This was a well thought out application challenges/educational video; however, I cannot help to think if you had simply added two rudders behind the motor thrust-line so regardless of the flight mode you had same control inputs. Any thoughts?
This is probably the most cogent explanation I've seen about tailsitter flight dynamics. Breaking down the problems one step at a time, plus not being afraid to show code, makes this super easy to understand. Excited to see your next build!
Seeing each step was fantastic! I'm especially impressed he was willing to fly all of the intermediate steps that he knew were going to fail. It's so easy to just think through these problems and skip to what you assume is the finished solution, but actually testing the physical response of using a binary transition or not changing the forward flight gains really drives the lesson home.
The fact that you give such a good explanation into how and why you did things, makes this video to be into a whole other level. It passes from being an entertainment video to be a super good educational video + still being fun to watch. I'm exited to see the next project.
Yep, I think it's time to breakout the drehmflight board again and play with it some more! You really have made something special here with your software and videos. I appreciate you taking the time to share this stuff with the world
Nice! It's always cool to see people who are able to do physical design/builds, complemented with coding skills to solve both problem domains. Really looking forward to your large, folding design!
fabulous video. i really like the progression: stepping through each problem on the path one at a time, and placing the viewer in the mode of expecting each change to be the last one, but then exposing the remaining issues to address
The only thing your “unimpressive piece of foam” needs to be my dream aircraft is a camera, vtx, and code that pivots the camera mount 90 degrees during flight mode transition. Your next project looks absolutely stunning! I can’t wait to see it! Thanks again for all your hard work and for sharing it with us. 🙏
I suppose a second camera and a PWM-controlled switch would be about the same weight as a servo and linkage, with less mechanical complexity. If the camera switch signal was sent as part of the flight mode transition function, it would make the transition even simpler. Thanks for the video suggestion. 👍
Great technical overview! I purchased Horizon Hobbies Xvert 5 years ago. Great VTOL and performs like your plane for transitions. This plane is a ton of fun to fly and very inexpensive. Keep it up! Love your videos.
I don't recall how I stumbled upon this channel but I'm happy I did. The way you explained all that gibberish was impressive. Keep doing what you're doing!
Glad you was able to hear what I was screaming through the screen from the beginning of your video about you need a factor changing the weight of control and two different controllers for diffenent modes. :D
You are brilliant. Everyone wants to see you build a single-seater VTOL machine capable of 1 or 2 hours of flight time, will essential avionics (com, nav, weather), and some safety features (enclosed blades or jet ; crash parachute...) ; plus a pivoting nacelle - that would be THE airborne motorcycle
Hey, I know you aren't impressed with your "piece of foam", I am impressed. I've been trying to get a plane working but struggling with the balance because I have older, heavier equipment. Basically, another awesome job! Well done.
Flight dynamics and controls is such a challenging problem. So many important details! Great clear walk-thru of the basics leading up to achieving stable transitions. Being able to make reasonably smooth transitions to level flight without airspeed or angle of attack sensors is pretty amazing. The ultimate test would be to fly the tail sitter through a loop, or barrel roll ... involving transitions to hover at various points in the maneuver.
Love how to showed the code and talked about how. Peeps leave out the details so thanks for the info cause I want to do this shit but I ain’t that so any info is awesome!!
Well that freaked me out. I was across the room listening to the end of the video and I hear (seeming to come from someone in the room) “hey look it’s RCTF” and of course the next thing I hear is Daniel’s voice as a video I had started yesterday auto-played. I was utterly confused for about five seconds. Well done lol
Thanks for the arduino version added to the RCGroups page... now to sort the wiring out..... if you only knew the amount of times I tried to set up a tailsitter years ago using other flight controllers....this seems too simple to be true.... now to dust off a few old wings.... and print some more glue on motor mounts..... cheers
This tailSitter looks so much fun! I want to build one ❤ I found that you provide the final code over at Patron! You should totally rebundle this video as a build video, and market it as: a cheap sub 250 project you can build with your kids and have a great intro to programming 🎉 This is basically kiwico without the parts. And you buy working code by signing up for Patron 😊
This settles it, I'm making a Drehmflight FC PCB thats actually made properly. Last time I tried it really wasn't up to spec, but seeing what you can do with it tells me it's worth it to go again.
