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Custom Frame Type
Matt Kunkel edited this page Feb 11, 2015
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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.