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