Hi all,I'd like to put the call out to any firmware gurus tinkering with custom flight control, or anyone's who's already solved some of the problems related to creating custom multirotor platforms on Pixhawk hardware.I have been deliberating over what hardware and software to modify. The consensus from others tinkering has been to use Pixhawk and customise the open source firmware. So that's the path I am on, I have the Pixhawk2 hardware to play with.So as I wade in to this code and try to pull it apart to meet my requirements, just looking for any advice getting started, or code examples for specific applications, to get a grasp of where is most appropriate to modify while I gain familiarity with this code architecture.The main problems I'll have to solve are related to the unique layout of the motors / actuator - not supported out of the box in the setup wizard. The concept I'm building is a Y6 with tail tilt (like a Y3, but the propellers torque should be balanced given contra-rotating prop pairs). So I'll need to mix the motor output based on stick input, aircraft attitude and (for the rear contra rotating prop pair) the motor tilt angle.I think it's just some basic trig on the vector angles to appropriately decouple the rudder moment from pitch/vertical-thrust.I've not delved too deep as yet, I was planning to start by looking at the Y3 or Vtail quad code to make a hybrid of that. I assume I just need to tap into the code where the mixing logic is performed (downstream if the PID loops, but before the motor drivers set the PWM rate).Any support or advice would be greatly appreciated.Ant
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