We have an experimental “H”-type quadcopter. The flight controller is mounted at the geometric center of the craft. The battery, however, is mounted at the “tail”, so that the center of mass is, say, halfway towards the back from the geometric center. The motors / props at the back of the craft are the same as the ones on the front. We understand that it might be optimal to actually use different setups for front and back rotors.
What are the considerations here from the point of view of setting up the firmware?
I was considering two things:
- setting up a custom mixer
- setting EKF2_IMU_POS_{X,Y,Z} to the offset of the FC relative to the center of mass
As for the mixer I am a bit lost, since it seems, that there’s no way to account for the difference in moment arms for front and back rotors.
Any considerations for setting up PX4 for such a vehicle?