I’m working on several VTOL projects and had quite some success with the KK 2.1.5. But now I want to try some more modern solution: Matek with Ardupilot.
But my main concern: it seems from the documentation that Ardupilot ‘limits’ me to a set of predefined configurations: https://ardupilot.org/copter/docs/common-all-vehicle-types.html
There are a lot of options, but still, it’s limited.
With a KK 2.1.5, I’m very flexible, since I can assign any control or gyro, to any servo/motor output port. So I can build any configuration I want. Is the same also possible with Ardupilot?
Example: I want to build a copter that looks a little bit as quadcopter plus (+) config. BUT…
The motors left en right will be much smaller than the motor front and back (since I only need them to help roll stabilisation during hover).
Also, I want the front motor to be able to tilt left/right, for yaw.
Can this be built with Ardupilot? Do I have this flexibility?
long answer:
depends.
It is not as comfortable for special designs like openaerovtol, but it is worth the work!!!
If you can’t use any predefined ones, you can do two things:
Use a LUA script to change the motor assignments.
Or change the C code.
If you do only small changes like position of the motors or how strong they are working, this is easy.
Basically you can assign pitch, roll and yaw to each motor.
Thanks for your help! I think I can achieve what I want by converting for example the AP_MotorsTri.cpp. This already has the yaw function via a servo, so I just have to add an extra motor.