As part of a project, we're trying to build an inverted drone that can carry higher payloads with Crazyflie.
(I know there is a big debate about whether it should be inverted or not, but in the given circumstances lets assume it has to be).
We started by replacing the standard motors with larger motors and a bigger battery.
The drone works perfectly without inverting the motors with this configuration and gives about 10-12 min flight time.
After inverting the motors (please note we didn;t invert the drone), the drone starts spinning in its position. So we decided to flip the yaw by looking under the hood. We changed the powerDistribution function in the power_distribution_stock.c file. We changed the original from -
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motorPower.m1 = limitThrust(control->thrust - r + p + control->yaw);
motorPower.m2 = limitThrust(control->thrust - r - p - control->yaw);
motorPower.m3 = limitThrust(control->thrust + r - p + control->yaw);
motorPower.m4 = limitThrust(control->thrust + r + p - control->yaw);
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motorPower.m1 = limitThrust(control->thrust - r + p - control->yaw);
motorPower.m2 = limitThrust(control->thrust - r - p + control->yaw);
motorPower.m3 = limitThrust(control->thrust + r - p - control->yaw);
motorPower.m4 = limitThrust(control->thrust + r + p + control->yaw);
The propeller configuration is inverted (M4&M2 are CCW and M1&M3 are CW).
Does anyone know how can we get crazyflie to fly with inverted motors?
Image - Thanks ! Hoping to solve this soon.