Will an Hexacopter crash when there is a motor failure?

ArduCopter Copter 4.1
21

It looks like we are using a similar setup in Lua - so I can run some tests on 4.1.5 as well.

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22

The script should run on 4.1 if you swap to use a scripting user parameter in place of the custom named parameter that the 4.2 script adds.

-- add new param MOT_STOP_BITMASK
local PARAM_TABLE_KEY = 75
assert(param:add_table(PARAM_TABLE_KEY, "MOT_", 1), "could not add param table")
assert(param:add_param(PARAM_TABLE_KEY, 1, "STOP_BITMASK", 0), "could not add param")

local stop_motor_bitmask = Parameter()
assert(stop_motor_bitmask:init("MOT_STOP_BITMASK"), "could not find param")

That bit would become this:

local stop_motor_bitmask = Parameter()
assert(stop_motor_bitmask:init("SCR_USER1"), "could not find param")
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23

Why FC just can not turn off oposite motor and stay move with X-frame mixer?

24

Because then you don’t have alternative yaw order.

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