Custom motor configuration

Hi there!
I have a custom motor configuration on my vehicle. It’s almost the same with the 8 thruster vectored configuration but instead of 45 degrees, my xy motors are positioned 50 degrees forward for faster forward movement. Should I build ardusub with custom configuration and if I should, how exactly should choose the motor factors?

Hi @Efe,

Most likely the existing frame will be fine, because the normalisation of the factors is by motion type, so as long as the symmetry of the motor placements means that one thruster is not (for example) contributing more yaw rotation than another thruster that contributes yaw they will both still have a factor of 1 for yaw, regardless of their factors for forward and lateral motion.

If you want to understand more about the thrust factors I’d suggest you start from this comment :slight_smile: