Have had this flying as a prototype for a while using open pilots copter control, now using APM.
She weighs 3.8 kg, with a bit over 10 kg thrust
Control is done with 5 motor channels , the front motors are operated as one, and control pitch, the left and right middles motors are controlled as left and right pairs, so that two more channels, and control roll, and finally the rear motors are operated individually (channels 4 and 5) for pitch and yaw control.
Size wise, motor to motor shes 700 wide and 800 long.

Now what i need to learn is how to enable camera contol on APM 2, and how to do the motor mixing (will modify a hexacopter profile)

https://www.youtube.com/watch?v=dwmYk7MKxi8

 

Can anyone give me a quick guide on how to do the mix and enable camera compensation ?

Views: 3504


Developer
Comment by Max Levine on July 30, 2011 at 1:24pm

WOW, I'm going to build one today :) 

Can you share your code please ? 

We can mix it in the ACM code...

I have few questions:

What motors and props you are using ???

 

ACM have 8 motors support (here)

Camera mix for ACM

Hexa mix

Octa mix

 

 

That what I was planing to build first:

Thanks in advance 

Comment by nubli hashim on July 30, 2011 at 1:38pm
nice idea, and more important it works. splendid
Comment by Mark Pepping on July 30, 2011 at 2:34pm

Looks absolutely awesome! Well done.

Comment by Coptaire on July 30, 2011 at 2:36pm

Did you lift 6 kilogram with it ??? like a pack of 6 mineral water bottles ???

You display an incredible 2.5 : 1 thrust to weight ratio.

Could you describe all the mounted gear in detail?

(I like the tri hexa with v-tail, too)

 


Developer
Comment by Jason Short on July 30, 2011 at 6:16pm
Thats really cool looking. I'd be glad to help. Just answer Max's questions above. Also, I would change to 8 independent controls rather than 5.

Camera mixing - what's your goal? Both pitch and roll outputs are fully stabilized already. By default channel 6 mixes pitch. Roll could easily be mixed as well.
Comment by Mathew Wellington on July 30, 2011 at 8:02pm

thanks guys

I built it 70mm wide and 800 long (motor to motor)

motors - RCtimer 750 kv with 10 by 4.5 props

battery 4S 5000 to 12000

the most i have lifted is 3.8kg, i plan it to go to 5, you dont want to go much over that, as in a decent side wind you need alot of reserve thrust

 

Mix

this is from Copter Control settings, with 127=100%

http://forums.openpilot.org/topic/5689-vtail-octo/

hope the above makes sense, but essentially its as follows

front motors , pitch only, 50% authority

rear motors pitch at 50% and Yaw at 50%

side motors roll only 50%

 

no need to control individually, and would much rather save the channels, i see no need for it

the hex uses an identical mix/channel count, except the roll needs to be cranked up to 75% authority (maybe even more after todays testing) to compensate for only one motor each side

 

If you guys are able to do this mix on ACM2 i would be very apreciative

 

Camera - just need roll comp, pitch comp and pitch mixing with TX input, didnt know it was enabled yet in ACM 2

 

Been flying the Vtail hexa today, its nice as its a less imposing machine to deal with, smaller and lighter.

But the Vtail 8 is much more stable, the paired roll motors work well and stop any induced yaw when flying sideways ( the hex has induced yaw)

 

Also check out the VTQ  (Vtail Quad) - awesome for FPV and stunt flying, as its CG is closer to the front, it pivots around the front motors nicely http://www.youtube.com/watch?v=vA8MPgPpHI0 

 

 

Comment by Mathew Wellington on July 30, 2011 at 8:04pm

the picture is wrong, left rear motor is CW , not CCW

the rear motors are around that way so the prop tourque adds to the thrust in the direction you want to go

Comment by Mathew Wellington on July 30, 2011 at 8:10pm

i see my first post is mis leading - ment to say "i need to use APM now" not that I am using APM on it currently, hence need some help with the mixing setup

Comment by Björn Videnberg on September 1, 2011 at 11:06pm

What have happened with V-tail in AC2 and APM plattform?

Comment by Mathew Wellington on September 1, 2011 at 11:34pm

i have just done the program for AC2 , about to test tomorrow :) had a couple of guys offter to code it, but no matter, think i have it sorted. will share the mix when it works

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