Custom Frame Type

If your multirotor is a Frame Type other than the listed options, you'll need to configure it as Custom and define the mix.

The following is one example of a mix for a VTail.

	Motor 1	Motor 2	Motor 3	Motor 4
Curve 1	127	127	127	127
Curve 2	0	0	0	0
Roll	63	-63	0	0
Pitch	32	32	-63	-63
Yaw	0	0	63	-63

Roll is handled entirely by motors 1 and 2 (front).

Pitch is scaled by half as motors 3 and 4 (rear) are mounted at 40 degree angles.

Yaw is handled entirely by motors 3 and 4.

The other thing that might not be obvious is that yaw direction is handled by the +/- values of motors 3 and 4. If the rear motors were in the A configuration, motor 3 would be -63 and 4 would be 63.

Another Config Mini Vtail 310mm Motors reverse direction from standard X config Motor 1 FL:CCW Motor 2 FR:CW Motor 3 RR:CCW Motor 4 RL:CW

	Motor 1	Motor 2	Motor 3	Motor 4
Curve 1	127	127	127	127
Curve 2	0	0	0	0
Roll	64	-64	-32	32
Pitch	64	64	-64	-64
Yaw	32	-32	64	-64

http://forum.taulabs.org/viewtopic.php?f=12&t=738&p=6048#p6048