Mats Tricopter - "IAP"

matwelli

Member
]"IAP"

It
Aint
Pretty !

But man it flies, nice and smooth

Yaw (rudder) at 100% and 40% expo
Roll/Pitch at about 50% throw and 30% expo
Gain at 50% on all three

Absolutly a blast to fly in 15 km/hr blustery head wind, thats what I maidened it, and myself in, almost made it easy as with that much wind, i was always flying in one direction, no orientation issues.

motor-motor distance 900mm
AUW 1.2 Kg
ESC's 25 amp turnigy plush
Motors Emax 1200K
Prop 10 by 3.8 APC
battery Turnigy 3S 2650 mah
4 mins on 60% charge flight time

35mm by 1mm aluminium angle for the frame
Quadframe Yaw setup
2.2kg digital servo

Running all three ESC BEC's linked together

control by FrSky 8 ch reciever and Turnigy 9x Transmitter

Stabilisation KKuk controller with 3 Gyros.

It was a quick build, no pretty, but was to prove to myself that I can fly these things, as trying to fly at 300mm diameter was doing my head in !

View attachment 1View attachment 2View attachment 3View attachment 4View attachment 13
 

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matwelli

Member
Doh !

hmm, windy, and I let it get "away" from me, wasnt in control of it, was fighting it.

View attachment 41.

The Tri itself was very well behaved.
 

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Bartman

Welcome to MultiRotorForums.com!!
Sorry to see you've had an encounter with the ground Matt. How do you control yaw with only three props? I thought you need an even number to balance out the torque.
Regards,
Bart
 

matwelli

Member
it happens :) you should see my dwindling fixed-wing fleet :)

Tricopter uses the rear rotor for yaw control, does this by using a servo to vary the side thrust, not by differential prop speed.

Upside - in theory yaw control is fast and positive
Downside - moving part to break and when applying yaw control, pitch is affected due to the whole rotor
 

Bartman

Welcome to MultiRotorForums.com!!
I understand completely. For the longest time I never flew anything bigger than a .60 2-stroke glow plane because of my tendency to run out of altitude at inopportune times :mad:
I recently made the jump to giant scale but I can't seem to relax like I used to flying the smaller beaters and my Mikrokopter Okto is a whole other level of $$$ on the line each time it flies so that's going to take some getting used to.
Let us know when you get the IAP up and running again.
Bart
 

matwelli

Member
Rebuilt

Rebuilt and flying !

got 6 flights in today (and a total of 8 for me flying multirotors)

5 flights on 3S 2600 mah, but did the last flight on 4S

the flycam 925 motors and apc 10.3.8 props were sweet on 4S, the only diferences were - 45% throttle to hover as opposed to 60%, much quicker response - the gyro gains on roll and pitch need to be reduced, it oscilates when on 4S

all up weight is now 1130 grams, after reducing the overall size from 900mm to 660mm

I am still at the "oh look, i can hover" stage :)

http://www.youtube.com/JtTbNkWLjS8
 

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matwelli

Member
couple more pics
 

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