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NEAR MISS & ABORTED LANDING

Everything was normal with the landing. For a long time, we noticed a lot of airplanes coming real close. Then right near the runway he firewalled the throttle & pulled up harder than any commercial pilot ever did. Thought he came in too low, aborted & we were probably going to die like our aunt. Thought about Major Marcy harder than we ever did before as the Air bus roared & fought for altitude.

As we rose above the clouds, it became clear we weren't going to be destroyed, it really was an aborted landing, & it was probably a near miss. Got a photo right before the abort & right after, containing the offending aircraft. The pilot announced it was a near miss but tried to play it down.



This was right before the abort. Was thinking how big our neighbor looked when...



Real steep angle of attack & full throttle. Those flaps retracted faster than we ever saw.


Makes you wonder what autonomous passenger planes will be like. The pilot said the panic climb was a standard maneuver in response to a computer warning & not a human call.

Suspect there would be a lot more panic aborts if a computer was unconditionally responding to radar. Maybe a computer could figure out if the near miss required a panic climb or a gradual increase in speed.





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Developer

Early stages of a TiltCopter


Today everybody and their dog seem to be working on a quad project. And with my own quad having reached a relatively mature stage with stable flight some time ago, I thought it would be nice to try something different.

So inspired by the full-size Osprey tilt rotor design I just started an experimental duo/tilt copter build. Frankly I am far from sure if it will ever fly, but that is what makes it fun!


Mechanical:

My tilt design is one I used in an earlier tri-copter build. I insert a 8mm CF rods into a 750x10,5mm CF square tube and glued then together. A modified T-Rex 600 blade-holder is then inserted on the 8mm tube and fastened using glue. Finally a servo is epoxied at the side of the square tube and linked to the 600 blade-holder. Motor and ESC is a cheap TowerPro combo from HobbyKing. Cheap and easy to replace when experimenting, and the ESC has no problem handling 333mhz PWM pulses.


Hardware / software:
For control and stabilization I will use the same hardware that I used in a Quad I built earlier. A FASST R617FS receiver modified with PPM output, and the ArduIMU V2 board with custom software for stabilization and servo/ESC control.

Main body / tail:

I have yet to decide what I will do for a main body. At the very least I will need some kind of tail with a lift surface to get some balancing momentum in the pitch axis, and tail drag when in forward flight. Lots of fun experimenting to be done!

Parts:
Carbon Fiber Square Tube 750x10.5mm
Carbon Fiber Tube (hollow) 8x750mm
Align T-Rex 600 Blade holders and bearings
Turnigy S3101S Servo 17g / 2.5kg / .14sec
TowerPro BM2410-9T / 18A BEC/ 1047 Prop Combo
Futaba FASST R117FS receiver
ArduIMU+ V2 (Flat)

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This is my first post to diydrones.com.

I think that it would be very nice to use same ArduPilot software in real life and with simulator.

So, according this blog post http://diydrones.com/profiles/blogs/the-ardupilot-fg-control-for

I have modified ArduPilot so it can be used with Flight Gear Simulator.

Download:

http://www.rytkonen.org/ardupilot/ArduPilot_2_6_2_flightgear.zip.

http://www.rytkonen.org/ardupilot/ArduPilot_2_7_beta3_flightgear.zip

Here are some instructions, how I got everything work with Windows.

Hardware
- You only need to connect power source and FTDI cable to ArduPilot.
- Simulator does not work with shields and GPS installed. So remove them from ArduPilot.
- Install code to ArduPilot with Arduino IDE

Installing FlightGear in Windows
- Download and Install FlightGear Simulator

Create batch file

run.bat



cd C:\PROGRA~1\FlightGear\BIN\win32


SET FG_HOME=c:/PROGRA~1/FlightGear


SET FG_ROOT=c:/PROGRA~1/FlightGear/data


SET FG_SCENERY=C:/PROGRA~1/FlightGear/data/Scenery;C:/PROGRA~1/FlightGear/scenery;C:/PROGRA~1/FlightGear/terrasync;c:/terrasync

fgfs.exe --aircraft=c172p-2dpanel --control=mouse --disable-intro-music --disable-random-objects --prop:/sim/rendering/random-vegetation=false --disable-ai-models --geometry=800x600 --bpp=32 --timeofday=noon --native-fdm=socket,out,10,127.0.0.1,5500,udp --native-ctrls=socket,in,10,127.0.0.1,5600,udp --native-ctrls=socket,out,10,127.0.0.1,5700,udp --fg-root=C:/PROGRA~1/FlightGear/data --altitude=9999 --atlas=socket,out,5,localhost,5505,udp



ArduFGcontrol
- Download ArduFGcontrol from here
- Edit settings file as described in Readme.txt


Upload Waypoints to ArduPilot
- Download a sample mission file for the ArduFGControl from here (Mission.zip)

- Install waypoints to ArduPilot with ConfigTool. Download it from http://code.google.com/p/ardupilot/downloads/list

Ready for Takeoff
- Start ArduFGcontrol
- Start FlightGear by running BAT you just created

If you want install RC plane model to Flight Gear, you can download from here. Save unzipped files to Aircrafts-folder.

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Easystar build.... rudder upgrade


The next mod to my Easystar, a larger rudder made out of balsa and installed with dubro hinges.


There seemed to be 2 main ways to increase the performance of the rudder on the Easystar the first would be to just extend the length of the current rudder and the second would be to increase both the height and the length by completely replacing the rudder surface, for my mod I opted for the second option.


I started by cutting the old foam rudder off the airframe and then continued the cut up to the top of the vertical fin this will allow me to make a rudder that would have a full height control surface.


I decided that I would make the new rudder out of balsa and would attach it with dubro nylon hinges. I made a paper pattern from the foam rudder and fin part that I cut from the Easystar I then extended the length so that the new rudder reached out as far as the elevator trailing edge.



I cut 3 identical patterns from a sheet of 2mm balsa, on one of the patterns I marked out and notched cutaways for the hinges, this will be the centre layer. I decided to make this a laminate part so that I could neatly install the hinges and then sandwich all the parts together. Next I glued the centre and the first of the outer parts of the balsa together, this can been seen in the picture above. I left the join to cure over night with 20 hardback books stacked on top.


The hinges were then glued into the notched area's with CA before finally gluing the balsa part on top, again this was compressed and left to fix over night. It is worth while to tape around the exposed hinges while doing any gluing.



The picture above shows the parts laminated together with some initial shape sanding done. I also drilled the rudder at each of the hinges and pinned through each hinge with a cocktail stick to secure the hinges.


I completed the shape sanding by checking the shape and clearances against the airframe and adjusted where necessary. I applied 4 coats of sanding sealer rubbing down with fine sandpaper between each coat and then 2 coats of red paint. The final task on the rudder was to install a new control horn and I decided to fit a bolt on version instead of the glue on version that came with the Easystar kit.


For installation onto the airframe I marked the 4 hinge positions on the vertical fin and using a sharp blade made incisions into the foam for each of the hinges. After a test fit and a few dry runs I glued the hinges in with CA, you must be very careful not to get glue on the actual hinge area!!


Now i need to get some practice flying in while I wait for flyable APM code to be released.


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Dark Star on runway - - - motors running !

Madden AMOST flight of Dark Star.

Finally. my quad is running and being monitored with configurator.


2 x 2200 mah lipo
2 x 90503 props
2 x 90503R prop
My frame
900mhz A/V TX out on one arm.
Video cam in bubble on bottom center.
4- 30A ESC
1- 10A BEC
APMega board
Oil pan Shield
4- EMAX 2822 Motors
AeroQuad software V406
Configurator V2.4


AND REMEMBER there are 4 props turning at once! They are EVERYWHERE !
Earl


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3D Robotics

News from our underwater cousins, thanks to the always great BotJunkie:

"The 2010 International Autonomous Underwater Vehicle Competition took place last week, and the very first thing that happened was that everybody decided that they’d much rather spend their time building robot subs as opposed to gasping out the name of the competition, so it’s now just called “RoboSub.” These RoboSubs are autonomous (not remote controlled), so the competition operates kinda like the DARPA Grand or Urban Challenge: you push the go button, and then your robot is on its own, and you can do nothing but sit back and have an anxiety attack.

