There’s very little info to be found in the documentation (as of writing) about the listed frame types:
copter.ardupilot.com/wiki/initia … electframe
Also I can’t find the latest source code (3.0.1) to read what’s in libraries/AP_Motors/AP_MotorsQuad.cpp
Specifically, I’d like to know:
- What the chosen angles for the V frame are. In 2.9.1 the angles are the same as for an X frame, and float values instead of int constants are used for the direction.
- Are the motors of an H quad supposed to rotate in opposite directions to an X quad? If so, why?