Hi,
My initial problem was my copter falling out of the sky when it loosened 4 of it's 6 props due to the motor nuts thread direction vs it's spin direction (i got CCW motors before i knew better).
I have a Y6B set-up, that is;
6 Prop, Coaxial Y frame with top 3 Props CW and bottom 3 CCW (although bottom motors are upside down so they still spin CW direction, therefore all motors are CW spin motors).
Not wanting to buy new motors with correct thread direction i came up with the following solution:
1. Reverse the direction of each motor by swapping two wires on each motor. The prop nuts will now naturally tighten.
2. swap the bottom props with the top props to ensure props will provide lift.
However the Yaw stabilization is now backwards as all props are spinning the opposite direction.
3. To reverse the Yaw stabilization i swapped the motors' PWM lines into the Pixhawk between the motors on each arm. i.e. swap 1 with 2, 3 with 4, 5 with 6
I figured as the set-up is coaxial, each coaxial pair of motors should respond the same to pitch and roll commands. It is only the Yaw commands that they act differently to one another to create the Yawing moment.
Initial tests seem to indicate it will fly
My questions are:
Does this seem ok? Can anyone think of any reasons where this fix could go wrong?
Is there a parameter/software fix for this (current searches seem to indicate it's only possible by tinkering in the firmware)?
Cheers,
Bede Wolfenden
Replies