This is my first multirotor build. After building and flying fixed wing airplanes for 2 years I found this project to be an easy build and a very stable platform.
Parts List:
- HK KK2 board flashed to firmware v1.5
- DT700 motors
- Turnigy Plush 18A ESCs (not reflashed)
- Orange 6ch Rx
- HK 10 x 4.5 SF props in blue and yellow
- 3S 2200mAh 35C LiPo
- 1/2" square basswood arms
- 1/8" hobby plywood
The build closely follows David Windestål's tricopter v2.5 design with the following differences:
- DT700s instead of DT750s
- Extended the ESC wiring instead of replacing it at the board
- Used clear tape to attach the wires to the arms for a cleaner look
- Mounted the ESCs between the circular frames instead of on the arms
- Devised my own yaw control mechanism
- Swimming noodle chunks for landing gear
- Toothpick shear pins through frame to keep front arms in position
Build video:
Here is a flight video (tricopter gets small several times):
Closeup of the board's antivibration mounts:
and the yaw mechanism:
I have been slowly adjusting the KK2 board's settings and have been concentrating of the self leveling settings so far. They are as follows:
- P Gain 85
- I Gain 85
These settings allow the tricopter to move very quickly in roll and pitch and return to level fast.
Yaw settings are not connected to self leveling so to get good yaw response I have them set to:
- P Gain: 60
- P Limit: 40
- I Gain: 40
- I Limit: 50
These setting allow for a 1 rev per second yaw and an almost instant stop.
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