Discussions

Hello

After looking at the code for 3.2RC4 its still quite unclear what the proper prop direction is to use the V-tail config for the V-tail style multirotors.

The code specifies, 

// front right: 70 degrees right of roll axis, 20 degrees up of pitch axis, no yaw
add_motor_raw(AP_MOTORS_MOT_1, cosf(radians(160)), cosf(radians(-70)), 0, 1);
// back left: no roll, 70 degrees down of pitch axis, full yaw
add_motor_raw(AP_MOTORS_MOT_2, 0, cosf(radians(160)), AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
// front left: 70 degrees left of roll axis, 20 degrees up of pitch axis, no yaw
add_motor_raw(AP_MOTORS_MOT_3, cosf(radians(20)), cosf(radians(70)), 0, 4);
// back right: no roll, 70 degrees down of pitch axis, full yaw
add_motor_raw(AP_MOTORS_MOT_4, 0, cosf(radians(-160)), AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);

Which leads me to believe the prop direction should be like the XQuad configuration, however give that this is designed for the Hunter 400/500 series, the official manual shows it backwards, more like the current Quad H

Which prop direction should I use for my V-tail build? I realize the code specifically written for the V-tail series quads must take this into account so any help you guys can give would be greatly appreciated.

Also, it would be good to list this info in the wiki for other users

Thank you

Lotus