We have assymetric hexa frame, with 1 and 4 contributing to pitch, and 2,3,5, and 6 contributing to roll and pitch.
We wanted to remove yaw contribution from 1 and 4 (arm length is 0.76 m), since they are very effective in pitch, and increase yaw weightage in 2,3,4 and 6 (length along roll axis is 0.8 m) , since they don’t provide much authority in pitch axis due to their close distance to the axis
Is it possible?
