I think I understand now. So just to make sure I understand correctly, the motors will be able to spin in both directions when it comes to attitude control. But, we cannot actively thrust in a “negative” direction of any axis; the code blocks the throttle from doing that. Correct?
Okay, cool. Thank you. Another question I’d like to ask you is about the flight mode and RC configuration. I currently tested the drone by only giving positive throttle values in the mixer and in Stabilize flight mode. When I start inverting the drone, the motors slow down and completely stop when the drone is completely inverted. I was expecting the motors to spin in the negative direction when the body is completely inverted. So, I was wondering what flight mode I have to use to get this inverting capability?
Also, what RC configuration did you use for the drone? I am currently using an RC that only has channels for a 4DOF drone. How did you map your RC so that you can control all 6DOFs?
Lastly, could we move to Discord or another form of communication?