Quatos with non-symetrical Quadrocopter?

[kinderkram]

[DUKE40]

[joebar.rc]

Come on Jean, these are you're own numbers. And looking back I did not misread the numbers, they are in your post

<motor port="1" rotation="+1">+0.243, +0.216</motor>
<motor port="2" rotation="-1">-0.243, +0,216</motor>
<motor port="3" rotation="+1">-0.244, -0.244</motor>
<motor port="4" rotation="-1">+0.244, -0.244</motor>
</geometry>

This is the start.

So you have an positive X as of 0.243cm and a positive Y ax of 0.216cm
Replace that by this calc:
srtq 2.0/2.0 * distance, in this case sqrt2.0/2.0 * 0.243 and sqrt2.0/2.0 * 0.216 and so on.. (sqrt2.0/2.0 = 0.707)
The only reason its complicated and thus using the custom config is because it is just not a real X-config. The X-config will calculate the correct numbers but the custom config not.

[DUKE40]

Hi Menno,

many thanks for this explanation, now it makes sense to me, previously I was missing the explanation how to do it and why, now it is all clear for me.

[joebar.rc]

[DUKE40]

Hi Menno,

you are right, my front arms are not in a 45° angle. they have an angle of 15° to the pitch axis and 75° to the roll axis, it is quite different from 45° and 45°.
I will try with the calculated numbers:
<motor port="1" rotation="+1">+0.1718, +0,1527</motor>
<motor port="2" rotation="-1">-0.1718, +0.1527</motor>
<motor port="3" rotation="+1">-0.1725, -0.1725</motor>
<motor port="4" rotation="-1">+0.1725, -0.1725</motor>

once I have all other values and the Quatos license.