As you can see from the vid, the bots have a lot of fairly complicated tasks to perform, and I imagine that being underwater causes a whole host of sensor issues… For example, several tasks require the robots to differentiate colored objects, and colors change underwater depending on depth as the red light gets filtered out. Not to mention the whole water not mixing with electronics thing…"


Day 2 and 3 finals below:


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3D Robotics

Update on ArduQuad progress

ArduQuad, the quadcopter part of the ArduCopter family, is nearing production. The first prototypes are going to the dev team next week, and Jani Hirvinen, who is manufacturing them, says retail availability should be in about six weeks.

Awesome render by Sandro Benigno above (this is just an alpha; parts will be moving to other places in the production version). Photos by Jani below:


The package will most likely include:
  • ArduQuad platform hardware (airframe, motors, ESCs, props, power distribution board, cables, etc)
  • ArduPilot Mega + Oilpan IMU shield
  • MediaTek 10Hz GPS
  • Magnetometer
In other words, everything you need for a complete quad! Pricing not decided yet, but should be the cheapest full UAV quad in the world, by a long shot.


That's a shot of packaged motor mounts getting ready to go out. Check out Jani's photo stream for more shots of the prototypes.
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Indoor Flying Robot.

Let me start with my first post with thanking everyone on this site for their valuable info and enthusiasm

For a systems engineering unit we have been given the task of creating a flying robot that is capable of detecting letters on a structure (wall) and providing an aural alert once any letters have been detected. Being through the prelimanary design phase we have gone with none other than the aeroquad platform!
The configuration is as follows,

- Arduino Duemilanove

- IXZ500 + IMU 5DOF

- 2 x Xbee Pro

-Turnigy 2217 20turn 860kv 22A Outrunner

-
Turnigy 4000mAh 3S 30C Lipo

-
TR_P25A/2163 TURNIGY Plush 25amp Speed Controller

Actual waypoint navigation will be done using a VICON system almost identical to that of the famous aggressive manouver quadrotor video floating around this and other websites.

We are looking at using a camera similar to this for our Imaging system.

We are doing the OCR via MATLAB if anyone else is interested.

Will keep updating our progress as we go.

Any comments or questions happy to hear them,

Cheers.
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Moderator

I found the Fuse to a Sky Fly Max at a local hobby store and was instantly forced to buy it. It's a great, but simple starter plane which I think will make a great UAV. All of the parts except for the fiberglass boom are EPO type foam, all thick and well made. Like always, I will not buy an RTF so I'll need to part it together, but that should be less than $65. for just the air frame. I have a few ideas to make it more me, but that's for later. Click here for more Sky Fly Max Details.

Below are a few more pics of the fuse as well as a few shots of "Stuff" I've kept for projects and thought I'd share...

Boxes...

Candy/Gum boxes seem to be great for small projects. I like to use them to protect some of the electronic components on my planes when they would otherwise be exposed. You can drill small holes so they are vented or keep lids off and be mostly covered but well protected.

Floaty Key Chain things...

I've not installed it yet but I'm using these for mounting wireless camera (like a helmet cam) on the boom or underside of my wings. These could easily be made articulated and in damp'ish conditions by using a small clear dome to protect the camera and silicone to plug the other end where connections/batteries reside. I plan to power mine seperate from the camera pod, but using smaller lipo you could easily store the bat inside the pod w/the camera and only have the lead running to the camera's transmitter...

Cups...

Jello, Pudding, Tuna & Applesause... These are very handy and can be used from Cowls to Nacelles, to epoxy and everything in between.

Plastic sheets...

I use the thicker sheets for belly skids on my belly landers. It really helps keep the plane in good shape. I use recovered pop-bottle plastic (16oz/1ltr/2ltr) for lighter duty stuff like wing repair and reinforcement for weak designs. You can also use the pop bottle plastic as glue in hinges.

If you got the stuff around, use it...

