Windestål tricopter скачать в хорошем качестве

Windestål tricopter

Here is a short flight with my David Windestål tricopter. I learnt to fly on this, it is really good for a beginner since it is so stable (even more so with Self Level on). That stability really came in handy when I learnt how to fly nose-in (the control directions become reversed) as it is so stable that even when my brain copped out and told me I was on my own, usually all I had to do was give it some yaw so it turned nose out. Then my brain said "Ok, I'm back" and I could try again. Slowly but surely I learnt nose in which is when you really can have fun! Setup: David Windeståls frame plates (see rcexplorer.se), three aluminium legs from a Hobbyking quad, DT750 motors (these are great if you modify them like David), 3 SimonK'd Multistar esc's, 5V UBEC (since the multistar esc's are OPTO), 2350 mAh 3S Rhino 30C lipo, KK2 flight controller with V. 1.6 SAT, 3 GemFan props (10X45, two 1045R, one normal rotation), Hitec 425BB servo (overkill but it was lying around), David's yawmotor tilt system, door stop feet, Rat's nest of wires. The geometry on this tri is wrong, the back leg is actually too short. The reason for this is I reused the legs from a quad, and they are the same length. As you can see, it doesn't seem to matter! I put David's yaw motor tilt system on a piece of wood and fastened it with zip ties to the leg. This way it is easy to transplant the whole setup to another tricopter. The PID's are: Roll: Pgain=50. Plimit=100, Igain =25 Ilimit=20. Pitch: Pgain=50, Plimit=100, Igain=25, Ilimit=20. Rudder: Pgain=50, Plimit=20, Igain=50, Ilimit=10. Stick scaling: Roll 30, Pitch 30, Yaw 50, Throttle 90. Self level: Pgain=100, Plimit=20. I hate tweaking things (cos I don't understand what it is I am tweaking) so some of the values exceeding the limits may not make sense. It does fly well, which counts most for me.-)! Have fun! Matt D'rat