X and Y axis makes sense to have it centered between the arms, does this also apply to the Z axis? If it does, what points would you measure from? Keep in mind this is not for performance or acrobatics just extremely stable flights.
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See this thread for more information in 2012.
Active stabilization doesn't require lowered COG. The feed-back loop takes care of it for you. I see that most quadcopters have a lowered COG. That just adds a moment arm that the feed-back loop has to spend more energy countering.
I am just finishing mine and I took care to make sure the COG in Z axis is balanced around the rotor center line.
Putting the COG below the prop plane wouldn't give you any extra stability, because of the pendulum rocket fallacy.