What happend was: After changing my tail servo it reversed the control action. I compensated in the transmitter for this reversal. I neglected to compensate in the control program. So here it is: if you hold a tricopter and turn on the motors, you can twist the airframe and feel the tricopter “resist” the movement due to the gyro stabilization routine. Therefore, the logic is clear: when I twisted the tricopter and the gyros corrected, they corrected in the opposite direction! Yes, the tricopter ACCELERATED in the direction of my twisting and spun around and bit me so fast it could put a rattle snake to shame! Lesson learned: I now wear safety glasses when ever I am closer than 10 feet to this thing. ’nuff said.
I promised to show the power distribution setup and here it is:
I cut two copper washers out with a 1″ hole saw ( positive and negative) as the main buss. This was done to faciliatate easy removal and replacement of each individual speed controller. In multicopters, a central power distribution architecture helps keep the aircraft smooth and stable during a transient high powered manuver. I took both copper washers and bolted them together with a nylon bolt with a teflon washer between them. What, you don’t have sheet of teflon laying around? A nylon washer would work just fine, heck a plywood washer would work, or a piece of an old credit card, or …… any insulator will work at these voltages. Check out the overview from the top with the top plywood bulkhead removed.
here is a close up
here is a close up from the bottom
here is and extreme closeup of the top. It has easy access to de-solder any speed controller, if need be.
This image shows the top “bulkhead” installed and the “servo leads” of the speed controllers threaded through the access hole.
Here is the control board installed
here are various images of the completed airframe
That’s it for this month. Next month: Flight Tests ! Stay tuned for next month:
The Next Big Thing !
Rocket Bob Kreutzer
