APM2 stabilizing a bi-copter
Hi all
I have had a look over the pages at the APM2 and have seen the various setups you can select for it but what I was wondering although it is not listed would it be able to somehow stabilize a bi-copter or will there be a software release soon that will be able to cope with this....
If not I may have to look at modifying my bi-copter to a tri-copter.....
Ryan
Replies to This Discussion
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DeveloperPermalink Reply by R_Lefebvre on -
When you say Bicopter... what exactly do you mean? There are several different aircraft types that could mean.
Tandem fixed pitch, tilting nacelles.
Coaxial fixed pitch with vanes.
Tandem rotor heli...
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Permalink Reply by Ryan McNeil on -
sorry it is tandem fixed pitch with tilting motors......think osprey or avatar type vehicle..
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DeveloperPermalink Reply by R_Lefebvre on -
So I haven't heard anybody working on that, but it shouldn't be terribly difficult to do. If you were willing to work with a developer, it could be done.
What are you flying this with currently?
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Permalink Reply by Francisc Bereczky on -
What do yoy mean by " If you were willing to work with a developer, it could be done."
I have a few posts in the last month, crying for help for my project which is a Bicopter with cycloidal propellers.
http://www.facebook.com/DragonCopter
Unforunatelly I have only basic programming skills which not includes OO programming.
What I need is a help from a developer to build and add a new AP_MotorsBI.cpp library to ArduCopter.
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Permalink Reply by Francisc Bereczky on
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Just to be clear.
My machine is 100% equivalent with "tandem fixed pitch, tilting nacelles" even if it looks different.
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Permalink Reply by Ryan McNeil on
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sorry for the really late reply. I am willing to work with anyone out there who is willing the help me. I have basic skills in programming in arduino, c and javascript but thats it.
My machine resembles something similar to the gressaero design. http://www.gressaero.com/
I can post pictures up in a bit.
I was trying to fly it with three single gyros but was hoping the APM2 would work and give me the additional functions.
I am about to order the hardware but will be downloading the software soon to start to have a look at it.
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Permalink Reply by Francisc Bereczky on
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We both are in the same situation having only basic skills in programming. This is not enough to build the library we need to fly this configuration. We need help from a developer.
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DeveloperPermalink Reply by R_Lefebvre on -
Ok guys, I'm interested in working on this. When I say "working with a developer" what I mean is that it has to be a two way street. There has to be a lot of back and forth with info, because if I don't have hardware to test myself, it's obviously hard to get it right. I also need you to be able to compile and upload code yourself. Francisc, it sounds like you're already capable.
The first thing I need is much more detail on the mechanics so that I can understand what I'm doing. I went to your Facebook page but I can't see anything.
Ryan, is this a standard bicopter? How is the stability? I've seen those before, but they seem to pendulum pretty bad in the pitch direction?
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Permalink Reply by Francisc Bereczky on
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On Facebook is a video on the bottom of the page
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DeveloperPermalink Reply by R_Lefebvre on -
Oh, now I see it. Honestly... I don't even know where to start? I don't understand the mechanics at all or what you need from the control code.
I am able to "see" mechanics very easily, I need something much more detailed. What do the servos do? What controls the angle of the wings? What you've built is pretty amazing.
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Permalink Reply by Francisc Bereczky on
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In the next days I will make some description. There is a lot of gearing in the propeller .
But from the point of wiew of the software you must consider a clasical bicopter with two
servos tilting the nacelles. Please see the other two posts made a few hours ago.
In the case of the cycloidal propeller it is rotating continously
and only the airflow is tilted, the angle of the blades being modified by the servos.
You have attached the Kirsten patent. You can see that the rotating blade cycloidal propeller
generates thrust by the drag force not the lift force. I made a new mechanical construction
based on this principle. There is also another type of cycloidal propeller acting by the lift force but in this case the blades have an oscillating cyclical movement not a continous rotation with 1/2 of the
speed of the propeller..
- Attachments:
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PROPELLER.Kirsten.pdf, 2 MB
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Permalink Reply by Francisc Bereczky on
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Plese see my post here Consider this a pseudocode, the idea.
About stability: Not very good but I have an idea. Let the tale to balance free.
In hover the servos must compensate the balance of the tale like the tilt servo of the camera mount does.
This is very important in my case due to the throttle dependent torque of the cycloidal propeller.
But probabilly this is true also in the case of a standard bicopter.
It is possible we do not need pitch PID for this.
I am prepared to compile and upload. I have Visual Studio 2010 with VisualMicro installed.
To go on the "two way street" you can count on my full cooperation for testing but not only.
I recomend servo out on Ch3 and Ch4 (in the code in AP_MotorsTri.cpp is a comment like
// note we do not save the radio_out to the motor_out array so it may not appear in the ch7out in the status screen of the mission planner)
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