Quatos with non-symetrical Quadrocopter?

[DUKE40]

Hi,

I have a CamCruiser FPV where the front arms have broader angle than the rear arms, and the length of the arms is slightly different.

How should I proceed when using Quatos?
In the documentation the only example is very basic, all distances are the same.
But how should a frame with different distances like the one above be defined in the XML file?

[DUKE40]

Some additional infomration, distance between motors 67cm, distance fron motors to center of Craft 33cm, distance rear motors to center of craft 34cm.
Center of craft being between the rear end of the GPS Antenna and 1cm in front, where the center of gravity is located as well.

[Kisssys]

[DUKE40]

Hi Kisssys,

many thanks for this clear explanation.
With that I will be able to create my XML file.

[kinderkram]

Steve: someone should transfer this as an example to the Wiki.

Duke: I´d treaten it as a Quad X with an average mot dist of 35.5 cm.

[Kisssys]

Norbert

That was cut from an example XML file I believe comes with the quatos tool and your right it's probably close enough to a Qaud X of 35.5 cm.

[DUKE40]

This is what I measured:
<?xml version="1.0"?>
<!-- Distances in meters
Wieghts in grams
+1 == CW rotation
-1 == CCW rotation
-->
<quatos_configuration>
<craft id="CamCruiserQuad_X" config="custom" motors="4">
<geometry>
<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>


no really a Quad 35.5cm. But anyway, now I know how to put my XML together and that is the most important for me.

[joebar.rc]

In the current version of the quatos tool, using a custom config and distances will not give the correct quatos motor power and momentum outputs.

You can do that yourself like this:
Note: X-frame example

Distance FC to motor = 0.243
sqr 2.0/2.0 * distance = 0.1718 <- place this in the geometry

So:motor port="1" rotation="+1">+0.1718, +0.1527</motor

Menno

[DUKE40]

Hi Menno,

I am not sure now about your comment.
th distance between the motors and FC is not 0.243 but rather 0.324 for the front motors and 0.341 for the rear motors.
Further the distance on the roll axis is higher than the distance on the pitch axis for the front motors.
How should my geometry look like?
I am now a little bit unsure how to do it right.

[joebar.rc]