I have a couple questions about how Arducopter handles the X4 configuration vs the X8 configuration. What are the differences? Is the X8 the same as an X4 with identical signals sent to the top and bottom motors? Is there anything special happening in the code to handle the loss of a rotor?
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Thanks James. This is insightful information. When all Yaw tuning parameters are set to zero (desktop test with motors off), the magnitudes of the top and bottom motors on a single arm for the X8 are the same PWM values. I looked at this via telemetry logs for the motor outputs.
Is anyone aware of any other differences in the X4 code vs X8? This seems pretty straightforward so far.
For redundancy I suspect that as long as the I term and IMAX term is large enough, the code can cope for a single motor failure. (The I term and IMAX terms cope for steady state errors)