search

ArduPilot / ardupilot

ArduPlane, ArduCopter, ArduRover, ArduSub source
http://ardupilot.org/
GNU General Public License v3.0
10.73k stars 17.18k forks source link

Sub: Fix motor matrix for VECTORED_6DOF #10924

Open patrickelectric opened 5 years ago

patrickelectric commented 5 years ago

Bug report

Motor matrix does not represent real vehicle, following the matrix results in this frame: image

Version Master and Sub-3.5

Platform [ ] All [ ] AntennaTracker [ ] Copter [ ] Plane [ ] Rover [ X ] Submarine

Airframe type VECTORED_6DOF

jaxxzer commented 5 years ago

The issue is that the lateral motors should also induce some yaw. One should be positioned at the front of the frame, and one at the rear.