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ModeratorPermalink Reply by Hai Tran on February 9, 2011 at 1:52am

I noticed in the motor config that the orientation for the hexa is that there is a front and rear motor like the + config in the quad.  But my frame is more like X setup, with the front of the hexa and APM pointing in the middle of the front two motors.  ie.  I have a front right, front left motor, I have a right and a left motor, and I have a rear right and rear left motor.  So I need to change the motors.pde

 

Can someone please explain to me this code in motors.pde  so I can make amendments to suit my frame.  My motor setup should be

FrontLeft

FrontRight

Left

Right

RearLeft

RearRight

 

#if AIRFRAME == HEXA // Hexacopter mix
LeftCWMotor = constrain(throttle + control_roll - (0.5 * control_pitch) - control_yaw, minThrottle, 2000); // Left Motor CW
LeftCCWMotor = constrain(throttle + control_roll + (0.5 * control_pitch) + control_yaw, minThrottle, 2000); // Left Motor CCW
RightCWMotor = constrain(throttle - control_roll - (0.5 * control_pitch) - control_yaw, minThrottle, 2000); // Right Motor CW
RightCCWMotor = constrain(throttle - control_roll + (0.5 * control_pitch) + control_yaw, minThrottle, 2000); // Right Motor CCW
FrontCWMotor = constrain(throttle + control_pitch - control_yaw, minThrottle, 2000); // Front Motor CW
BackCCWMotor = constrain(throttle - control_pitch + control_yaw, minThrottle, 2000); // Back Motor CCW
#endif

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ModeratorPermalink Reply by Hai Tran on February 9, 2011 at 10:33am

I found this code in branches/ Hein/ Quad/ ArduPiratesNG/ Motors.pde

I think is is for the Hexa Diamond configuration.

#if AIRFRAME == HEXA

// Hexacopter mix
LeftCWMotor = constrain(throttle + control_roll - control_yaw, minThrottle, 2000); // Left Motor CW
LeftCCWMotor = constrain(throttle + (0.43*control_roll) + (0.89*control_pitch) + control_yaw, minThrottle, 2000); // Left Motor CCW
RightCWMotor = constrain(throttle - (0.43*control_roll) + (0.89*control_pitch) - control_yaw, minThrottle, 2000); // Right Motor CW
RightCCWMotor = constrain(throttle - control_roll + control_yaw, minThrottle, 2000); // Right Motor CCW
BackCWMotor = constrain(throttle - (0.44*control_roll) - control_pitch - control_yaw, minThrottle, 2000); // Back Motor CW
BackCCWMotor = constrain(throttle + (0.44*control_roll) - control_pitch + control_yaw, minThrottle, 2000); // Back Motor CCW
#endif

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ModeratorPermalink Reply by Hai Tran on February 9, 2011 at 8:56am

This is the Hexa setup I need, but I'm not sure what I need to configure in the motor.pde file

 

//Hexa Diamond Mode - 6 Motor system in diamond shape

//      L  CCW 0.Front.0 CW  R           // 0 = Motor
//                   ......***......                       // *** = APM
//   L  CW     0.....***......0 CCW  R       // ***
//                   ......***......                       // ***
//     B  CCW 0..Back..0  CW  B          L = Left motors, R = Right motors, B = Back motors.

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Permalink Reply by Jamie Ahmed on June 22, 2011 at 12:46pm

Where did you get that frame?

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Permalink Reply by Sasha on July 19, 2011 at 1:25pm

Hi , Hai We will soon will stock spare parts for this hexaframe

motor plates,

motor mounts,

carbon fiber arms

main frame

etc.

at http://www.coptersky.com

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Permalink Reply by Jeff E on July 19, 2011 at 2:46pm

@Hai, nice frame I almost got the same one 800mm size but decided Im too noob to fly around with this big of multirotor so I got small spy only. Hope to see your build.

 

@Sasha do you own that site I ask Sergey before about that site he said you are friend.

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Permalink Reply by Sasha on July 19, 2011 at 2:53pm

Yes Jeff i own that site.

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