Whooverware is ready for testing. I kept it simple to start. Yaw and throttle are mapped to push motors. Lift motors are mapped to the pitch stick as a hover throttle. Pitching forward kills lift and acts like brakes. I like to treat this like a clutch, letting it out as I apply push motor throttle like a gas/clutch combo. I’m probably more active on the pitch stick (lift throttle) than I am the actual throttle to navigate. It sounds freaking awesome too … slowly spooling up push motors and lift motors in straight aways then shutting them down in a corner and burning some clutch to kick out the drift… like ripping through gears in a racecar.
Anyway, enough rambling. Here is what’s important. I have not tested this on a 6mm 4 motor whoover. Just my 720 three motor rig. Keep me posted if you try 6mm before me - and how it runs. I may be able to help you adjust the tune if necessary. Also, we can add in some experimental stuff like adding roll stabilization to just the lift motors, pitch stabilization to push motors to lower throttle in a flip over event, or adding yaw back to lift motors to help with yaw damping. I’m open to any ideas.