Frame Class and Type Configuration
The FRAME_CLASS and FRAME_TYPE parameters should be set to match the physical frame being used. See the Connect ESCs and Motors page for the list of supported multicopter frames
If using the mission planner select Initial Setup,Mandatory Hardware | Frame Type. If you are using another Ground Station it should be possible to set the FRAME_CLASS and FRAME_TYPE parameters directly through a parameter update screen.
If using Copter-3.5 (or higher) firmware a “Frame Class” section should be visible which allows selecting the “Class” of vehicle (Quad, Hexa, Octa, etc).
For Traditional Helicopters, “Heli” should already be selected and it should not be changed. ForSingle Copter and Coax Copterthe FRAME_CLASS parameter should be set directly from the Full Parameter List untilthis issueis resolved.
Next select the frame “Type” for your vehicle. The default type isX.
For Tricopters, Y6, Traditional Helicopters, SingleCopters and CoaxCopters the frame type is ignored.
Motor Order Diagrams
See theConnect ESCs and Motorspage for the list of supported multicopter frames