Anyway, I'm cheap and this post shows it! But, I like to share so...

PS - The orange rectangle thing is one of those lighted magnifying glasses, cause I'm not blind, I just like stuff in bold!

-bcd

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3D Robotics

T3-Round 8: The egg-drop round!

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Inspired by the Outback Challenge's waterbottle drop challenge, we're happy to now announce the start of the 8th round of the T3 Competition.


Your mission this time: have your UAV autonomously drop an egg as close to your home/launch position as possible (heads up!).


(Note: Our contest judge, Gary Mortimer, reminds us that it is illegal to drop any solid object out of an airborne vehicle in some countries, including the UK, so please check your local regulations to determine if this is legal in your area.)


How you have your UAV carry the egg and what mechanism you use to drop it is up to you (maybe a good time to use the built-in relay on your new ArduPilot Mega board?). The only requirement is that the drop be AUTONOMOUS--you need to set your autopilot to initiate the release when it detects that it's the right distance from the home location. The aircraft must be in forward motion with a speed of at least 15mph at the time of drop, and at least 50ft high (ie, no unfair advantage for quads!)


Because this first "T" in T3 stands for "trust", we're going to trust you to mark your home position and measure the distance the egg landed from that--no need to strap a GPS logger to the egg. The path your UAV takes before and after the drop doesn't matter, as long as it was under autonomous control during the drop part of the run. You will get EXTRA POINTS for an unbroken egg. How you achieve that (parachute, whatever) is up to to you, but please document your method with pictures.


Please submit the following in the comments as your entry: KML track of your UAV, with drop point, egg impact point, and "home" marked. Distance measured and reported, along with autopilot type. Please include a picture of your egg after it's landed, broken or not.


Scoring will be as follows: competitors will be ranked in closeness of egg to home. You get a 10m bonus for an unbroken egg.


Deadline: about six week from now--Sunday, September 5th at 12:00 midnight PST.


Have fun!


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3D Robotics

FY-Tech, makers of the FY3ZT autopilot that we're testing, now have a new website/store with a great story of their origins.


Here's the whole thing for reading ease (Wei, I hope you don't mind me copy-and-pasting it all!), but check out their website for the products. And see the original post for the great photos, which didn't come through my pasting, I'm afraid.


"Hello. My name is Wei. I developed Guilin Feiyu Electronic Technology Co., or more commonly known as FY-Tech.

We are very happy that you came in here and checked us out. We are where we are today because of our customers (that's you).

I have two good friends with me in this company, Simon Yin and Mr. Lee. We are all graduates of Guilin University of Electronic Technology (GUET). Both Simon and Lee continued doing their studies after graduating, whereas I decided to work.

I started FY-Tech in August 2007. Simon joined me in 2008, followed by Lee after they got their Masters (Electronic Engineering). By the time they joined me I had already built my first Gyro stabilizer for RC Planes. But it wasn't very good.



So their first jobs were to go through every single article on gyros and accelerometers in the libraries of GUET. We used Matlab and other software to test our theories and stabilization system algorithms. If the coding worked, we would build PCB to test the software in the real world. Our first break was in the AHRS algorithm, followed by the AFSS stabilizer and integrated autopilot.

Those startup months were filled with many sleepless nights, heartbreaks and the early morning breakthrough laughter.


Life wasn't easy, as we were holed up in our small office doing endless research discussions, testing and development of both hardware and software. This went on seven days a week, for months on end.

Countless trips to our local RC field tested the autopilot system in the real world. I must confess that since most of our time is spent in R&D, we almost never get a chance to fly in Guilin. We thank our friends here who have always been supportive of FY-Tech to test our research units for us.

By working hard and testing prototype after prototype, we developed our first bestseller, the FY20A - our first `baby'.



Sales picked up very quickly. We had enough capital to move to our new office and manufacturing facility at Innovation Information Industry Park.

As the customer base grew, demands for more features, flexibility and reliability in the autopilot system increased. Each new request more challenging than the one before.

It has been almost three years of doing this day-in and day-out. We are very proud of what we’ve achieved so far. The technology developed in our lab has now been utilized in robotics, UAVs, water crafts and most importantly the everyday RC flier.


