I have the APM 2.5+ with telemetry and GPS units. I have a 6 channel receiver and a radio controller. I have channels 1-5 connected to inputs 1-5 of the ArduPilot. I am planning on using it on a hexacopter. I have 6 30A ESC and 6 brushless motors. I am using the ArduCopter V3.0.1 software for the hexacopter.
Where is the roll, pitch, and yaw (from the radio controller) converted to the 6 rotor control output?
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If I understand you correctly you are asking "how" the conversion takes place? OR are you asking for the exact spot in the code that conversion takes place?