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Hi,

 Just a quick update for the thrust vectoring coaxial drone project,

Config:

Maxxprod Himax contra-rotating brushless motor CR2805,

7x5 props replaced by T-Motor carbon fiber 9x3 resulting in more efficiency.

Flight time is about 15 minutes with Fatshark HD pilot and 12 minutes with a Gopro 3. Could be even better with a more adapted motor. The advantage of this system is to allow large props with little frame (the 3D printed frame of this coax weights less than 30 grams) resulting in a very good efficiency.

Flight controller is a CC3D revolution with a standard coaxial vehicle config.

The system seems to not accept too much the integral (often resulting in a counter pendulum effect during fast pitch forward translation but maybe it can be a variable overshoot??) but no pendulum effect with a simple P (no I nor D) for the inner loop (acro) and a simple P (no I) for the outer loop (attitude). With this config, the system reacts very good and is very stable and controllable even with wind.

Next step will be to remove the clevis in the commands because the system could maybe accept a direct servo in the roll and pitch plates and take advantage of a larger roll and pitch travel (-45°, +45° for ex) and more room in the frame (or a lighter one). CC3D will be replaced by a SP racing F3.

Thanks for your comments if you have!