# Octa I Frame Motor Order

Hello,

I would like to use an octa frame type “I”. I would like to arrange the frame with four motors in the front of the frame and four motors in the back like:
M1--------M2--------M3--------M4
^
|
|
|
M5--------M6--------M7--------M8

My questions are:

1. I see the code in AP_MotorsMatrix.cpp
case MOTOR_FRAME_TYPE_I:
break;
This frame type is supported, correct? And would I use number 15 for the parameter setting?

2. What number (on a Cube/Pixhawk 2.1) would I connect each motor to on the “Main Output” so that they are connected correctly? Or another way of asking - is there a diagram like the Octa H (https://ardupilot.org/copter/_images/motororder-octo-h-2d.png) for the I frame type?

THANKS!

My attempt at a diagram did not post/format correctly.

The motors would be at the front and back
(front)
M1--------M2--------M3--------M4

middle frame

M5--------M6--------M7--------M8
(back)

Thanks

You can try this

Also this website

http://www.iforce2d.net/mixercalc/

Hi Moksh,

Thanks…that did help a lot!

If I am reading the code from AP_MotorsMatrix.cpp correctly, the motor layout for the “I” frame would be:
(Front of the Aircraft)
#7CW, #5CCW, #1CW, #3CCW

#6CCW, #2CW, #4CCW, #8CW
(Back of the aircraft)

And the test motor sequence would go A=1,B=3,C=8,D=4,E=2,F=6,G=7,H=5

Let me know if I am understanding this correctly.

Thanks Again!

1 Like

I was some trying my best , this is a result you can see that

In diagram each number show main output pin number it means diagram show 1,5,3,7,8,6,4,2 so you can connect main output like 1,5,3,7,8,6,4,2 this

Thank you

Can you please wait some hours , i have awesome idea for “H” frame convert into “I” so please wait some hours
Thank you

Hi Moksh,

This is the orientation I would like to get confirmation on…

Thanks,
Mike

Are you done with your frame work ?
And sorry for my experiment is running right now
Thank you

No, still in the design stage. Thanks!

Sir I’m sorry to , my experiment is still running because I can do that , but my were house (when I trying my all experiment) it’s close down because corona virus and all are still support stay in house.
So , may-be tomorrow early morning I will do that and I will give you my notes.
Thank you

Hello sir I’m extremely sorry. I’m just tire with my phone.
Are you done with your project ?
Thank you