Bi Copter + rear motor config ???

[tryss]

Hi all here is my build. The mix table need to be change from bi copter to tri. someone have experiences with this kind of config ?

[url]<http://www.facebook.com/video/embed?video_id=10200672427521558>[/url]

[tryss]

http://www.facebook.com/video/embed?video_id=10200672427521558

[tryss]

http://www.facebook.com/media/set/?set=a.10200561968160143.195432.1486931539&type=3

here is all the build pics.

[copterrichie]

A large part depends upon your expectation of the flight performance. Adding the third motor to a bicopter would enhance its ability as an aerial photography platform and the mixing would be something like this.

In the def.h file, change the motor count from two to three

Code: Select all

#elif defined(BI)
  #define NUMBER_MOTOR     3 //< Change
  #define PRI_SERVO_FROM   5 // use servo from 5 to 6
  #define PRI_SERVO_TO     6

In the Output.ino file, add the following

Code: Select all

#ifdef BI
    motor[0] = PIDMIX(+1, 0, 0); //LEFT
    motor[1] = PIDMIX(-1, 0, 0); //RIGHT 
    motor[2] = PIDMIX(1, 1, 0); // REAR
    servo[4]  = constrain(1500 + (YAW_DIRECTION * axisPID[YAW]) + axisPID[PITCH], 1020, 2000); //LEFT
    servo[5]  = constrain(1500 + (YAW_DIRECTION * axisPID[YAW]) - axisPID[PITCH], 1020, 2000); //RIGHT
  #endif

This is just a basis and will require adjustments.

[tryss]

Tanks richard ! I ll try this tokay.

[tryss]

So i dont need the 3/4 throttle ratio for the rear ?

[tryss]

i think you've made a misstake Richard. Rear motor don't participate to Roll so it's better to write it : motor[2] = PIDMIX(0,1,0); no ?

[copterrichie]

i think you've made a misstake Richard. Rear motor don't participate to Roll so it's better to write it : motor[2] = PIDMIX(0,1,0); no ?

Yes, I did. Sorry, the motor[2] = PIDMIX(0, 1, 0); is correct... As for the amount of mixing, you will have to play with that number. Reason is, forward motion is done by vectoring the forward motors so there is no need to raise or lower the tail.

[tryss]

Thanks i'll play with thanks ! for now i have a serial PPM problem... i'm using AIO Pro V1 and normally it's on serial 1 ? atmel 2560 is on the board.
someone can help ?

[PatrikE]

If you use pre2.2 ver you can move it to ThrottlePin.

// Uncommenting following line allow to connect PPM_SUM receiver to standard THROTTLE PIN on MEGA boards (eg. A8 in CRIUS AIO)
//#define PPM_ON_THROTTLE

[tryss]

Tanks patrike ! Its good to Know ? Why it doesńt work for me on serial 1 of the aio pro V1 ?
I'm using Frsky receiver.V8R7SP who normaly havé the PPV Sum on the l'astre Channel.

[tryss]

Strange ! When i add à third motor to bi configuration i havé problème with servo 6 ??? The bec become really hot ???
Im on aio pro v1 (méga). Any suggestion ? I ve added the motor as richard said. Motor(2) . It sucks !!!

[copterrichie]

Hmmm, very weird, let me my BM's copter but it is using an older version.

[copterrichie]

This is what I am using

Code: Select all

#elif defined(BI)
  #define NUMBER_MOTOR 3
  #define PRI_SERVO_FROM   6 // use servo from 6 to 7
  #define PRI_SERVO_TO     7

[tryss]

Ok so its différent than the native code with use servo from 5 to 6

[tryss]

here is a link on the first flight test.

http://www.facebook.com/photo.php?v=102 ... 8537054837

[tovrin]

very cool, i saw that on FB before i saw it on here and was curious what Flight software you were running! now i know!

[tryss]

http://www.facebook.com/photo.php?v=10200842387130442&l=5743490376764455800

here is a link of my flight test in guadeloupe. enjoy world !