Flight of the SCORPID-450 OAT/VTOL bicopter FULL IMU stabilized from Matthieu Bourdarias

Hello to all,

A new VTOL OAT Bicopter fully stabilized by a 9DOF IMU (arduIMU v2 + HMC5843) has successfully done its fist series of flights. This is the SCORPID-450 build by Matthieu Bourdarias from the french VTOL-UAV Team. The Scorpid-450 UAV uses an innovative design based on Gary Gress concept. The Oblique Active Tilting (OAT) at 45° of the twin engines allow a full pitch control by using the induced gyroscopic moment. Now with only a 9D0F IMU its flight is fully stabilized on its all axis with a dedicated firmware (AutoStab v3.31 JLN) and a special mixing software.

Here the setup used by Matthieu Bourdarias:

- ArduIMU+ V2 flat,

- HMC5843 Triple axis magnetometer,

- Firmware AutoStab v3.31 by Jean-Louis Naudin,

- Two brushless motors + ESC: EMax CF2822 (202W, 1200KV),

- 1 propeller GWS HD9050Rx3 - 1 propeller GWS HD9050x3,

- 1 receiver Futaba R617FS,

- 1 Lipo Turnigy 11.1V (3S1P) 2600 mAh,

Stay tuned on: http://diydrones.com/profile/JeanLouisNaudin

Views: 14913

Comment by Eric Smith on December 12, 2010 at 6:14pm

Jean-Louis, thanks again for sharing. At this point, does the tail do anything?

Comment by Eric Smith on December 12, 2010 at 6:16pm

Jean-Louis, just noticed in the configuration that the props are different. Why is that?

Comment by Mark Colwell on December 12, 2010 at 9:59pm

You may need faster servos, what kind are installed?

Comment by Jean-Louis Naudin on December 13, 2010 at 12:41am

Hello Eric, the tailplane is not required for hovering and slow flights, it is only usefull to negate its tendency to pitch up during forward flights. We need to conduct more tests in fast translation, I think that, with the help of the IMU and its software, the tailplane is not really necessary.

Regards, Jean-Louis

Comment by Jean-Louis Naudin on December 13, 2010 at 12:45am

Hello Eric, there is no difference between my Scorpid 500 and the Scorpid 450 design from Matthieu, look below:

As Matthieu, at this moment I conduct the tests flights without the tailplane and the Scorpid flights are very fun.

Regards, Jean-Louis

Comment by Jean-Louis Naudin on December 13, 2010 at 12:49am

Hello Mark, we use Metal Gear servos, Matthieu has used : Hextronik D-MG16 (Digital and Metal gear servos)

As far as I am concerned, I use two HITEC HS-82MG for my Scorpid-500.

Regards, Jean-Louis

Comment by Jean-Louis Naudin on December 13, 2010 at 2:37am

Hello to All,

You will find below my latest tests flights video with my SCORPID-500 FULL IMU that I have done on Dec 12. This is the same IMU setup and firmware (AutoStab v3.31 JLN) than the SCORPID-450 from Matthieu Bourdarias. Only the PIDs gains have been finely tuned to be in line with the sizes and the weight of the Matthieu's OAT Bicopter.

Flight of the SCORPID-500 OAT/VTOL Full IMU by Jean-Louis Naudin.

Regards, Jean-Louis 

Comment by bGatti on December 14, 2010 at 6:15pm

So, it can achieve stability at neutral, I wonder how well it can maneuver?, Let's say forward, the props turn inward and forward, ah so when they are angled, then their torque moment can be used to articulate the implied axis?

It seems to have a two-step stabilization process which requires  torque-shift-/-servo-shift-/-counter-torque-shift.


Comment by Jean-Louis Naudin on December 14, 2010 at 11:42pm

Here some infos about the working principle of SCORPID OAT/UAV:

- The throttle control the flight level with the power,

- The Pitch uses the OAT (Oblique Active Tilting), an innovative concept invented by Gary Gress: The spinning propellers acts as spinning gyroscope, when they are tilted on a horizontal axis set at 45° from the pitch axis, their gyroscopic moment induces a torque on the picth axis. This is a true active control with a called CMG (Control Moment Gyroscope) and it is fully used in the space Hubble telescope...

- The Yaw is controlled with a differential tilt of the motor,

- The Roll is simply controlled with a differential speed of the motor.


This imply to use special mixers and a fine tuning of the PID gains.

Regards, Jean-Louis

Comment by Greg Fletcher on December 15, 2010 at 12:28am

Gyroscopic only goes so far, then you need another means of controllable +_ torque.  Space vehicles use gyroscopic torque until they reach a limit, then jets expel mass to reset the system. If this vehicle is all ready used it's'  torque then you are done. It relies on change of angular vector, servos only travel so much. Maybe this concept could be used in a tri or quad config for fine control, but that's already done with really cool hardware & software. Its a solution with out a problem. Yet it is very impressive. I think you are challenging yourself and succeeding. And that's always a good thing.


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