Sometime at the end of May 2010, we decided it was time to introduce our products outside of China. Our three main sellers, the FY20A, FY21AP and FY3ZT have matured enough for the international market.

Our initial attempt wasn’t very encouraging. People outside of China couldn’t understand us. Language was a huge barrier. But with the help of friends, our message and products are finally coming across.

Response has been overwhelming. Within a short two months period, our products have been sold all over the world.

Which is probably why you are now here, reading this. Our story is just beginning. New chapters are being added even as I write this. Do come again soon. I’m sure we have more to show and tell.

Thank you again and fly safe.

Elikes Wei, FY-Tech."

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2010 Kansas Unmanned Systems Symposium



What: 2010 Kansas Unmanned Systems Symposium
When: October 4-6, 2010
Where: Overland Park, KS
Who Should Attend: UAV enthusiasts, UAV OEMs, Payload System Providers,
Public Safety Officials, UAV Technology Enablers, and Emergency Responders,
etc.


The 4th Annual Unmanned Systems Symposium, hosted by the Kansas National Guard, is an excellent opportunity for industry leaders, academia, military and government entities to share and learn about the fast-paced unmanned systems world. Please join us for this exciting and informative UAS event.

Join us for an intensive sharing and learning symposium that delves into the challenges and opportunities surrounding Unmanned Air Vehicles. Come and see how Kansas through a partnership with the Air National Guard and many of our accredited Academic Institutions are addressing the future through evaluation, demonstration and integration of technology to assist in Disaster Management and Homeland Security issues.

With emphasis on emergency response, public safety, and next generation system payloads, this premier event is a must attend for UAV enthusiasts, OEMs, payload system providers, public safety officials, technology enablers, and emergency responders. A live UAS demonstration will be conducted on October 6th at Kansas' own Smoky Hill Range near Salina, KS. Transportation will be provided.


For more information on the show visit www.uavsymposiums.com or contact me at jpowers@fhsllc.com





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T3
  1. http://www.procerusuav.com/Downloads/DataSheets/Kestrel_2.2x.pdf

"

Roll and pitch estimation corrected for coriolis forces

(10% to 25% improved roll and pitch estimates)

"

According to

http://en.wikipedia.org/wiki/Coriolis_effect

\boldsymbol{ a}_C = -2 \, \boldsymbol{ \Omega \times v}

|omega_earth|=2*PI/day=2*3.14/(24*60*60)=7.27e-5[rad/s]

assume aircraft diving at 20m/s in earth reference frame

|ac|=2*7.27e-5*20=0.003[m/s^2]=3e-4[G]

assume we have 16bit ADC which covers 100% range of the useful voltage (overly optimistic),

and the accelerometer is quite sensitive with 6G full span (+/-3G) (overly optimistic, procerus claims +/-10G).

Therefore 6G is divided into 65536 counts.

3e-4G equals then to around 3 ADC counts which is below noise level of most

accelerometers which would be around 2^4, by eye.

Therefore coriolis acceleration is barely detectable (you can attach a plane to the rails, push it down, and the only deviating force will be at most those poor 2-4 counts on extremely sensitive ADC, overswamped by natural sensor noise).

How did they come to 10%/25%?

Where is an arorr in my calculation?

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Rudder vs. Aileron


I'm sure this has been discussed here before, but past posts seem pretty well buried now.

I've been giving some thought as to whether rudder or aileron (in isolation of each other) is better for initiating turns via autopilot control. As a bank-and-crank RC flier (it wasn't until relatively recently that I learned that the left stick on my transmitter could be used for more than two things, idle and full throttle), my initial thought was to use aileron. But the more I thought about it, the more I realize that rudder is probably a better way to actually turn a plane with anything less than a 60º bank. (Just in case anyone reading this is not familiar with sport RC flying, the elevator actually makes the turn when the plane is in a steep bank. If rudder is used at all, it's used in the opposite direction of the turn just to keep the nose up. Indeed, some jets started coming out without any rudders at all, just fixed vertical fins. The AMA, I believe, now has a rule that functioning rudders must be present.)

