Where are the motor "mixes" ?

[brettwal]

I have an "I" or "H" shaped quad where the motors are a little farther apart front-to-back than they are side to side. Is there some place in the code I can account for this?

Thanks

[PatrikE]

I don't think it makes any big inpact for the performance.
It will be a little slower in the Pitch than in Roll.

But you can experiment with the mixtable.

Code: Select all

  #ifdef QUADX
    motor[0] = PIDMIX(-1,+1,-1); //REAR_R
    motor[1] = PIDMIX(-1,-1,+1); //FRONT_R
    motor[2] = PIDMIX(+1,+1,+1); //REAR_L
    motor[3] = PIDMIX(+1,-1,-1); //FRONT_L
  #endif

Change ROLL to compensate the difference.
PIDMIX(ROLL,PITCH,YAW)

Easy Formula.
Use distance between motors.
Dist ROLL / Dist PITCH = ROLL vaule

ex.
50/55= 0.9 Or ROLL = 9/10

[brettwal]

Thanks.

What do each of the 3 numbers represent? Which of the 3 would I change?

ROLL My L to R motor to motor is 22" (558.8mm)

PITCH My F to R motor to motor is 22.875" (581.03mm)


ROLL/PITCH = .96 probably not enough of a difference to bother but, for the sake of learning....

Also, would it be the same as calculating the PITCH and increasing that value?
(PITCH/ROLL = 1.04)



I can hold it in a hover but, it is MUCH twitcher than an X-Quad with the same electronics and size.