I am looking to reverse the direction of the motors such that the motors can be mounted upside down, but the chassis remains the same.
From this old post viewtopic.php?p=16079#p16079 Tobias flipped the signs in the powerDistribution function definition.
I also triedtobias wrote: ↑Fri Feb 01, 2019 11:07 am I gave it a quick shot and it this worked.
Then since it is now up-side-down I flipped M1.M4 and M2,M3 in power distributionCode: Select all
void powerDistribution(const control_t *control) { ... motorPower.m4 = limitThrust(control->thrust - r + p + control->yaw); motorPower.m3 = limitThrust(control->thrust - r - p - control->yaw); motorPower.m2 = limitThrust(control->thrust + r - p + control->yaw); motorPower.m1 = limitThrust(control->thrust + r + p - control->yaw); ...
Code: Select all
motorPower.m4 = limitThrust(-control->thrust - r + p + control->yaw);
motorPower.m3 = limitThrust(-control->thrust - r - p - control->yaw);
motorPower.m2 = limitThrust(-control->thrust + r - p + control->yaw);
motorPower.m1 = limitThrust(-control->thrust + r + p - control->yaw);
NOTE: I can use stock firmware and just reverse polarity of the motors, flip them upside down, then keeping the props facing the same direction. But i would prefer to do it in the firmware than always be flipping the polarity of the plugs.