I want to set up a tri-copter mode for a special project. Instead of having 2 motors up front with one motor in the back, with servo tilt for yaw control, I want to do a different configuration. For my project I need one motor up front and two in the back. I will not be using a motor tilt, but instead, have a rudder vane under each prop to provide yaw control.
I noticed in the Mission planner software that after you load the Tri-Copter firmware, in the Level set-up menu there is the option to select between a + configuration and a Y configuration. I know that for a quad set-up you have the same choices for a + or Y configuration, and I was wondering if selecting the + mode for the Tri-copter would give a configuration for a single motor out front with two in the rear.
I plan on putting a full length yaw rudder under each of the 3 motors, and have all 3 tied together with a 3-way Y-harness to give yaw control instead of tipping motor for yaw control.
Any help on this would be greatly appreciated!
First, I would download the code with GIT. You need to setup a new Motor configuration in the library. Just look at how the Tri is configured and make your own. You'll need to reverse the signs on pitch and roll output most like and that's all.
Then you need to find the Yaw control for TRIs in the code. That's a 50 hz loop so you can output to the normal servos. There you'll need to come up with your own mix for Yaw control. The Yaw PID loops won't need to change. But you'll need to adjust the rate_P gains based on how much Yaw thrust you get from the rudders.
I have never downloaded the code or worked on it before. I really have no idea how to do this. Is there a place that explains how to do this? I was hoping for a much simpler answer. With a Quad, if you want a + or Y, it is a simple check box item. Is there something similar for a Tri?