Change motor layout for quad

[dpsoul]

Hi,
For some reason, I am considering to change assigned motor layout.

http://dev.px4.io/airframes-motor-map.html
This is original layout of PX4.

My question is that which part of the code will affect this?
I am using pixracer, (px4fmu-v4) so I think

PX4/Firmware/blob/master/src/drivers/boards/px4fmu-v4/board_config.h#L209

This is all I have to change.

Is this right?

[bresch]

I know this post is old, but it is still useful to get an answer.

Changing the layout could be:

1. Physically, the props still spin in the same direction. but the motor numbers are changed: for example, when using the omnibus flight controller with 4-in-1 ESC (designed for Betaflight), one has to set the parameter MOT_ORDERING to Betaflight/Cleanflight. Note that if you need a different motor ordering, it is totally possible, but requires some a few changes in the firmware.

2. Change from CCW to CW and vice-versa : the only axis affected is YAW. Therefore, you just need to change the sign of the yaw gain in the mixer file R: 4x 10000 10000 10000 0 -> R: 4x 10000 10000 -10000 0
   

   CW   -  CCW    CCW -  CW
        |      to     |
   CCW -  CW       CW  - CCW

Hope it helped!

[jlecoeur]

@bresch, to change from CCW to CW, the best IMO is to use the mixer quad_h.

See https://docs.px4.io/en/airframes/airframe_reference.html, quad_h is quad_x with reserved prop directions.