Is the V frame orientation supported for all frames (quad, hexa, octa) or just octa as described in the wiki? What would be the correct pin assignments for Quad-V and Hexa-V?
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If you guys have any insight on the math behind the Octa V, please share it in this thread here. Also, if you have an odd frame, would you mind testing something? I'm making progress on the TBS discovery.
I'm building a tbs disco and what I was thinking of doing is sort out motor angles (as soon as my arms come in) and then edit ap_motorsquad.cpp accordingly. Code should do the rest.
Anyone got motor to motor dimensions btw ? Can't seem to find them anywhere :/
I don't think they are "supported" but you could certainly modify the source code to do so. If that's not something you want to dig into, make a feature request to the project (may or may not be accepted but worth a try).
So dealing with V-Frame's for quads right now (I'm sure Hexas can be done as well). I think just modifying the ap_motorsquad.cpp might be the simplest way. Here's the default for an X config, notice the degrees for each motor.
// X frame set-up
add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_2, 1);
add_motor(AP_MOTORS_MOT_2, -135, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_1, 3);
add_motor(AP_MOTORS_MOT_3, -45, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_4, 4);
add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_3, 2);
The octa V is doing something more complex I don't understand yet. X looks pretty normal.
// V frame set-up
add_motor_raw(AP_MOTORS_MOT_1, 1.0, 0.34, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_2, 7);
add_motor_raw(AP_MOTORS_MOT_2, -1.0, -0.32, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_1, 3);
add_motor_raw(AP_MOTORS_MOT_3, 1.0, -0.32, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_6, 6);
add_motor_raw(AP_MOTORS_MOT_4, -0.5, -1.0, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_5, 4);
add_motor_raw(AP_MOTORS_MOT_5, 1.0, 1.0, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_4, 8);
add_motor_raw(AP_MOTORS_MOT_6, -1.0, 0.34, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_3, 2);
add_motor_raw(AP_MOTORS_MOT_7, -1.0, 1.0, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_8, 1);
add_motor_raw(AP_MOTORS_MOT_8, 0.5, -1.0, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_7, 5);
// X frame set-up
add_motor(AP_MOTORS_MOT_1, 22.5, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_2, 1);
add_motor(AP_MOTORS_MOT_2, -157.5, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_1, 5);
add_motor(AP_MOTORS_MOT_3, 67.5, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_6, 2);
add_motor(AP_MOTORS_MOT_4, 157.5, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_5, 4);
add_motor(AP_MOTORS_MOT_5, -22.5, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_4, 8);
add_motor(AP_MOTORS_MOT_6, -112.5, AP_MOTORS_MATRIX_MOTOR_CCW, AP_MOTORS_MOT_3, 6);
add_motor(AP_MOTORS_MOT_7, -67.5, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_8, 7);
add_motor(AP_MOTORS_MOT_8, 112.5, AP_MOTORS_MATRIX_MOTOR_CW, AP_MOTORS_MOT_7, 3);
I tried setting up my TBS discovery octa in V frame with motors 1, 6, 3, 2 connected. Holding the quad in stab mod, it felt OK left to right, but it was not giving enough lift to handle forward to back pitch changes.
I'll try a few other configurations and maybe start tearing into the code.
I would really like to build a V6 multi-rotor if firmware were available.
I can tell you that it would work for a quad, given that the motors were in the right place. Hex I'm not so sure.