Pusher differential thrust for yaw in MC mode

[ealdaz]

I experimented with the same concept i.e., adding two differential pushers for yaw to a 4x multicopter in standard MC mode ( not VTOL) and found that it wouldn’t work if I didn’t change the order of the mixers.
This worked for me:

Mixer for Spindrone Airframe

This file defines mixers suitable for controlling a Quadrocopter X based craft
with two motors L,R for yaw control.

Inputs to the yaw motor mixers:
Yaw, Group 0 (Flight Control ) channels 2 (yaw) 
AUX1-Horizontal Throttle  Group 3 (pass through) 5 (Aux1).
Yaw is -1,1
AUX1 is -1, 1. The way it's mapped it will only work on the positive half

Left Motor is connected to channel 1
M: 2
O:      10000  10000      0 -10000  10000
S: 0 2  10000  10000      0 -10000  10000
S: 3 5      0  20000 -10000 -10000  10000

Right Motor is connected to channel 2
M: 2
O:      10000  10000      0 -10000  10000
S: 0 2  -10000  -10000      0 -10000  10000
S: 3 5      0  20000 -10000 -10000  10000

Have declared the multirotor mixer after the simple mixers because the other way around doesn't work channel 6 isn't enabled for some reason
R: 4x 10000 10000 10000 0

Alternatively you could always try something like I did here.

VTOL Airframe - reusing MC motors in FW mode

Hello I’ve been experimenting with an idea for a VTOL airframe similar to the standard VTOL ( i.e. Fun Cube quad VTOL). It would fly as a quad + when in MC mode and when in FW mode the MC motors would be “repurposed" to provide pitch and roll control ( this would seem relatively straight forward in a quad + config). Horizontal Thrust and yaw control would be provided by twin motor configuration, i.e. two extra motors, left and right, that are tilted 90deg to the MC motors (so horizontal) f…

I wanted to enable the MC motors in FW mode, and you want to do the opposite.