0 0 1 0 0  .0201"/>
-    <motor class="x2" name="thrust4" site="thrust4" gear="0 0 1 0 0 -.0201"/>
+    <motor class="x2" name="thrust3" site="thrust3" gear="0 0 1 0 0 -.0201"/>
+    <motor class="x2" name="thrust4" site="thrust4" gear="0 0 1 0 0  .0201"/>
   </actuator>
 
   <sensor>