I plan to do what is called a "pull" to made changes to the custom code regarding custom shaped copters.
This change in code would only impacts irregular shaped quads, hexas, and octas when the pilot specifically opts to go custom versus the default (the standard X or +). You have a custom quad if the:
o aspect ratio <> 1 (length is different than width).
o rotors are non symmetric around the
- forward axis (y) going through the center of gravity (CG)
- sideways axis (x) going through the CG
- vertical axis (z) going through the CG
o has a front that is more open for a camera
o deviates from the pictures of a a + or X for the quad, hexa, or octa
o this includes ships described as spider, V, H, U, 88--88, C, etc.
o motor spin direction(s) are different than the pictures
o your CG is pushed somewhere else besides the centroid of the motors.
The advantages of going custom is that the motor factors will be tuned to the coordinate/spin system of your copter versus the coordinate/spin system of the regular copter. They will fly better. Pilots will probably not notice small deviations nor would they see significantly improved flight times. Large deviations might be noticed and provide noticeable changes in flight duration.
Please reply with the motor number (the out-pin number on the APM), coordinates of the motor, and rotation direction of each rotor. For example,
the owner of this copter would reply (motor number, x, y, CCW/CW):
o 1 (400, 200) CCW
o 2 (-250, -200) CCW
o 3 (-400, 200), CW
o 4 (250, -200 CW
[note: no need to tell us your units of measure just so long as you are consistent in measuring; say mm or inches]
Please note:
o The center of gravity of any quad spider or V is not necessarily where the bars cross. The bars typically cross behind the CG. .
o The CG is the center of the coordinates or (0,0) where x=0 and y=0
If you decide to participate by replying, the idea is that you will be able to access your custom motor factors without having to compile firmware. No promises at this point. First we see what's out there. But if you do reply, it's far more likely that your design will be implemented in the library.
If you have any questions or difficulties in doing this, let me know so I can help.
