I have been digging some answers for a while but had very little success. And it seems to point that ArduCopter Mega doesnt support uneven Hexa/Octo. But I could be wrong.
Does arducopter mega support the following
- SpiderHexa
- TY6 (Q4 Icecrab) IceCrab VD-SLR 6
- H6
Or is it possible to reconfigure so that ACM will support them?
Oh I forgot I am a complete noob in multirotor but have experience on heli and airplanes. I know the Hexa frame is about to be launch soon as Jani mentioned but this frame arrangement is pretty interesting specially for AP/AV
Replies
I plan to do this arrangement
Would this be correct without out of bound values?
FrontLeftCW = constrain(throttle + (0.42 * control_pitch) + control_roll - control_yaw, minThrottle, 2000);
BackLeftCCW = constrain(throttle - (0.42 *control_pitch) + control_roll + control_yaw, minThrottle, 2000);
BackLeftCW = constrain(throttle - control_pitch + (0.42 * control_roll) - control_yaw, minThrottle, 2000);
FrontRightCCW = constrain(throttle + (0.42 * control_pitch) - control_roll + control_yaw, minThrottle, 2000);
BackRightCW = constrain(throttle - (0.42 * control_pitch) - control_roll - control_yaw, minThrottle, 2000);
BackRightCCW = constrain(throttle - control_pitch - (0.42 * control_roll) + control_yaw, minThrottle, 2000);
Any comments or suggestions specially criticism? I know I have to check and make sure that the motors are assigned correctly but want to make sure I'm not missing anything. I hope I am on the right path, maybe I need to open a new thread to be more focused.
Also if anyone knows who can assist in fabricating parts can message me directly. Thanks
Hi Jeff,
I wrote a little doc in ArduPirates Wiki to try to explain how motor mixing works, this should get you started to make your own for almost any shape!
http://code.google.com/p/ardupirates/wiki/motormixing
Dani
I need H6 and V-Octo.
I am sure its easy - we need just new mixing files.