Primary outline of parts/components are on my tumblr blog: http://projectable.me/post/44872817314/project-edf-tricopter-assembled-plus-first
I really wanted to build something with ducted fans... And I also really wanted a tricopter for its yaw control (great for video). So after contemplating a hover tank quad for a while, I decided that a tricopter would be smarter (also way less involved! I will probably come back to the hover tank at some point :P).
I had the basic frame design come to me after I started to shape the front section. I decided, since I had so much space in the front portion, that I would put the tail control servo up the front and articulate the entire tail.
- All aluminum hand built frame, with full tilt tail boom (bearings for smoothness)
- 3x 70mm ducted fan units (CW & CCW) powered by 2300KV motors + 60A ESCs on 6s battery!
- APM 2.5 running Arducopter 2.9-dev (git 3/8/2013) + hott-for-ardupilot classes (for telemetry)
- Graupner GR-24 receiver running PPMSum (yay 1 wire)
- Weight: 3lbs 4oz (4lbs 4oz with 3200Mah 6s battery)
I am amazed that this flew with default 2.9 PIDs… One thing to note, which I am sure some tuning will help, is it starts to pitch and that pitch builds until stick correction is no longer enough (which is what happened in the vid). I hope its not electro magnetic interference from the motors… I would figure the aluminum around everything would act as a shield to some degree.
For my full build log of the project, check out my blog: http://projectable.me