Is this the correct frame selection?

ArduCopter Copter 4.7
1

I built this frame and I want to make sure that I have selected the correct class and type in mission planner? It keeps flipping over, I have triple checked the motor and prop directions. There isn’t a Y4A option that I have seen, it’s just the Y4.

image

image
image483×381 14 KB

2

Frame type 19 is this:

        static const AP_MotorsMatrix::MotorDefRaw motors[] {
            { -1.0f,  1.000f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1 },
            {  0.0f, -1.000f, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  2 },
            {  0.0f, -1.000f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3 },
            {  1.0f,  1.000f, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  4 },
        };

with MotorDefRaw being

    struct MotorDefRaw {
        float roll_fac;
        float pitch_fac;
        float yaw_fac;
        uint8_t testing_order;
    };

which matches the picture posted, assuming the coefficients in the matrix give the direction of the change when the motor’s output is increased.

3

Which way does it flip?

4

Flips forward.

@dkemxr I confirmed that my flight controller orientation is correct.

apparently I have my fc yaw 45 out.