Asymmetric Pusher quadcopter

PX4 Autopilot Multicopter 🛸
1

Hi,
I built an asymmetric quad x frame. I added a new frame and modified the geometry file (you can see what the frame looks like from here) as shown below:

[rotor_default]
axis = [0.0, 0.0, -1.0]
Ct    = 1.0
Cm  = 0.019


[[rotors]]
name = "center"
position = [0.0, 0.0, 0.0]
direction = "CW"

[[rotors]]
name = "front"
position = [1.0, 0.0, 0.0]
direction = "CCW"

[[rotors]]
name = "rear_left"
position = [-0.5, -0.866, 0.0]
direction = "CW"

[[rotors]]
name = "rear_right"
position = [-0.5, 0.866, 0.0]
direction = "CCW"

Now, everything works fine, except when I place the motors in pusher orientation; i.e., motors point down vs the conventional up. When in pusher orientation, the drone slowly keeps “yawing”, and RC controls have no effect on yaw. Compared to the puller setup, I tried reversing all directions in the geom file and the actual motor directions. It didn’t work. Again, compared to the puller setup, I tried the same file I copied here but only changed the prop directions (so they become pushers instead of pullers); it also didn’t work. Same issue with yaw.
Help!
Thanks

2

Problem fixed. The spin direction as seen from the top view of the drone/flight controller has to match the geom file.

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