Hello. I am assembling a ROV on a custom vector frame. We plan to place the motors based on the vector frame provided in the documentation (yaw angles). We plan to add Pitch angles:
1 - 2) 20°
3 - 4) -20°
5 - 6) 45°
As I understood from the documentation, you need to change the values in the Pitch column to cos() of the angle we are using. But we have difficulties with the Throttle Factor, Forward Factor, Lateral Factor columns, what should we insert there in our case? And did I understand correctly how to fill out the table? And are there any ways to arrange it yourself?
case SUB_FRAME_CUSTOM:
// Put your custom motor setup here
// Motor # Roll Factor Pitch Factor Yaw Factor Throttle Factor Forward Factor Lateral Factor Testing Order
_frame_class_string = "VOLNA";
add_motor_raw_6dof(AP_MOTORS_MOT_1, 0.0f, 0.34f, -0.67f, 0.34f, 0.67f, -0.67f, 1);
add_motor_raw_6dof(AP_MOTORS_MOT_2, 0.0f, 0.34f, 0.67f, 0.34f, 0.67f, 0.67f, 2);
add_motor_raw_6dof(AP_MOTORS_MOT_3, 0.0f, -0.34f, 0.67f, -0.34f, -0.67f, -0.67f, 3);
add_motor_raw_6dof(AP_MOTORS_MOT_4, 0.0f, -0.34f, -0.67f, -0.34f, -0.67f, 0.67f, 4);
add_motor_raw_6dof(AP_MOTORS_MOT_5, 0.0f, 0.71f, 0.0f, 0.71f, 0.71f, 0.0f, 5);
add_motor_raw_6dof(AP_MOTORS_MOT_6, 0.0f, 0.71f, 0.0f, 0.71f, 0.71f, 0.0f, 6);
break;
This is the code we came up with
Hi @MaxX_Akela -
Welcome to the forums!
Checkout this thread and the links from @EliotBR, and let us know if you’re still confused!