Thought I would share some info on my flying wing Tensor V2.
I have been using a Arduplane V1 in the plane for a while and recently got a MinimOSD which I think is great.
The main thing that is different about Tensor is that it has flaps...
They also come in handy for takeoff. I use a HLG style but with flaps down takeoff speed is quite low
I hacked the Arduplane source code quite a bit to get stuff to work.
I decided to decouple input variables (Roll, Pitch, Yaw, throttle, Flap) from the servo outputs. In other words these are sorta abstract values. The AHRS code seems quite happy with that. It actually does work on abstract values to begin with.
Then I take the abstract values Roll, Pitch, Yaw, Throttle, Flap and use them to mix in to the real servo outputs. This way I can add some opposite up elevon to the down flap to balance for down flaps.
I think this approach of decoupling the attitude variable might have some merits anyway for other planes. Think of the X47B and X48B where the relationship between the control surface and the control inputs is complicated. It could also be used to apply different rates dependent on airspeed.
The other thing I modified was the multi way switch as I dont have it on my Futaba 6EXA
. So I used a switch to differentiate between Auto and manual.
Once in auto the mode can be changed by toggling the rudder control one way or the other(I dont have a rudder). So you can start in say stabilize, then a right toggle gets you into circle, then another right toggle for return to launch. To go back toggle left.The current mode can be seen in the MinimOSD.
I did some other mods too so unfortunately I dont think my code is suitable for putting back in. Its just for discussion only really!
Now planning a antenna tracker..
Thanks for the Arduplane and MinimOSD. They are great :-)