What setup should be used for this type of drone?

qmayberry · April 8, 2018, 12:16pm

Any ide’s what frame type should be used for setting up this type of drone?

amilcarlucas · April 8, 2018, 4:01pm

It looks like you will have to add it in AP_MotorsMatrix.cpp file.

qmayberry · April 8, 2018, 5:20pm

Not sure how to do that!

amilcarlucas · April 16, 2018, 5:45pm

google is your friend, but here it is:

http://ardupilot.org/copter/docs/parameters.html#frame-type
http://ardupilot.org/copter/docs/frame-type-configuration.html?highlight=frame_type

github.com

ArduPilot/ardupilot/blob/master/libraries/AP_Motors/AP_MotorsMatrix.cpp#L507


    add_motor_raw(AP_MOTORS_MOT_1,  1.0f,  0.34f, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  7);
    add_motor_raw(AP_MOTORS_MOT_2, -1.0f, -0.32f, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  3);
    add_motor_raw(AP_MOTORS_MOT_3,  1.0f, -0.32f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
    add_motor_raw(AP_MOTORS_MOT_4, -0.5f,  -1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
    add_motor_raw(AP_MOTORS_MOT_5,  1.0f,   1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8);
    add_motor_raw(AP_MOTORS_MOT_6, -1.0f,  0.34f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
    add_motor_raw(AP_MOTORS_MOT_7, -1.0f,   1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  1);
    add_motor_raw(AP_MOTORS_MOT_8,  0.5f,  -1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  5);
    success = true;
    break;
case MOTOR_FRAME_TYPE_H:
    add_motor_raw(AP_MOTORS_MOT_1, -1.0f,    1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  1);
    add_motor_raw(AP_MOTORS_MOT_2,  1.0f,   -1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  5);
    add_motor_raw(AP_MOTORS_MOT_3, -1.0f,  0.333f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
    add_motor_raw(AP_MOTORS_MOT_4, -1.0f,   -1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
    add_motor_raw(AP_MOTORS_MOT_5,  1.0f,    1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8);
    add_motor_raw(AP_MOTORS_MOT_6,  1.0f, -0.333f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
    add_motor_raw(AP_MOTORS_MOT_7,  1.0f,  0.333f, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  7);
    add_motor_raw(AP_MOTORS_MOT_8, -1.0f, -0.333f, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  3);
    success = true;
    break;

So this is an FRAME_CLASS=OCTA and FRAME_TYPE=H but I am pretty sure you will need to adapt the existing source code in AP_MotorsMatrix.cpp#L507 to fully meet your custom build.

qmayberry · April 16, 2018, 7:59pm

Many thanks, a bit beyond me at the moment. Looks like some studying will have to be done!

Rainer · April 17, 2018, 6:20am

I believe in the version 2.5 there is this frame. The frame is registered by a German company Volo Copter for a patent

qmayberry · April 17, 2018, 8:11am

Thanks Rainer, I’ll look into that.