Length over all is 100cm. Weight is 750gramm plus 400gramm for batteries.
It is a combination of a quadx with 8"props for stabilization plus two additional big 10" rotors front&rear for lift.
Code: Select all
#define HEX6
#define MY_PRIVATE_MIXING "HEX100mixing.h"
#define LEAVE_HEADROOM_FOR_MOTORS 4 // leave room for gyro corrrections only for first 4 motors
with HEX100mixing.h:
Code: Select all
// for two big rotors front&rear used for lift (and pitch) :
#define LIFT_MIX(X,Y,Z) rcCommand[THROTTLE] + axisPID[PITCH]*Y
// for 4 small center motors - used for stabilization: - roll, nick and for yaw :
#define STAB_MIX(X,Y,Z) rcData[AUX2] + axisPID[ROLL]*X + axisPID[PITCH]*Y + YAW_DIRECTION * axisPID[YAW]*Z
motor[0] = STAB_MIX(-1, +1, +1); //REAR_R 3 ccw (pin numbers for mega board)
motor[2] = STAB_MIX(+1, +1, -1); //REAR_L 6 cw
motor[1] = STAB_MIX(-1, -1, -1); //FRONT_R 5 cw
motor[3] = STAB_MIX(+1, -1, +1); //FRONT_L 2 ccw
motor[4] = LIFT_MIX(0, -1/2, 0); //FRONT 7 cw
motor[5] = LIFT_MIX(0, +1/2, 0); //REAR 8 ccw
two big lift motors are driven via throttle signal with regular throttle curve in tx 0-50-100;
4 stab motors are driven via pitchcurve signal on aux2, with pitch curve in tx 0-70-70-70-70; so during entire throttle range they spin with constant 70%.
- asymetric layout
- HEX100
It is flying ok with default PIDs but is not real agile and not real stable. I find yaw authority is not sufficient for my taste, especially when comparing with TRI. Besides, transporting it on bike is tiresome. Chances are I will convert components into another foldable TRI.