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DIY ROV with servos on axes

So I am trying to create a custom ROV configuration. I’ve looked around and read some instructions, and even seen the custom FRAME_CONFIG generator on github that someone made. However, my custom config requires that I have two motors on throttle, but then 2 servos on pitch (in opposite directions) and 2 servos on roll (also in opposite directions). How would I go about doing this? The servos are not continuous rotation, if that makes a difference.

Read the documentation on making a custom frame here. Instead of thinking in terms of motors or servos, think in terms of ‘actuators’ with whatever contribution they may have to the 6 degrees of freedom.

Got it. Thank you!