Tricopter, 22cm, 260g

[gompf]

Hi!





First flight last night with MW1.6, ITG3200, ADXL345, BLC Hype 6A, Roxxy 2216/25
I need to get rid of some vibs now but it flies

Thank you, Alex!

Regards, gompf

[sleedo]

I like the look of your frame! Is it homemade or a kit?

There seem to be few kits available for Tricopters.

EB

[speto_sk]

Your frame is nice, can you send me documents.

[gompf]

Hi!

in principle it is the SLE-Y09.1V6 frame of "sms86" from the mikrokopter forum: http://forum.mikrokopter.de/topic-13589-1.html
The frame is ment as a hexacopter, is OS and you can find different design stages in the threat above.
I just shrinked it to 50% of the design size and did some mods for the tilt mechanism, servo and motor mounts.
I can send you the drawings for the tilt mod later, speto_sk.
I cut it out of 1mm GFK on a homebrew CNC with a DREMEL as spindle and used screws M1.6/M2 for assembly.

Milling the parts for the booms is very time consuming on my mill, so I´ll do a redesign to something similar to this http://ahm-rc.de/images/q4_unique_trikopter.jpg
to make live easier. I want to work with 13/12mm od/id carbon tubes to get 2 of the 6A ESCs inside the front booms.

Hovering time with Kokam 2s-740 is 7 Minutes, I just installed 2 switching BECs (Servo/CTRL) and rerouted some connections to check 3s vs 2s. Rough parameters were P 2/2/2. As yaw is very direct, setup is quite sensitive. I altered some lines in the code to limit yaw servo travel and allow software 0-point setup.

Code: Select all

  #ifdef TRI
    motor[0] = rcCommand[THROTTLE] + axisPID[PITCH]*4/3 ; //REAR
    motor[1] = rcCommand[THROTTLE] - axisPID[ROLL] - axisPID[PITCH]*2/3 ; //RIGHT
    motor[2] = rcCommand[THROTTLE] + axisPID[ROLL] - axisPID[PITCH]*2/3 ; //LEFT
    servo[0] = constrain(1534 + YAW_DIRECTION * axisPID[YAW], 1120, 1852); //REAR
                           ^edit for mid pos                    ^     ^  edit for servo min/max
  #endif

The skids are spares for T-Rex 450: http://www.live-hobby.de/products/en/Spare-Parts/ALIGN-T-REX-Spare-Parts/T-REX-450-S/Align-Landing-Skid-Set-black-T-Rex-450--HS1294-00.html?XTCsid=1bfd2e60d6825bb126f9886a4c48ad21

edit: some (sure not all) typos+explanation of code mods, any links to comercial sites are just for explanation.



Regards,
gompf