Custom Frame Type
If your multirotor is a Frame Type other than the listed options, you'll need to configure it as Custom and define the mix.
The following is one example of a mix for a VTail.
| Motor 1 | Motor 2 | Motor 3 | Motor 4 | |
|---|---|---|---|---|
| Curve 1 | 127 | 127 | 127 | 127 |
| Curve 2 | 0 | 0 | 0 | 0 |
| Roll | 63 | -63 | 0 | 0 |
| Pitch | 32 | 32 | -63 | -63 |
| Yaw | 0 | 0 | 63 | -63 |
Roll is handled entirely by motors 1 and 2 (front).
Pitch is scaled by half as motors 3 and 4 (rear) are mounted at 40 degree angles.
Yaw is handled entirely by motors 3 and 4.
The other thing that might not be obvious is that yaw direction is handled by the +/- values of motors 3 and 4. If the rear motors were in the A configuration, motor 3 would be -63 and 4 would be 63.
Another Config Mini Vtail 310mm Motors reverse direction from standard X config Motor 1 FL:CCW Motor 2 FR:CW Motor 3 RR:CCW Motor 4 RL:CW
| Motor 1 | Motor 2 | Motor 3 | Motor 4 | |
|---|---|---|---|---|
| Curve 1 | 127 | 127 | 127 | 127 |
| Curve 2 | 0 | 0 | 0 | 0 |
| Roll | 64 | -64 | -32 | 32 |
| Pitch | 64 | 64 | -64 | -64 |
| Yaw | 32 | -32 | 64 | -64 |
http://forum.taulabs.org/viewtopic.php?f=12&t=738&p=6048#p6048