Tricopter "Whirlygig" frame

[Kevin_Erik]

Link to .STL files: https://www.thingiverse.com/thing:3597694

Design is for use with the following components or their equivalents.
-Matek F405-Mini (dRonin has support for this board and thus it can autotune the PID’s)
-Runcam Micro Swift 2
-Micro Swifts companion VTX TX200U
-Emax Bullet 6A ESC’s
-Bluebird BMS-101HV Servo (19 tooth spline)
-Brushless 11XX motors capable of 2S
-Frsky R-XSR Receiver
-2″ Propellers
-2S 300 – 400 mAh Lipo with JST connector

Cheers!

Kevin

[Kevin_Erik]

1st Build and maiden flight completed 5/17/2019 !

[jihlein]

Great job Kevin!

[Kevin_Erik]

Thanks Jihlein.

Had fun with it earlier chasing my son around the house with it.

BTW, Still haven’t gotten the Telemetry working between the Matek F405-Mini (pad 6) and the R-XSR. Would be nice to enable this just to only monitor the battery. Running outa ideas…Any thoughts as to why this would misbehave?

[jihlein]

You’re following the BetaFlight wiring guide. BetaFlight uses softserial on S6, which dRonin does not support.

You need to use a uart Tx pin with the non-inverted Sport output from the R-XSR. TX4 looks to be in a convenient spot.

[Kevin_Erik]

Will give that a go later tonight after the Kids are in bed.

[Kevin_Erik]

Here you go.
https://youtu.be/HFm1F4YyL4E

[Kevin_Erik]

Updated the frame and posted the build here:
https://rotorbuilds.com/build/18331

[Kevin_Erik]

I’ve recently added an Aikon 4in1 ESC and a stiffer frame. Should Autotune and test fly it today!

Attachments:

1. 

   IMG_1420.jpg
   

2. 

   IMG_1421.jpg
   

3. 

   IMG_1417.jpg
   

4. 

   IMG_1418.jpg
   

5. 

   IMG_1419.jpg
   

[Kevin_Erik]

Autotune completed… Whirlygig has 6.25 : 1 TWR @ 131 grams!

Starting PID’s
Roll 8/8
Pitch 10/10
Yaw 5/5

[Kevin_Erik]

Here is the latest build: https://rotorbuilds.com/build/18949

Specs / Estimations
Thrust of each motor: 273 g (819 total)
Copter Weight: 91 g
Lipo Weight: 55 g (4S 450mAh)
Total Weight (with battery): 146 grams
Thrust to Weight Ratio: 5.61
Racing Flight Time 5.13 minutes
Hover Flight Time: 17.9 minutes

Hardware
Matek F405-Mini Flight Controller
Bluebird BMS-101HV Servo (19 tooth spline)
Aikon 4in1 ESC 35a 6S
Mini 360 micro BEC (5v, Flight controller)
Mini 360 nicro BEC (7.5v, Servo)
Emax RS1106-4500kv Motors
AVAN Mini 3″ Props
RunCam Micro Swift 2 and RunCam TX200U
Frsky R-XSR Receiver
Zip-ties, < 2.5 mm wide & 1 mm thick
3M 20 mm Aluminum Stand-offs

Attachments:

1. 

   IMG_1428.jpg
   

[Kevin_Erik]

After i get back from Houston, i plan on fully tuning the 2″ Whirlygig Tri for my son. (Don’t have my gear with me currently)

https://rotorbuilds.com/build/19157

Specs / Estimations
Thrust of each motor: 74g (222g total)
Copter Weight: 45g
Lipo Weight: 17g (2S 300mAh)
Total Weight (with battery): 62g
Thrust to Weight Ratio: 3.58
Racing Flight Time 3-4 minutes
Hover Flight Time: 4-5 minutes

Hardware
BetaFPV F4 2-4S AIO Brushless Flight Controller 12A (BLHeli_S)
Bluebird BMS-101HV Servo (19 tooth spline)
DYS BE1102 Brushless Motors
2″, 3-Blades props
2S 300 mAh Lipo
Frsky XM+ Receiver
Zip-ties, < 2.5 mm wide & 1 mm thick
Canopy https://www.thingiverse.com/thing:3726519

Should everything go well, I may create a 2S Bicopter version that uses 3″ props. The ducts will be altered to act as Duct-wings. Thus allowing the duct to provide lift from only one side as the copter in forward flight. (front facing edge will have an Aero-lip, while the rest will not) This will allow better stability in forward flight as well as provide additional lift. Only issue I am having thus far is finding 3″, two bladed, stub nosed props. Those would be the most efficient while keeping the duct clearances as tight as possible. Could use 3 bladed props but the flight time and current draw wouldn’t be quite as good.

Side note: I’ve picked up some Fatshark HDO’s / Rapidfire while here saving me 300-400 with respect to EU prices. Should have on board recording if i remember correctly.

Attachments:

1. 

   2-Inch-Whirlygig-side-view.jpg
   

[Kevin_Erik]

Tuned the little beasty today. Attached below is the CLI-Dump.

Attachments:

1. Betaflight-3.5.3-CLI-Dump-BetaFPV-2-inch-Whirlygig.txt

[adamcooney1]

Thanks @Kevin_Erik. I printed your 3″ frame and built a Micro Tri. Love it. Thanks for your hard work on the design. Flew this one LOS and I will be adding a camera soon. Flies great with stock setup using BF 3.2.2.
I’m really going to miss this place, I’ve learned so much from you guys….. Sad

Attachments:

1. 

   1021192001.jpg
   

[Kevin_Erik]

@Adamcooney1

That’s awesome! What material did you make the frame from?

Just so you know I’ve made significant changes to the design, thus allowing the copter to be 30 grams lighter and flown inverted. The inversion grants a much smoother Yaw response, while keeping the motor thrust away from the frame.

Once I feel happy with the build I may release the .STL. Though, not 100% sure of this yet as there’s also the desire to sell the frames to for cover the cost of future design improvements. In the mean time, I can have a copy made and mailed to you directly. Just need to work things out via PayPal to cover the costs of the print (Nylon / Carbon) and shipping ect.

What you see in the attached photos, flew using…
* BetaFPV 2-4S F4 Flight controller. (12 amp)
* Openlog serial data recorder
* Runcam “Robin” camera and TX200U transmitter
* BF 4.1 and New RPM based filtering
* 1105-5000kv brushless motors
* Avan 3″ mini props
* FrSky R-XSR F.Port (UART 2)
* Bluebird Mini Servo, BMS-101HV (LED pad)
* Mini-300 UBEC (Servo 7.4 voltage supply)
* 50V capacitor

Unfortunately, I’ve a defective BEC so the flight controller must be replaced. (still waiting for it)
Edit: Can you please post your build on https://rotorbuilds.com/?

Cheers!

Kevin

Attachments:

1. 

   3-inch-inverted-Tricopter-WIP-1.png
   

2. 

   Wiring-Layout-1.jpg
   

3. 

   fusion-360-image-1.png
   

4. 

   LOG00002Flight-2_0_response.png
   

[Author]

Posts