Changing thruster direction

[EliotBR (Eliot)]

@EliotBR

I’ve asked internally as to whether there’s a particular reasoning for the current frame configuration, and will follow up.

Following up on this,

@rjehangir

The reason to have counter rotating propellers is to counter the torque generated when the propeller accelerates or decelerates. For that to work, counter rotating pairs need to act along the same axis. The front two thrusters are around 90 degrees to each other, so their torques don’t affect each other. However, the front-right/back-left and front-left/back-right pairs are in the same planes and so those each have counter rotating pairs.

…

You could switch it but then the left and right sides would have the same directions and that would be basically the same.

2 and 3 could be switched for instance [like in your config].