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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