Testing outside in the wind revealed a serious issue – no where near enough yaw controll to hold its own, and maxed out, pitch is compromised
Broke 5 props testing
so, quick re-config, mounted both motors, side by side at a 30 deg V, and now its a fun machine ! yaw is very authoritive
Handles the wind, and you fly it like a tricopter, mixing yaw and roll for gracefull forward turns
Revisited the Y4 tonite , reconfigured my minsoo kim quad into a tri, and used the landing gear and motor adaptors from my frame design, and whiped up a Y4
First test is per std Y4 accepted practice, equal props and motors , and as last time, it stunk.
Rear motor speed is set to 62% of the front
The problem is, you only have the rear motors for yaw control, and couple to the fact when all 4 motors are identical, the rear props need to run at 1/2 the thrust of the front props, you get weak yaw, couple with pitching forward whenever you yaw (as the rear props start to bite teh air and make lift)
So, the answer (so far anyway) is, to put smaller props on the back
Im running 10 by 4.5 on front and 8 by 4 on the rear, all motors are flycam 925′s
The secret is running the rears at 83% of the front speed, easily done with copter control
will shoot some vid tomorrow
test hop tonite was in the kitchen, about 4ft square by 10 ft high space (with two curious cats hanging around)
Custom mix
(note 127 is 100%)
motor 1 front left
Curve = 127 (throttle)
Roll= 64
Pitch =64
Yaw =0 (none
motor 2 front right
Curve = 127
Roll= -64
Pitch =64
Yaw =0
motor 3 rear CW
Curve = 105 (83% of front)
Roll= 0
Pitch = -64
Yaw = -127
motor 4 rear CCW
Curve = 105
Roll= 0
Pitch = -64
Yaw = 127
Im also running the pitch gain about 1.4 times as high as roll to help combat any pitching with yaw
latest creation from the workshop
800 wide by 800 long
1/2 inch ally tube, 750kv motors, 10 by 4.5 props
Weight empty 1.9kg
Thrust available (on 4S)10kg
This is the prototype, using a special control setup that uses 4 motors for yaw control to combat the V8 designs tendancy to roll while yawing
Stay tuned for the full autopilot version with GPS position lock, and roll/tilt camera mount
Having fun in the South Island with a couple of KiwiBlue frames and KKuk controllers, videos from a customer.
Thought it worthwhile to post this up, more as a “not to do” than anything else (learn from others failures)
Had heard about non-coaxial 8x configs, where its essentially a quad with motor pairs at each corner spinning in the same direction, allows control with only 4 outputs
what i found
Needs alot more gain than i had expected (based on same motors/esc/frame as a true 4 motor quad), around .0045 on pitch/roll , and the yaw around 0.006
gets upset by gusts, its almost as the top/bottom motors start intereacting
yaw control is fine
if you loose a bottom motor, the propelor freewheels very fast and absorbs aprox 60% of the top motors power, top motor has to go from 55% throttle to 100% just to have enough thrust to fly.
couldnt resist snapping a shot, while travelling from Ahuroa to Waihapa (east of Stratford)
Recieved my new Telemetry module today, all ready to interface between the ardupilot and the laptop, to enable tuning the settings while in the air !
