OK, in summary I have a TBS discovery and I want to do a better job of setting up its odd angle arms to work with the APM. I feel like understand this would also be great for testing and adding new platforms like a spider Octa, hexa V, etc.
I've made pictures because I feel they can better convey information. Basically, I've found the angles on my non-pure X frame (not 45* spacing) from the horizontal and vertical lines. I tried do a simple edit of these values (see picture 3), but it didn't see very stable over the normal X with the same PID settings.
I also looked at how the Octa V is setup, and I'm thinking that is the best way to tackle this problem, but I don't quite understand how I might map these values out for this setup. Who wrote the V code? Could they share any insight?
Here is the normal X frame, and the rough Roll/Pitch factor that gets applied after the add_motor function by my calculations.
I then looked at the Octa V and saw how it skipped the add motor function and just wrote raw roll/pitch factors. I mapped them here to try to better understand how their placement would change my offset X.
So can I get away with my angle changes running add_motors, or do I need to find out what the real roll/pitch factors for this offset should be?
Edit: Updated pictures.