Question about custom airframes

[dreamer15th]

Is it possible to use a custom airframe with new control allocation and mixer, like a quad tailsitter vtol without elevons?

[JcZou]

Hi, yes, it's possible and easy to do so. We gona publish VTOL model soon. So you can either based on MC or VTOL model and add your own airframe in Controller's allocator.
E.g, you can add a new airframe in MC controller, such as Airframe 20, then generate code and update FMT-Firmware. Use following command to build the firmware.
scons -j4 --vehicle=Multicopter --airframe=20

[dreamer15th]

Thanks for the reply, can you put a url leading to the MC controller part? I'm not pretty sure which one is.

[JcZou]

Sure. Here it is.
https://github.com/Firmament-Autopilot/FMT-Model/tree/master/model/Controller/MC-Controller