Problem
The simulator currently assumes quadcopters in several places and therefore does not support other multicopter configurations such as hexacopters or octocopters. Since the main difference between these vehicle types is the mixing matrix, the simulator should be made agnostic to the number of motors.
Proposed change
Replace hard-coded dimensions of 4 that represent the number of motors with a value derived from the mixing matrix, i.e., its last dimension. Alternatively, the number of motors could be stored explicitly as part of the vehicle configuration if that leads to a cleaner implementation.
Priority
This is a low-priority feature and does not need to be implemented proactively. It should be addressed when a non-quadcopter vehicle is actually added to the simulator.
Problem
The simulator currently assumes quadcopters in several places and therefore does not support other multicopter configurations such as hexacopters or octocopters. Since the main difference between these vehicle types is the mixing matrix, the simulator should be made agnostic to the number of motors.
Proposed change
Replace hard-coded dimensions of 4 that represent the number of motors with a value derived from the mixing matrix, i.e., its last dimension. Alternatively, the number of motors could be stored explicitly as part of the vehicle configuration if that leads to a cleaner implementation.
Priority
This is a low-priority feature and does not need to be implemented proactively. It should be addressed when a non-quadcopter vehicle is actually added to the simulator.