Is an Octo H Frame type supported by the MWC?

[spagoziak]

Hey folks,

I'm interested in building an octo for some AP this winter, and while the grid frame (think of an #) is nice, I'm really intreigued by the 8H format. This is what I'm thinking of:


Does the MWC support it?

spag

[PatrikE]

Nice...
I have plans for a H6.

Changes from OCTOFLATX.

Code: Select all

  #ifdef OCTOFLATX
    motor[0] = PIDMIX(+1  ,-1/2,+1); //MIDFRONT_L
    motor[1] = PIDMIX(-1/2,-1  ,+1); //FRONT_R
    motor[2] = PIDMIX(-1  ,+1/2,+1); //MIDREAR_R
    motor[3] = PIDMIX(+1/2,+1  ,+1); //REAR_L
    motor[4] = PIDMIX(+1/2,-1  ,-1); //FRONT_L
    motor[5] = PIDMIX(-1  ,-1/2,-1); //MIDFRONT_R
    motor[6] = PIDMIX(-1/2,+1  ,-1); //REAR_R
    motor[7] = PIDMIX(+1  ,+1/2,-1); //MIDREAR_L 
  #endif

To OCTOFLAT_H.

Code: Select all

    #ifdef OCTOFLATX
    motor[0] = PIDMIX(+1  ,-1/2,+1); //MIDFRONT_L
    motor[1] = PIDMIX(-1  ,-1  ,+1); //FRONT_R
    motor[2] = PIDMIX(-1  ,+1/2,+1); //MIDREAR_R
    motor[3] = PIDMIX(+1  ,+1  ,+1); //REAR_L
    motor[4] = PIDMIX(+1  ,-1  ,-1); //FRONT_L
    motor[5] = PIDMIX(-1  ,-1/2,-1); //MIDFRONT_R
    motor[6] = PIDMIX(-1  ,+1  ,-1); //REAR_R
    motor[7] = PIDMIX(+1  ,+1/2,-1); //MIDREAR_L 
  #endif

Keep PICH as in OCTOFLATX.
Cange all ROLL to 1.

/Patrik

[spagoziak]

Thanks Patrick! Is it really this simple? What are those adjustments.. some sort of PID bias?

Do you know of anywhere I can find better pictures of this sort of frame, or perhaps even a build log?

thanks!
spag

[PatrikE]

Yepp it's as simple as that.
Someone is a great programmer in this project.

Code: Select all

#define PIDMIX(X,Y,Z) rcCommand[THROTTLE] + axisPID[ROLL]*X + axisPID[PITCH]*Y + YAW_DIRECTION * axisPID[YAW]*Z

And it means its easy to mix as you want.
motor[0] = PIDMIX(ROLL ,-PITCH, +YAW);

Sorry i havn't seen any better Pics on the H8.
Another intresting project. (In Swedish)
http://www.rcflyg.se/forum/showthread.php/29466-En-Quad-f%C3%B6r-FPV
Just add more engins on it...

/Patrik

[spagoziak]

That is cool! Can you explain more about this code snip? Are there recommendations for how to mix an H8 so pitch = pitch and roll=roll?

[PatrikE]

It's like a coordinate system.
Discribing the position of the engine.
Trying to show on a simple drawing.
I may have mixed up + and - in the drawing on roll....

[spagoziak]

Ohhhh wow that's brilliant! Alex is really incredible...

What about the 2nd code chunk you posted, regarding mixing? What does that line mean?

[PatrikE]

It's the ingredians of the mix.
I'm not shure of how it works.
But if you mix it right you will end up with a god machine.

[AAAB507]

I'm starting to build a Hex6 in "V-Configuration".
Sorry, I don't have a picture or drawing here, but I can do one.
I want to do the "H" with not parallel Motors, but more distance between the front motors and less between the back motors...
So I have some space in the front for a camera.

Am I right, to configure Hex6-X with 1 for the front motors, 3/4 for the middle motors and 1/2 for the back motors??

I'm using a pro-mini with original wmp and bma020 right now.

Thanx for your help!

Alex