Discussions

Advantage of v-frame?

Posted by Hyon Lim on August 25, 2013 at 7:46pm

Hi.

I've seen that there are v-frame configuration which is slightly wide angle of arm in quad, two straight boom with four motors each in octa.

 

What's the mixing rule will be for this type of frame?

Also, what is the advantage of this frame in terms of stability?

I can see that this frame allows better camera view compared to X configuration.

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Replies

  • Para September 5, 2013 at 2:20pm

    The more I dig into V-frame parameters, the more confused I am.

    AP_MotorsQuad.cpp has this definition:

    // V frame set-up

            add_motor(AP_MOTORS_MOT_1,   45,  0.7981,  1);
            add_motor(AP_MOTORS_MOT_2, -135,  1.0000,  3);
            add_motor(AP_MOTORS_MOT_3,  -45, -0.7981,  4);
            add_motor(AP_MOTORS_MOT_4,  135, -1.0000,  2);
     
    But then, in another discussion on the V, Mr. Leonard Hall uses a math matrix representation of the motors position like this:
    Normalized motor positions relative to CG (x,y)
    M1  1.000,  0.699
    M2  -0.798,  -0.699
    M3  -1.000,  0.699
    M4  0.798,  -0.699
    to demonstrate the de-coupling of yaw/tilt and yaw/roll effects on the frame.
  • Para September 2, 2013 at 2:58pm

    I believe the V-frame was introduced per request from Steadidrone, upon the advent of their APM2.5-toting QU4D machine, who has the option of mounting the arms in two positions: "classic" X 90-degrees and "hero" wide-angle.

    I've scratch-built a similar machine, but from its behaviour it is obvious that I didn't quite get it right, geometry-wise, because while it flies OK-ish, yaw isn't at par with a similar straight-X quad.

    The advantage is that I have a GoPro on a brushless gimbal attached right-smack between the front arms with the roll motor axis going between the upper and lower frame plates, allowing for short 7cm landing legs. And with the arms folded, it almost fits entirely in my laptop backpack... only the props are sticking out and wouldn't let me close the zipper.

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