Custom Frame Type

Kawobei edited this page Jun 18, 2015 · 4 revisions

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

Clone this wiki locally
You can’t perform that action at this time.
You signed in with another tab or window. Reload to refresh your session. You signed out in another tab or window. Reload to refresh your session.
Press h to open a hovercard with more details.