Okay, if you have foam on top and bottom then I would also tilt the thrusters outward to give the thrusters a clear path.
Looking at your diagram I understand what you’re thinking. You’re correct that the upward pitching force (2) would counter the downward pitching force (3) and (4). However, these effects have to be perfectly tuned or you’ll end up with a very wobbly vehicle. Any changes to the vehicle, like an added payload, would require retuning.
Because of that, I would still leave the forward and lateral contributions of those thrusters at zero. But, if you’re interested in trying, you can start off by modifying the
Roll Factor and
Pitch Factor of thrusters 1-4 in the frame configuration:
// Motor # Roll Factor Pitch Factor Yaw Factor Throttle Factor Forward Factor Lateral Factor Testing Order
add_motor_raw_6dof(AP_MOTORS_MOT_1, 0, 0, 1.0f, 0, -1.0f, 1.0f, 1);
add_motor_raw_6dof(AP_MOTORS_MOT_2, 0, 0, -1.0f, 0, -1.0f, -1.0f, 2);
add_motor_raw_6dof(AP_MOTORS_MOT_3, 0, 0, -1.0f, 0, 1.0f, 1.0f, 3);
add_motor_raw_6dof(AP_MOTORS_MOT_4, 0, 0, 1.0f, 0, 1.0f, -1.0f, 4);
add_motor_raw_6dof(AP_MOTORS_MOT_5, 1.0f, -1.0f, 0, -1.0f, 0, 0, 5);
add_motor_raw_6dof(AP_MOTORS_MOT_6, -1.0f, -1.0f, 0, -1.0f, 0, 0, 6);
add_motor_raw_6dof(AP_MOTORS_MOT_7, 1.0f, 1.0f, 0, -1.0f, 0, 0, 7);
add_motor_raw_6dof(AP_MOTORS_MOT_8, -1.0f, 1.0f, 0, -1.0f, 0, 0, 8);