Question about X and H frame

[Oli1 (Oli)]

I remember reading that there actually is a difference regarding frame physics. Definitely set FRAME_TYPE to 3 and order the motors so they’re spinning correctly.

EDIT, here:

@LupusTheCanine

IIRC it is affected by torsion coupling, physical H style frames are assumed to be slightly twisty, default motor rotation directions would cause negative coupling between yaw and frame twist, thrust imbalance caused by yaw command would cause twist vectoring thrust to counteract desired yawing. By reversing motor directions you can achieve positive coupling so frame twist assists yawing.