Mini ROV

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Code Changes in Betaflight 3.1.7 

flight/mixer.c  mixTable() 

    if (MAX_SUPPORTED_MOTORS >= 6) {
        if (failsafeIsActive()) {
            motor[4] = 1000;
            motor[5] = 1000;
        } else {
            motor[4] = constrain(rcData[AUX2], 1000, 2000);
            motor[5] = constrain(rcData[AUX3], 1000, 2000);    
        }
    }
}

Motorlayout: M1 = Right Thrust, M2 = Right Down, M3 = Left Thrust, M4 = Left Down, M5 = LED, M6 = Gripper

Custom Mixing table
M1 = Pitch Stick Positive + YAW Stab.
M2 = Thrust Stick + ROLL Stab.
M3 = Pitch Stick Positive + YAW Stab.
M4 = Thrust Stick + ROLL Stab.

M5 = AUX3
M6 = AUX4