Helium balloon ardupilot


I’m working on a project uses Helium balloons (radius >= 1m), we put 6 motors(bi-directional ? sorry don’t know what it’s called) attached on the surface of the balloon: 2 vertical motors separated with 180 degrees for Up/Down, 4 horizontal motors separated with 90 degrees for forward/backward/left/right (2 pairs). all motors are in the same horizontal level. we can use a remote control to control 3 pairs of motors separately by hand to make the balloon move up/down/forward/backward/left/right (we need additional 1-2 motors for rotation) .

Now, we want to use ardupilot to control the balloon automatically, but failed to find a suitable frame in Copter (as I understand, Motors of a copter should always be vertical, or not?). we found the submarine is the most similar one, but there is too little support on that. Does anyone knows how to modify the Copter code or adapt the Submarine code to make it suitable for the balloon?

Any help is appreciated !! Thanks.

I’m curious as well. I’ve been trying to do the same with Ardupilot.

Did you make any progress?