hi hein,

please check motors.pde in rev254. there is no divide by 2 in x mode for control_roll and control_pitch as in rev220. but it should be to get the quad stable.

rev220:

ifdef FLIGHT_MODE_X

      // For X mode - APM front between front and right motor 
      rightMotor = constrain(throttle - (control_roll/2) + (control_pitch/2) + control_yaw, minThrottle, 2000); // Right motor
      leftMotor = constrain(throttle + (control_roll/2) - (control_pitch/2) + control_yaw, minThrottle, 2000);  // Left motor
      frontMotor = constrain(throttle + (control_roll/2) + (control_pitch/2) - control_yaw, minThrottle, 2000); // Front motor
      backMotor = constrain(throttle - (control_roll/2) - (control_pitch/2) - control_yaw, minThrottle, 2000);  // Back motor

rev254:

ifdef FLIGHT_MODE_X

      // For X mode - APM front between front and right motor 
      rightMotor = constrain(throttle - control_roll + control_pitch + control_yaw, minThrottle, 2000); // Right motor
      leftMotor = constrain(throttle + control_roll - control_pitch + control_yaw, minThrottle, 2000);  // Left motor
      frontMotor = constrain(throttle + control_roll + control_pitch - control_yaw, minThrottle, 2000); // Front motor
      backMotor = constrain(throttle - control_roll - control_pitch - control_yaw, minThrottle, 2000);  // Back motor

Was this indeed a valid issue, has it been handled ?

I did test rev220 but did only experienced bad control and my Quad was very loose. When I went back to rev254 my quad was solid and stable again, using Xmode.

My quad also use the default PID settings. So I don't see other people complaining about not having this division / 2.

Therefore I think rev254 fits more peoples quads. That is just my opinion.

Greetings, Hein

Ok, I haven't heard this issue either, so I suggest we close this one. When it turns up again, we'll re-open.