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Got to try this one time, nice job!
I've got lift-off; but I need to figure out yaw. The ducted fans are tilted about 15 degrees off center to be able to control yaw. Rather than having a mechanical servo tilt the single fan, I wanted yaw to be controlled by more power to either of the fans. I think I can solve it by modifying some code for the 'tri' configuration. It is too heavy at 960 grams, so I'll also be removing some weight.
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