Hi,
I hope someone will be able to help me here :-)
Since i'm not happy with the Stock frame setup (doesn't fit to my frame) i decided to start making my own Motor Layout.
here the frame
The Box in the middle is the APM and the CG.
here the defaults for the V-Frame
}else if( _frame_orientation == AP_MOTORS_V_FRAME ) {
add_motor(AP_MOTORS_MOT_1, 45, 0.7981, 1);
add_motor(AP_MOTORS_MOT_2, -135, 1.0000, 3);
add_motor(AP_MOTORS_MOT_3, -45, -0.7981, 4);
add_motor(AP_MOTORS_MOT_4, 135, -1.0000, 2);
here my suggestion
}else if( _frame_orientation == AP_MOTORS_V_FRAME ) {
add_motor(AP_MOTORS_MOT_1, 61, 0.9272, 1);
add_motor(AP_MOTORS_MOT_2, -144, 1.0000, 3);
add_motor(AP_MOTORS_MOT_3, -61, -0.9272, 4);
add_motor(AP_MOTORS_MOT_4, 144, -1.0000, 2);
is this correct ?
Thanks in advance !
Thomas
Replies
Very nice workmanship!
Definitely a 'flying man' style.
Build on!
-=Doug
I won't comment on your values.
This looks like a 'flying man' configuration (my phrase) with less angle between the front motors.
There have been many flying examples of the configuration demonstrated. The best hope is for someone with one will comment and post their PIDs for comparison.
The APM will 'auto tune' when in Stabilized mode and hovering. This is covered in the Wiki.
Neat idea and well illustrated.
Build on!
-=Doug