# Y6 Flight Dynamics/Principles

Could anyone provide Y6 copter flight dynamics or principle?

Motion Equations ? and  how to incorporate gyro and accelerometer feed back ?

i would like to make something like the image below, any suggestions what kind of propellers would be best ? ..

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If I were building a shrediquette design, I would build it according to shrediquette's specifications first, before I started looking for different props. He details all the parts on his Webpage. I think that is the BOLT, and uses Airace propellers.

http://shrediquette.blogspot.com/p/shrediquette-bolt.html

But don't take my word for it, as the guy who designed and built it. He is here on DIYDrones, just like nearly anyone else you are ever likely to find in the hobbyist UAV community.

The basic principle is just like any other quad, hexa, or octo. You have the same number of motors turning in the clockwise direction as you do in the counter clockwise direction.

The main reason to do this is to nuetralize the torque on the craft coming from all the motors, so that you don't continually spin in one direction if the motor's are all at the same speed.

I think some of the flight dynamics of a quad are posted around somewhere here, if you can find that you can derive the specific maths for a Y6 with little difficulty.

ready equations would be of great help! .. here we have to deal with more number of variable and im not quite sure how far i can go with building effective and correct control system!

I don't know what you exactly mean by "motion equations", but as a start, have a look at the mixer table for my Y6 below:

Const M_1 = &H52
Const M_2 = &H54
Const M_3 = &H56
Const M_4 = &H58
Const M_5 = &H5A
Const M_6 = &H5C

'-MOTOR 1-
Ms_1_i = Sempf(throttlechannel) + Vorwahl    ' vorwahl = "idle up"
Ms_1_i = Ms_1_i + Roll_int                'Roll PID
Ms_1_i = Ms_1_i + Nick_int               'Pitch PID
Ms_1_i = Ms_1_i - Yaw_int                 'Yaw PID

'-MOTOR 2-
Ms_2_i = Sempf(throttlechannel) + Vorwahl
Ms_2_i = Ms_2_i - Nick_int
Ms_2_i = Ms_2_i - Yaw_int

'-MOTOR 3-
Ms_3_i = Sempf(throttlechannel) + Vorwahl
Ms_3_i = Ms_3_i - Roll_int
Ms_3_i = Ms_3_i + Nick_int
Ms_3_i = Ms_3_i + Yaw_int

'-MOTOR 4-
Ms_4_i = Sempf(throttlechannel) + Vorwahl
Ms_4_i = Ms_4_i + Roll_int
Ms_4_i = Ms_4_i + Nick_int
Ms_4_i = Ms_4_i + Yaw_int

'-MOTOR 5-
Ms_5_i = Sempf(throttlechannel) + Vorwahl
Ms_5_i = Ms_5_i - Nick_int
Ms_5_i = Ms_5_i + Yaw_int

'-MOTOR 6-
Ms_6_i = Sempf(throttlechannel) + Vorwahl
Ms_6_i = Ms_6_i - Roll_int
Ms_6_i = Ms_6_i + Nick_int
Ms_6_i = Ms_6_i - Yaw_int

@ Thielicke

He's referring to a coupe of physical equations that describe the craft.

@ariyan

Do some research on the 'net and look for something that's called the Drive equation. That will be your primary equation for pretty much everything.

Hint: the limit of a propeller's airspeed is its pitch.

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