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stacywu / ardupilot-mega

Automatically exported from code.google.com/p/ardupilot-mega
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Custom Copter Frame Option in Addition to +, X, V #847

Open GoogleCodeExporter opened 8 years ago

GoogleCodeExporter commented 8 years ago 
Photographers like to have an open front view (AOV).  Even if a 14*V is used, 
frame width and length can make significant control differences.  For example, 
a narrow 14*V will have higher differences in roll factors than a wide 14*V.  
What I envision is a screen within Mission Planner on the Firmware screen where 
Octa V says A-Symetric Copter.  If selected, a new screen comes up before 
downloading the firmware.  The user would select 3, 4, 6, or 8 motors.  Based 
on that, the system would then ask for the x and y distances from CG to each 
motor (drawing would visually show x and y relative to the general location of 
each motor).  The software then converts the largest abs(x) to 1 (or -1), the 
largest abs(y) to 1 (or -1), and then proportions the remaining pitch and roll 
factors for each motor. It then selects the correct firmware based on 3, 4, 6, 
or 8, modifies the roll and pitch factors and then download to the copter.

Original issue reported on code.google.com by forrestf...@gmail.com on 20 Jan 2013 at 12:15

GoogleCodeExporter commented 8 years ago 
This also brings up the issue of yaw.  With motors equidistant from CG, there 
may be a code assumption that each motor contributes equally to yaw.  I don't 
know if there is. But if so, the V or other asymmetric copters might exhibit 
flipping behavior in the roll direction especially on take-off as the copter 
corrects (or operator drives) yaw.  The increasing and decreasing of CW and CCW 
motors should optimally be done inversely proportional to the roll factor to 
prevent flipping.  If the other motors are told to correct for the roll, then 
yaw might act slowly or somewhat non-responsive.  But maybe the yaw routine all 
ready does this.

Original comment by forrestf...@gmail.com on 20 Jan 2013 at 1:20

GoogleCodeExporter commented 8 years ago 
If the proposed software approach is correct (most of the work being done in 
Mission Planner), I might be willing to do the code.

Original comment by forrestf...@gmail.com on 20 Jan 2013 at 1:29