the easy way is the one JMD describes, yours is a lot more complicated
jmd: no you don't need diffential mixing.. (you need a bit more..)
it should be quite easy to implement bicopters to the code
I think that servos outputs need differential mixing because :
- yaw is controlled by opposite rotor inclination
- pitch is controlled by synched rotor inclination
But you are right, differential between yaw and pitch is certainly only the basic part of the mixing work.
Do you think that it would need more than new motors_bi.pde mixing code and PID adjustments ?
yes, we know that one, but it has a fraction of APM capabilities
you could also post a link to aeroquad when somebody asks for quads...
Hi Sebastian, not sure what you mean about having a fraction of the APM capabilities. Deifinitely am interested to learn. My new bicopter prototype - the Nymbus 650 - uses a mod of the original APM airplane code. Uses two fixed-pitch airplane props. Here are some clips of it hovering with an Align heli and doing circuits:
A condensed version. - Gary
Both differential thrusts and prop tilting (in opposite directions) are now used to control roll in Gress Aero Bicopters.
The tilt rate generates a gyroscopic rolling moment, and happens sooner than the control obtained with diff. thrust. Which means potentially better roll response, gust tolerance and stability than a quad - or any other mutlicopter with fixed motors. I do see an improvement, so far, indoors.
As an added benefit, yaw is no longer coupled with roll. Before, diff. thrusts created a yawing moment, but is now offset by the diff. tilts.
This was all done by reprogramming the APM.
Hi there, im new here, im trying to build a bicopter myself and have been fascinated by your machines for a long time Mr.Gress. All has been well through my build but i hit a stumbling block..the controls. I based my wiring and connections on this diagram..but it seems to not work. Im not sure whats wrong, might it be the components im using? I was hoping you may be able to help me with this if its not too much trouble..
I will just list down the components im using;
hobbyking 20A esc x2
hxt900 9g servo x2
turnigy sk2822 1200 motor x2
futaba r606fs Rx
copterx gy240 gyro
blue arrow nano vtail mixer x2 (BV01-J)
Can you describe the problems you are having? Also, a photo of your aircraft will help.
One thing I noticed: you need a proportional gyro for pitch, like the CSM SL560.