OK, in summary I have a TBS discovery and I want to do a better job of setting up its odd angle arms to work with the APM. I feel like understand this would also be great for testing and adding new platforms like a spider Octa, hexa V, etc.
I've made pictures because I feel they can better convey information. Basically, I've found the angles on my non-pure X frame (not 45* spacing) from the horizontal and vertical lines. I tried do a simple edit of these values (see picture 3), but it didn't see very stable over the normal X with the same PID settings.
I also looked at how the Octa V is setup, and I'm thinking that is the best way to tackle this problem, but I don't quite understand how I might map these values out for this setup. Who wrote the V code? Could they share any insight?
Here is the normal X frame, and the rough Roll/Pitch factor that gets applied after the add_motor function by my calculations.
I then looked at the Octa V and saw how it skipped the add motor function and just wrote raw roll/pitch factors. I mapped them here to try to better understand how their placement would change my offset X.
So can I get away with my angle changes running add_motors, or do I need to find out what the real roll/pitch factors for this offset should be?
Edit: Updated pictures.
Based on this, I modified the code off AP_MotorsQuad.cpp (see joined file), and add in APM_Config.h
#define FRAME_ORIENTATION V_FRAME
it seems to be better for me, can someone can also test and share PID ?
I'm running Dimitri's angle based setup currently and it's flying great. What motors and props are you running?
I'm running Turnigy L2210C-1200kv with Graupner 9x5 propellers
Could you give me your motor setup in AP_MotorsQuad.cpp ?
The attached Excel file explain what is the method I used.
Using Dimitir's angles, the add_motor function is coming up with pretty much the same raw values you found, so either using add_motors with angles or add_motors_raw with raw values is going to be about the same.
I'm running stock DJI motors so I don't know how well my PID's will match up. I'm going to do some more testing today and let you know how things are flying.
Forgot to attach.
I noticed this thread as I too have a Disco with an APM.
I don't know anything about code editing but have done some looking up.
If I was to use the Arduino IDE to edit the code, How do I navigate to the section of the code that I'd need to include/replace the values to/with?
I've looked at the 2.9 rc5 fw and can't see where I'd put it?
Many thanks in advance
I didn't make that design, but I believe it's from the APM to that arm. If you haven't, please see this wiki page.
I think that I want to give this a try, beinging a total newbie, how to I load apmotorsquad.pp file in to my APM?