The SCORPID-500 is now fully stabilised and controlled by a 9 DOF IMU (ArduIMU+ v2, HMC5843, GPS with firmware TriStab v3.3 JLN). The SCORPID-500 VTOL UAV uses an innovative design based on Gary Gress concept from Gress Aero. The Oblique Active Tilting (OAT) at 45° of the twin engines allows a full pitch control by using the induced gyroscopic moment. Today, the SCORPID-500 UAV prototype has done its first successful flights full IMU stabilised. Its flight is very stable. The earlier prototype has used 4 gyroscopes on board and some addtionnal mixers.

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  • Hi Jean-Louis,


    Someone very generously donated their new AP Mega for me to try out.



  • Developer

    Hello Gary,

    Thanks for your comment about the "D" parameter of the pitch. My firmware is designed to run on the ArduIMU, you need to do changes in the code to run on the ArduPilot Mega...

    Why you don't havent' used the same setup as the mine with the ArduIMU ?... It is cheaper than the Ardupilot Mega and works well on the bicopter...

    Regards, Jean-Louis

  • Btw,  I've just acquired a ArduPilot Mega and I'm completely new to this.  Can I use your code as is or do I have to make changes?


  • Jean-Louis,

    I've been looking over your -331 code and there's something I wanted to tell you.  The "D" parameter in the pitch gain should be zero.   Please try it out.  Both the math and experiment say the derivative gain is a bad thing.



  • Developer

    Hello Jerry,

    Congratulations Jerry, you have done a very good work here. The stabilisation process seems working pretty well in spite of the high wind.

    Does you have used your external heading lock gyro for the Pitch/Yaw ? or all the stabilisation process is fully done by software and the Wii sensors ?

    Regards, Jean-Louis

  • Hi Jean

    Got the nVader arduino Wii motion and nunchuck flying

    nVader 600 Wii Motion and Nun-chuck Roboduino High wind Test Flight II from Jerry Kutra on Vimeo.

  • Developer

    Hello Dave,

    Thanks for the infos about the Futaba 2.4 Ghz FASST technologie. This is very informative for me because I am not really familiar with the Futaba technology... As far as I am concerned, I am using Graupner IFS, Multiplex M-Link with telemetry and Corona receivers.

    Regards, Jean-Louis

  • Both of these in the product description say they have 2.4 Ghz FASST technology ?? and the 6000 reciever says it can be used  with all FASST transmitters. The descriptions are included. In light of this, any opinion change?? I have an Oscilloscope, but do not possess the receiver and I don't want to buy one just to test, but your opinion is valued

    Receiver 6007 SP 2.4GHz RASST

    Ultra-lightweight and small 7-channel 2.4GHz RASST receiver for indoor and outdoor use up to about 300 m
    With serial outputs. Perfectly suited for controlling micro-helicopters such as the T-Rex 250, Mini-Titan etc. Only weights 3.9 g
    The serial output on the receiver requires special components in the model which can read the signal stream and process it accordingly, such as e.g. the Mini-V-Stabi
    No crystal, no searching for a frequency channel and maximum protection from same channel interference thanks to 2.4GHz FASST technology
    The best possible protection from interference by rapid frequency hopping
    High interim frequency of 800 MHz, therefore insensitive to Electrosmog
    Simple binding using integrated EASY-Link button
    Can be used with all FASST transmitters with 6 channels and above set to 7 channel mode
    Channel spacing: 7
    Channel spacing: 2048 kHz
    Voltage: 3.3-8.5V
    Current: 40mA

    Receiver R6107SP 2,4 GHz RASST

    Very lightweight (6g) and small 7-channel 2.4 GHz RASST receiver with end-mounted servo sockets.

    With serial output, perfectly suited to controlling helicopters and quadrocopters.
    Switchable for analogue or digital servos, although the signal sent for digital servos is faster, giving a shorter reaction time.
    Usable in all sectors of modelling, the 14 cm antenna for this antenna can be positioned on the outside of hulls or chassis made of carbon-fibre reinforced plastic or metal.
    Not recommended for large-scale models and jets.
    Range: > 1000 m
    Oneserial output on the receiver requires special building blocks in the model which can read the stream of signals and process them accordingly, such as e.g.theHC 3-Xtreme or Mini-V-Stabi.
    Traditional servos cannot be connected directly.
    No crystals, no frequency selection, and highest protection against same-channel interference by means of 2,4 GHz FASST technology.
    The best possible protection from interference by rapid frequency hopping. High interim frequency of 800 MHz, therefore insensitive to Electrosmog.
    Simple binding using integrated EASY-Link button. Simple binding using integrated EASY-Link button.
    Channel spacing: 7
    Channel spacing: 2048kHz
    Voltage: 3.3-8.5V
    Current: 45 mA
    Receiver R6107SP 2,4 GHz RASST
    Item no.:   RF0984
    Availability:   1-2 days
    Weight:   6g
    Dimensions:   39 x 21,7 x 12,3 mm


  • Developer

     Hello Dave,

    The Futaba R607FF is a FASST 2.4 Ghz receiver and the Futaba R6007FF is a RASST 2.4 Ghz receiver.

    Matthieu has tested his Scorpid-450 with his Futaba R607FF, may be that the serial PPM output is at the same pin... I am not able to confirm this, with an oscilloscope this can be easily checked.

    Regards, Jean-Louis

  • Hi Jean-Louis

    FutabaRobbe R6007FF

    FutabaRobbe R6107FF

    I found these 2 mini receivers on the EMCOTEC store website. I was wondering if they would be a substitue for the modifications done to the Graupner and Futaba receivers you referenced. They are bothe ppm output, 2.4 Mhz and Fasst technology. Assuming one had the right transmitter, would they work?



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