Custom Frame Type

Kawobei edited this page Jun 18, 2015 · 4 revisions
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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