Планирование и пикирование

          M1 CCW
          |
          |
                                           .
          M2 (Servo)
          |
          |
   M5 ---- ---- M3
  (Servo) | (Servo)
          |
          M4 (Servo)

MotorOut1 = RxInCollective;
MotorOut2 = 840;  // 840
MotorOut3 = 840;  // 840
MotorOut4 = 945;  // 840 + 840/8
MotorOut5 = 945;  // 840 + 840/8

MotorOut2+= RxInRoll;
MotorOut4-= RxInRoll;

MotorOut3+= RxInPitch;
MotorOut5-= RxInPitch;

MotorOut2+= RxInYaw;
MotorOut3+= RxInYaw;
MotorOut4+= RxInYaw;
MotorOut5+= RxInYaw;

          M1 CCW
          |
          M2 CW
          |
                                            .
          |
          |
M5/M3 ----+----
  (Servo) |
          |
       M6/M4 (Servo)

MotorOut1 = RxInCollective;
MotorOut2 = RxInCollective;
MotorOut3 = 500;
MotorOut4 = 500;

MotorOut4+= RxInRoll;

MotorOut3+= RxInPitch;

MotorOut1-= RxInYaw;
MotorOut2+= RxInYaw;

      / ----  \
     /    |    \
   M1 CW  |     M2 CCW
          |
   M3     |       M4
 (Servo)  |   (Servo)
 
MotorOut1 = RxInCollective;
MotorOut2 = RxInCollective;
MotorOut3 = 500;
MotorOut4 = 500;

RxInRoll = (RxInRoll * 7) >> 3;  // Approximation of sin(60) without div
MotorOut1+= RxInRoll;
MotorOut2-= RxInRoll;
    
MotorOut3-= SERVO_REVERSE RxInPitch;
MotorOut4+= SERVO_REVERSE RxInPitch;
  
MotorOut3+= SERVO_REVERSE(RxInYaw >> 1);
MotorOut4+= SERVO_REVERSE(RxInYaw >> 1);