MultiWii

Hi all,
This is my first copter machine, I build this for my FPV purpose, something slow, stable and like a spy FPV machine . It's based mainly on Rcexplorer design.

Board plate: 2mm fiber flass
Arm: 10x10mm aluminium square tube, 48cm length (previous is pine-wood arm)
Motor: DT750 with emax 10x4.7 prop (same direction)
ESC: Turnigy F30A reflashed with Simonk firmware (previous is Plush 30A)
FC: Crius AIO Pro V1 (previous is Crius SE standard)
Tail servo: BMS-385DMAX 4.2kg digital servo
Battery: Turnigy 3S2200 25C
GPS: u-blox NEO-6M

After long time read, test, build, it gets better and better with MultiWii 1.9, 2.0 and 2.1.

My camera & battery woodplate, anti-vibration with rubber ring & rubber damper, I make it like a small shock-absorber.










Some video clips

Onboard camera, Acro mode
https://www.youtube.com/watch?v=iDtaXhWb4zg

Onboard camera, RTH test
https://www.youtube.com/watch?v=iUsS5uENxPI

ALTHOLD test
https://www.youtube.com/watch?v=LL_GSdfmp_8

GPS POS+ALT HOLD
https://www.youtube.com/watch?v=fvNUo77XiXw

POS+ALT HOLD low altitude
https://www.youtube.com/watch?v=2WDMIajdoBg

I love the tricopter or Y design, especially vtail and want to upgrade to the vtail for mor lifting force & non-servo design, but it's good now

Nice work.

Thank you, rimshotcopter !
Hey man, I love your sweptback vtail style, is it still flying? I have some question about vtail's keys design, do you mind explaining me? I've read some info you posted here viewtopic.php?f=8&t=665&start=50#p13497

In my point of view, Vtail or single tail motor, is just a lifted-point. So, if I want to increase the whole lift force, I use the same 4 motors, with the same props, vtail angle is 30deg. The rear point force will be F x 2 x .866, the whole lift force will increase from 3xF to 3.732xF.

If I want to keep the tricopter original design, with 120deg arms's angle, one thing will be changed is the COG, the rear arm is heavier, so the arm should be shortened to keep the COG center. But the rear force also increases, do I have to change some MIX in multiwii or just use Y4 mix as you said?

Why you used higher kv on vtail?

Thanks!

love the extended boom look! nice bird VPB!

thank you, tovrin!

VPB, I employ a little bit of a different tactic with my v-tail however what you are describing will work also. It has been done by a few other however I believe they had their thrust vectored outwardly. The more angle given to the V, the less downward thrust there is, this can be calculated at cos(Degree of Angle) x thrust. On my Sweptback copters, I do 80 percent of the lifting with the forward motor/props and is the reason why they are much bigger than the tail motor/props.

So bigger angle (from horizontal), bigger sin value, more lift force but props will also be closer. so we need small pitch props and higher kv motors to keep force lift. And larger angle will have more yaw authority. It's clear now. Thank for sharing, copterrichie!

vpb, please, share your PID config

Ya, here it's is

Thats exactly what I've been looking for! Awesome. I've been flying multicopters for a couple of years and the tricopter is my favorite. http://www.youtube.com/watch?v=5_oVUhdv1ow After loosing my tricopter a couple of times I bought the DJI NAZA hexacopter which is really simple to set up and works perfect. http://www.youtube.com/watch?v=qlQbL8en9XI The hexacopter would always give more vibrations in Gopro videos though and I miss the tricopter style. Hence I've been looking for alternatives. This seems to be the perfect thing! Do you have some kind of guide for the setup. There are probably a lot of pitfalls to avoid?

Hi very beautiful flight! , which camera are you using?

You mean Multiwii-setup for this tricopter? Multiwii is very powerful, more and more powerful, but it's not plug & play, you have to read a lot for configuring & tuning.

Thanks. It's a GoPro2. Working on animproved anti-vibration mount. I've ordered the Crius aio pro and hope to be able to set it up for tricopter. I'll probably have to ask you for advice along the way.

hi vpb,

just have seen your nice tricopter build.. Also I built one tri which looks like a brother to yours, but with 55 cm arms, 1000kv motors, and stiff 9x4.7 carbon reinforced props. Added also the GPS stuff
and have now one very nice flying Tri with a working RTH function. I had to do a lot PID adjustments to get the GPS addon work properly, but its fine now

So I´m wondering just about your gyro PID, with the D value = 0. Do you have a special reason for this unusual D value for gyro ?

thank you and happy flying
Georg

Hi there, please share a clip .

For the zero D, I made a big value, about 50, and then I tuned it down, and at 0 it is smoothest/stablest.

What's your AUW?

hi,

My actual tricopter weight is 1050 gr, with a 2200mah bat and without cam.
I never did not try zero D. Will do it next time. One clip from last Sunday. The RTH was defined so that to fly just without turning the head, it flies backwards here.

https://vimeo.com/52105028

Its just miserable quality, sorry for that. The day was nearly finished but better clips will follow.

georg

I upgraded my Tricopter to Y6 config, add three more F30A, DT750kv, all CW&CCW 10x4.5 GF props. Cant even say a word, stable! I name it FF Y6 (full folding )

New landing gear, home


Ready to transport



Ready to fly



On the sky




My fpv station


Running r1177 with frsky mod, new alt hold algorithm, thanks to Mahowik! I can put down my TX, lock GPS and Altitude, walk arround taking pictures and recording clip
https://www.youtube.com/watch?v=rXxY2wNFI9Q

I'm really new to multicopter FPV flying, so I need some basic copter flight training. Follow the way I see copterrichie's doing, I train myself. Love the way multicopter flying

Onboard camera
https://www.youtube.com/watch?v=Zdx67tSDdpY

Will continue to update my training clip.