Pre-flight internet check, special settings, help

[Marvos]

Hello everyone!

I encountered an annoying situation when one of my output motor pins fried. Here's the topic
http://www.multiwii.com/forum/viewtopic.php?f=23&t=2296

Basically, instead of changing the pin used to power the motor in quad mode (I have a quadrocopter), I did what ronco suggested and changed the mode to HEX6X and only enabled 4 of the motors, as well as corrected their co-ordinates.

Here's the part that is being used now:

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#ifdef HEX6X
    motor[0] = PIDMIX(-1,+1,-1); //REAR_R
    motor[1] = PIDMIX(+1,-1,-1); //FRONT_L
    motor[2] = PIDMIX(-1,-1,+1); //FRONT_R
    motor[3] = 1000; //not used
    motor[4] = 1000; //not used
    motor[5] = PIDMIX(+1,+1,+1); //REAR_L

My quad is now effectively a hexa with only 4 working engines. The GUI recognizes it as a hexa and shows that model, but when powering engines, only 4 are shown as powered (in the GUI). So this is working well now.

3 engines are marked as corner engines (front R, rear R, rear L) but one of the engines is displayed in the GUIas the left engine, not front L. It rotates correctly and has the correct coordinates (as shown above in the code). It is the only engine left spinning when throttle is low and I pull the pitch stick back and roll stick right (expected behaviour). Can I therefore expect it to work properly as a front L engine? Are there any settings in the code that make a hexa work differently than a quad and will mess with the fact that it is recognized as a left engine, not front L, even though it has the correct coordinates?

Second question, it feels like the copter is not operating properly if I hold it with my hand and throttle the engines. Is this because of some error compensations in the code and it will not work properly if it is being held/held down?
I feel like one or two of the engines are not rotating as hard as they should/at all when I tilt the quad with my hand. Again, is this because of the code, will I only get correct results if I let it fly freely? This is what I'm afraid of, how can I let it fly if I don't know it'll fly?

[arkcom]

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  #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[5] = PIDMIX(+1,-1,-1); //FRONT_L

Wouldn't this be easier?

[PatrikE]

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  #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[5] = PIDMIX(+1,-1,-1); //FRONT_L

Wouldn't this be easier?

If you incerase the number of motors in def.h

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#elif defined(QUADP) || defined(QUADX) || defined(Y4)|| defined(VTAIL4)
  #define NUMBER_MOTOR     4

Then nothing will change exept the number of motors.
Only the original motors will not show in gui but you can Quickfix it like this.

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    motor[3] = PIDMIX(+1,-1,-1); //FRONT_L
    motor[4] = motor[3]    // Or the motor you change to.

[Marvos]

Thanks for the replies, I'll try it out. What about my second question?