Acrobatic H-Quad

by ghostrider03z | March 22, 2014 | (6) Posted in Projects

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.

COMMENTS

LordVader on March 23, 2014
Really cool. Been thinking about doing a quad. Seeing this has further pushed me to give it a go. Thanks for sharing.
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RCEM-Joey on April 4, 2014
Looks good man. Do you know your flying weight?


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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ghostrider03z on April 4, 2014
exactly 1.5 pounds with a 22003s. Good suggestion, it would help, but id need to move my kk2, and I really dont know where to put it.
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RCEM-Joey on April 4, 2014
hmmm good point, I'm used to the multi wii with the connectors pointed out.
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EvanVH on March 23, 2014
Very cool. I am very close to my first flight with my H-quad. Bigger than a knuckle quad.
Evan
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Acrobatic H-Quad