So, I'd be interested in hearing what others have to say. Right now, I believe ArduPilot will give you either rudder or aileron, not both (correct?). If it gives both, it seems it would be based on a single, but mixed, signal. Would there ever be a need or benefit to having independent rudder and aileron control? I'm sure full-scale UAVs have this, but it might be a bit too much for an amateur UAV.

Thanks,

Paul

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A few people have been wanting to look at the path i took to get telemetry data from the above combination of hardware.


I used the ArduIMU v1.7 code, and the ArduPilot 2.6.2 code (it was freshest at the time).

ArduIMU
-----------------
#define BOARD_VERSION 2 // 1 For V1 and 2 for V2
#define GPS_PROTOCOL 2 // 1 - NMEA, 2 - EM406, 3 - Ublox We have only tested with Ublox
//yes i set the EM406 here

#define PRINT_GPS 1 //Will print GPS data
#define PRINT_BINARY 1 //Will print binary message and suppress ASCII messages (above)


ArduPilot
------------------
in void setup..
#if GPS_PROTOCOL == 3
Serial.begin(THIRTY_EIGHT_K_BAUD);
#endif

AP_config.h
#define SHIELD_VERSION 1 // Old (red) shield versions is 0, the new (blue) shield version is 1, -1 = no shield
//0-2
#define AIRSPEED_SENSOR 1 // (boolean) Do you have an airspeed sensor attached? 1= yes, 0 = no.
//0-3
#define GPS_PROTOCOL 3 // 0 = NMEA, 1=SIRF, 2=uBlox, 3 = ArduIMU, 4 = MediaTek, 5 = Simulated GPS mode (Debug), -1 = no GPS
//yes i set to 3 for the IMU here (you would think they would have made them common, oh well)

//0-4 Ground Control Station:
#define GCS_PROTOCOL 0 // 0 = Standard ArduPilot (LabVIEW/HappyKillmore), 1 = special test, 2 = Ardupilot Binary(not implemented), 5 = Jason's GCS, -1 = no GCS (no telemtry output)

Simply compiled, and loaded to each board using a sparkfun.com FTDI basic board, then assembled per ArduPilot manual (wiki), using the optional IMU instead of thermopiles link (second pict, with shield one).

Same setup, just replaced the xBlox with a EM406A.

I did use X-CTU to configure my xbees per the blog post Chris had done (along with note gleened from ladyada).
(i will upload these also, rx is computer side, tx is plane/whatever side)

I am also uploading my putty.log
Yeah, silly me, i just set putty to serial with 38400,n,8,1,none and enable logging (heck i run a 50k line scroll back usually <G>).

http://dynx.net/ArduPilot/

Disclaimer: I have a plane with only 1 wing, it does not fly, this code untested in flight. If you load and your bird ends up looking like a pug-nosed dog (or worse).. "use at your own risk..".
It is meant to show that even guys with older hardware can still play (especially the EM406 guys).


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Wing span vs takeoff weight

I'm new to rc planes.In a previous post I expressed my opinion about Muliplex EZ Star.Now I'm ready to upgrade to something more durable.

I see people fly all kind of airplanes:slowflyers, acrobatic, gliders,hotliners,etc.

I felt in love with fiberglass hotliners.But they come in different sizes:1.5 to 3 meters span(even more).
I almost bought the plane shown here.It's a custom made 2800 mm by 1250 mm long.

My first concern was the wing span.Is it too long for me?Will it be difficult to fly?
Because I saw a relation between wing span/vs plane weight my questions are:
What is the best ratio wingspan/weight for an all purpose glider(plane) and what is the optimum wingspan to liftoff 1kg of payload(video camera and accesories)?

My conclusion is:2800mm is too much for me.The best size is around 1500mm.

Of course this is only my opinion.

To be more rigorous I found a link on wiki describing relation between wing span and plane weight:

The aspect ratio of a wing is the length of the wing compared with the breadth (chord) of the wing. A high aspect ratio indicates long, narrow wings, whereas a low aspect ratio indicates short, stubby wings

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