Ardusub custom frame configuration

Hi again!
I have a question about the custom vehicle frame option. I know that I should configure AP_MOTORS6DOF.cpp but there isn’t a guide about how to define the custom configuration. Can you give some information about how should I define the factors?

Hi @Efe,

I’d recommend having a read of this post to get you started :slight_smile:

I recently wrote some code to help simplify thruster configuration calculations, but it hasn’t been extensively verified.