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View Full Version : TDD (Tri-Dual-Duino) VTOL airlpane test



RCvertt
10-27-2010, 05:08 PM
Not the most exciting video but I got it in the air. This was it's maiden hover today.

http://www.youtube.com/watch?v=l3S-5Nl1N7Q

lokling
10-27-2010, 08:19 PM
Nice :D Im thinking going from flight to hoover will prove the most difficult?

RCvertt
10-28-2010, 09:15 AM
Nice :D Im thinking going from flight to hoover will prove the most difficult?I haven't flown an RC airplane in over 10 years so finding a good pilot might be the hardest part. :D

Not sure how I'm going to do pitch control when at 45 degrees yet. I'll see if I can stay with tricopter pitch control for now.

Honk
10-28-2010, 05:02 PM
Really interesting idea! Is there any model like yours or did you just take it from "the air"? :)

RCvertt
10-28-2010, 05:48 PM
Really interesting idea! Is there any model like yours or did you just take it from "the air"? :) Been working on a four motor version for a while. Came to the conclusion that a tri version would be better two days before I saw this
http://www.youtube.com/watch?v=mPXWjFVbxMI

Saw this a while ago but I don't think he ever transitioned to forward flight.http://www.youtube.com/watch?v=9HZj36cdGmY

Saw this a few years ago. He hovered and used it for conventional forward flight but he never transitioned it. http://www.rcuniverse.com/magazine/article_display.cfm?article_id=1010 They discontinued the magister :(

Here is the last tricopter that I know of and the only RC savilian version that I have seen transition. He doesn't do it in this vid but I've seen one where he does. http://www.youtube.com/watch?v=hhgtMFX3ATo

lokling
10-28-2010, 07:37 PM
Im guessing some custom flight logic would be ideal to do the transition - ie bring the plane to a stall and enable quad stable mode as that happens. Something for the future :-)

RCvertt
10-28-2010, 08:49 PM
Im guessing some custom flight logic would be ideal to do the transition - ie bring the plane to a stall and enable quad stable mode as that happens. Something for the future :-)The more logic the better. I already do all the motor mixing for forward flight mode and hover mode based on the position of a transmitter switch. I have a version that can automatically switch modes based on the accelerometer reading of the aircrafts attitude. Turning anything on and off such as stable mode shouldn't be a problem also but we need a stable mode first before I can turn one on :)

The tilting is already done. It's similar to this but Mikro helped me solve the jitters you see in this video.
http://www.youtube.com/watch?v=pREg8c2sNAw

Honk
10-28-2010, 11:50 PM
Hmmm, the first video seems to be what you have now? It was very inspiring. Instinctively I think: 3 motors, 3 servos. Then I think: handles exactly like our regular tricopters (you know 3 arms and a tail servo) at hover, still can do almost all airplane moves by differential thrust and tilting of the motors. Am I right? I can for example imagine that for "airplane yaw", you could both use differential thrust on the front motors, but you could also just tilt the rear motor. Or do you use both?

This may be the ultimate platform if you want it all, both range and hover. Quads as I see it only offers hover and payload. Not range, i.e. flight time because it's not equally efficient at forward flight. But my purposes/uses is/will be mostly aerial photography and video, so I think still a quad is better for me.

But I got thinking, your frame must be very light. What if I based a quad on a foam frame... Hmm.

RCvertt
10-29-2010, 08:28 AM
Hmmm, the first video seems to be what you have now? It was very inspiring. Instinctively I think: 3 motors, 3 servos. Then I think: handles exactly like our regular tricopters (you know 3 arms and a tail servo) at hover, still can do almost all airplane moves by differential thrust and tilting of the motors. Am I right? I can for example imagine that for "airplane yaw", you could both use differential thrust on the front motors, but you could also just tilt the rear motor. Or do you use both?

This may be the ultimate platform if you want it all, both range and hover. Quads as I see it only offers hover and payload. Not range, i.e. flight time because it's not equally efficient at forward flight. But my purposes/uses is/will be mostly aerial photography and video, so I think still a quad is better for me.

But I got thinking, your frame must be very light. What if I based a quad on a foam frame... Hmm.
The tri is what I have now. I just took the back part of the quad version apart and put a single fixed motor there now.

Yaw is done by differential tilting of the front motors. It's very responsive. Pitch and yaw in forward flight will be handled by tilting the motors and adjusting the rpm of the motors like you said. No traditional airplane surfaces on this one but an elevator and ailerons or rudder would be a good idea for redundancy if you have an expensive camera on board.

You're right a tricopter version is more efficient than a quad but a quad can lift more like you said.

RCvertt
11-07-2010, 01:34 AM
Any one have a suggestion on how to ramp up my rear motor when going from forward flight to hover?

The rear motor will be off during forward flight and on during hover flight. I need to have a ramping transition when turning on the motor for forward flight though, or the motor will most likely stall.
--------------------------------------------

I'll see if this works...

if (receiverData[AUX] > 985 && receiverData[AUX] < 1300) { //Hover mode
if (transmitterCommand[THROTTLE] + motorAxisCommand[PITCH] > motorCommand[REAR]) motorCommand[REAR] = motorCommand[REAR] + 1; //Ramp up the rear motor speed.
if (motorCommand[REAR] == transmitterCommand[THROTTLE] + motorAxisCommand[PITCH]) rearMotorRamping = 0; //Check to see if the rear motor has caught up to it's currently commanded value.
if (rearMotorRamping == 0) motorCommand[REAR] = transmitterCommand[THROTTLE] + motorAxisCommand[PITCH]; //Turn off rear motor ramping when it has caught up to where the motor is being commanded to.
}


if (receiverData[AUX] > 1600 && receiverData[AUX] < 2020) { //Forward flight mode.
motorCommand[REAR] = MINCOMMAND;
}

---Edit
Woo hooo. It works. If I haven't said it before, I'll say it now. AeroQuad rocks!!!
http://www.youtube.com/watch?v=q-YiUiXQcpU