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.

{| class="wikitable" border="1" cellspacing="0" cellpadding="2" |- ! !scope="col"| Motor 1 !scope="col"| Motor 2 !scope="col"| Motor 3 !scope="col"| 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 {| class="wikitable" border="1" cellspacing="0" cellpadding="2" |- ! !scope="col"| Motor 1 !scope="col"| Motor 2 !scope="col"| Motor 3 !scope="col"| 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 |}

Forum Thread with details I used