I am conceptualizing a quadcopter based on “Quad-Plus Frame” type:
My question is, do I keep the motor-to-motor position ratio 1:1, or could this be tuned out if the vertical motors are four times the distance compared to the horizontal motor position (See the sketch for reference)?
That will have very poor Pitch/Rroll authority on the short axis.
I agree, minimum roll authority and is way too sensitive on the pitch axis, but is it flyable using an ardupilot control loop in stabilized mode?
I don’t imagine that will fly well. What possible reason would you have for that poor geometry?
I am conceptualizing a VTOL (QuadPlane), and need some volume to accommodate cargo (Rectangular box in the sketch)
Moved to the right place.
Based on the motor rotation direction per the Ardupilot document, I think Yaw will also cause stability issues. Would it be better to have bigger props on the horizontal axis to control the Yaw effect or change the rotation direction in the diagram?
Might be better to build a tri or a standard quad rotor VTOL with wing booms.
