Setting up hexacopter for 'X' Configuration

So maybe I'm being completely dumb but I cannot find where I am able to setup the newest ardupilot config to have a 'x' orientation hexacopter. I only see '+' Can anyone help me out? I am using the Atmega 2560 board, mediatek gps and magnetometer.

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  • Just wanted to add my 2 cents.  The above configuration works for a Pixhawk Hexacopter, but you have to plug motor 7 into Pixhawk output 5 and Motor 8 into Pixhawk output 6.  I searched around and did not find this advice.  Actually, I found very little help on how to configure a hexacopter in apm forums or diydrones, unfortunately.

  • Moderator

    Thanks! So physically installing the APM. I already have the board mounted pointing toward a boom arm on my hexacopter for + mode. If I change it to X mode do I have to re mount the ardupilot so its pointing in between booms?

  • Developer

    You can do it from CLI at least but you should be able to do it from APM Mission Planner too.


    On CLI go to setup and type "frame"


    Also if you compile/upload manually your software with Arduino IDE, you can define this on compile time.

    With values of in APM_Config.h file:





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