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Hi everyone,

I have had my octorotor flying using the 2.7 version of the code and everything is going well.

I would now like to change the reference frame of the vehicle so that it is valid on a global frame. This means that regardless of the vehicle attitude from where I am standing, if I want it to fly to my left I use the control stick to point to the left and it goes that way even if it means that the vehicle is pitching instead of rolling.

I have gone through the code as well as I can and found a line that says motor_to_channel_map. (this is in line 189 of AP_MotorsMatrix.cpp) and then line 39 of AP_Motors.cpp states:

// initialise motor map
    if( APM_version == AP_MOTORS_APM1 ) {
        set_motor_to_channel_map(APM1_MOTOR_TO_CHANNEL_MAP);
    } else {
        set_motor_to_channel_map(APM2_MOTOR_TO_CHANNEL_MAP);
    }

Can anyone please help me to find where this mapping is taking place?

This will be the basis for applying some university research into control allocation so that I can perform motor failure flight testing.

Thanks for any help.

Aryeh