I aborted my maiden flight due to it being cold as f... out! So I'd rather sit in front of the computer with a beer and describe this contraption a bit, then spend some time fine tuning the PIDs on the test stand.
What you're seeing is just a rough sketch, so please don't pick it apart. There are lot's of details to refine still, but it works as I had hoped at least!
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All the props are pushers in this pic, couldn't find the tractors until after I shot the photo : /
This spindly landing gear is just a fill in for the time being, I'm working on a really sweet version that is not ready for photography yet.
My goal for this project-
Clear view, no props in the shot even at gimbal extremes
Utilize the waterproof GoPro housing as the tilt structure, for crash protection and to simplify and shrink the system
Camera coplanar with motor mounts
Ease of use, adjustment, and repair
Maintain live video out
Access to camera battery and sd card without removing the housing from gimbal
(edit: Forgot to mention, must look like a Klingon Bird of Prey)
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The basic concept is very simple- An axle shaft with tilt yoke mounted on one end, this axle rides on nylon bushings located with cross-members supported by parallel rails on either side of it. These rails make up the main structure of the airframe. I will make these pieces from larger diameter woven tubing next time(most likely). I prototyped some accessories that attach directly to the gp waterproof housing (when I get my 3d printer up and running, I will make proper parts). Tilt is currently controlled with a pull/pull set up, this will be modified somewhat in the next version- maintaining the kevlar thread running up the axle, but then to a capstan on a small shaft running perpendicular and finally driving the tilt with either gears or belt. Roll is currently driven with a pull/pull as well, next version I will explore driving this axle through a small gear reduction. In this version I was able to group and place the servos remotely to help with weight balance and packaging .
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Obviously the tilt yoke can be stiffened and lightened, along with most of the other assemblies on the craft!
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I'm using APM 2.0 for flight control and camera control. I have the tilt axis set up for auto with manual/head tracking override, roll is auto only.
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I made a VERY low profile 2.5mm av plug for video out from the waterproof gp housing. Sorry for any confusion in the post title, the entire craft is not waterproof, although water resistant would not be terribly hard using this setup.
For MkII I plan on building a different frame style around the basic parallel rails and central rotating axle shaft. A folding H, more specifically a Roman five shape, "V" with horizontal bars across the top and bottom. The hub and spoke style is really hard to pack everything into.
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The gimbal itself is very light, constructed with 16mm pultruded carbon tubes and g10 sheet. Balance is perfect with a 5.6Ah 4s and adjustability designed into everything.
My end use is single operator camera piloting for long following and tracking shots past LOS, mountain bike films etc. I don't want to fly heavy cameras and glass. Ideally I'd want a Gopro "pro" model with some different lens choices, maybe a scaled down Black Magic, I'd like to keep my whole system small and just keep improving endurance.
Thanks Guys