Multirotors have me hooked recently and I wanted to do some tricks, so I built a Knuckle H-Quad frame.
Motors: 1500 Kv blue wonders from hobbyking
ESC's; 18 amp plush
Battery: 2200 3s
Controller: KK2
Here are my PI settings:
Roll/Pitch: Yaw:
P gain=60; 50
P limit=100; 20
I gain=45; 50
I limit=20; 10
Video at the end of the article!
The parts are simple to make, so I made V1 with cabinet backing for knuckles and 10 inch booms.
Cutting a big square of wood would not be the easiest task, so I made my center plates out of coroplast
Here are the stick scaling settings.
Well, this first frame was awesome, but it did have a bend and the right motors were like a CM closer than the left motors...
So along came version 2; Same electronics and all. Even painted school colors haha
The center arms are 10 inches long but this time I made the motor arms 11 inches long, I felt the roll axis was very unstable. Not only did increasing the length of the arms make it more stable, it made it a lot more quiet.
Still, I used coroplast center plates.
I moved the stick scaling up by 5 on roll and pitch.
The board is flashed with 1.6++ rev 3 firware so I can have one profile for acrobatics, and one for just flying around.
Here's the video, hope you guys enjoy.
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Evan
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Also, just a suggestion, if it will fit move the battery on top of the frame. With the battery on the bottom it creates a small pendulum spanning from the roll center which is closer to the height of the motors. Though this makes things more stable, it makes the vehicle less aerobatic. If you move it to the top it'll make your rolls more like rolls and less barrel rolls.
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