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Quad-Y-Copter (V-Tail) Specs

To answer a few questions about the specs of the Quad-Y-Copter (V-Tail) here are some details on the config;

Motors: All four are rctimer.com 750kV

http://www.rctimer.com/index.php?gOo=goods_details.dwt&goodsid=123&productname=

ESCs: Turnigy 30Amp. I haven't measured the current draw but I'm sure 30A is overkill. http://www.hobbyking.com/hobbyking/store/uh_viewitem.asp?idproduct=2164&aff=257015

Props: 3 Bladed 9 x 5 regular and counter rotating. 

http://www.hobbyking.com/hobbyking/store/uh_viewitem.asp?idproduct=5250&aff=257015

http://www.hobbyking.com/hobbyking/store/uh_viewitem.asp?idproduct=5248&aff=257015

MultiWii Software 1.9 http://code.google.com/p/multiwii/downloads/list

Y4 Config as per http://www.multiwiicopter.com/pages/multiwiicopter-wiki

The frame is 12mm x 12mm Tassie Oak arms and 3mm ply. 

Inverted V-Tail arms at 20 degrees.

 

Custom mixing.

  #ifdef Y4

    motor[0] = PIDMIX(+0,+1, -1/2);      //REAR_R 

    motor[1] = PIDMIX(-1, -1, +1/5); //FRONT_R 

    motor[2] = PIDMIX(+0,+1, +1/2);      //REAR_L 

    motor[3] = PIDMIX(+1, -1, -1/5); //FRONT_L

  #endif