Alternate motor configurations


#1

All,

I'm building an OpenROV with a slightly different thruster configuration - three thrusters with parallel axes, arranged in a triangle around the fuselage. My hope is that this will give a bit more flexibility in orienting the camera since I'll be able to point the ROV straight up or down.

However, I'm not really sure how to rewrite the software so that I can control this new arrangement. Any suggestions?

-Ben