Check out @michaelrechtin's 3d printed quad project...he made a pretty sweet pcb breakout and I have a few on my desk now. Here is another someone made: github.com/joerenteria/dRehmFlight-PCB
I remember designs for carrier based tailsitters for the US navy in old popular mechanics magazines. Without fly-by-wire they would have been death traps.
The code is very clear and simple and well written. Thanks for making that available, it helps see how all this works. Have you done any more on the spinning 3-wing drone. I love the way it looks in straight flight. You left a teaser at the end of "part3" but I don't see anything since and that was a year ago.
You could also call this one the aileron sitter. If I was doing this I may want a bit of stand-off so it was not actually landing on the control surfaces.
This is an awesome project and walkthru for the "hover to forward" flight problem, I followed your thoughts the whole way and it is so satisfying! One thing I'm not sure about is at 8:20, did you set the fade transition time on a fixed timer, or is it something else that's controlling/adjusting how fast or slow the fade phase should be? Thanks for answering my question and for creating such awesome content, keep up the amazing work!
It's on a fixed "timer"--in reality it's just rate-limiting how much that variable can increment with each flight controller loop if that makes sense. I tune that increment size which directly corresponds to total time from 0 --> 1
I have built my own "tail sitter" I used iNAV in heading hold mode. I find the transition of roll to yaw and vice versa confusing, although given in my case, I don't need it to land in hover; given I have an advantage that my craft can do high alpha up to a hover. IMO the advantage to roll and yaw switching is in tilt rotors. Still a feat to do it all on your own code.
I wonder what happens if you use pitch input as a transition fader, for 90 deg pitch use all hover, for 0 deg pitch use all airplane control settings, and mix proportionally for all pitches in between. Maybe you won't even need a dedicated switch, but instead, push the stick forward to transition. I mean, remove the notion of two different modes altogether and use a single control law for both, blending two different control laws based on the current pitch?
Cheapest dys sunfun motors they sell on getfpv, some cheap knockoff blheli ESCs from Amazon, and lots of 1500mah 4s batteries. That basically flies 90% of what I build
I would have taken a much different approach. I would have viewed my aircraft as only having 1 forward direction. I simply would have changed my setpoints to better fit the way I want to control it. I also would have used vectors instead of Euler angles to allow the angle controller to still function, which starts to break down due to the singularity problem of Euler angles. Tackling it this way I never have to change how the aircraft views the world, but rather just how I control the aircraft, this means that you don't need to change PIDs as yaw and roll PIDs are suddenly changed and may not function as well as was hoped.
Yep, all of my process arose from the desire to work with slightly more intuitive euler angles. Your method I would argue is the "correct" way to tackle the problem
@@NicholasRehm Wouldn't it be possible to just have 2 different world views, one pitched forward 90 degrees, the angle PID controller could switch between the two, then this would be the only way you have to change the world view. Euler is more intuitive for sure, I do think with the right helper methods that a vector view is also simple enough to grasp, but still not as easy as Euler.
@@NicholasRehm Your approach is however still the correct one for something like a tiltwing aircraft, where the fuselage remains level through the transition. Though in this case the angle between the wing and the fuselage can be used in place of a switch to tell the controller what proportion of mix is necessary to give the pilot intuitive input responses.
Would it not be easier to auto-transition the controls depending on pitch angle instead of a switch input? yawservo = yaw*sin(pitch) + ail*cos(pitch) type of thing? Obviously it would cripple aerobatic flight, but that is not the goal i think.
I have a generally doubt - What is the difference between Normal PID and Geometric PID for aerial vehicles control ? I am a bit confused and It will be very helpful if you can demystify it.
Loved the video. I just finished a project using the ESP32-S2. It was a big one. 1.1MB in Flash. I know even the ESP32-S3 doesn't have the power of a Teensy 4 (@600MHz), but does it have the power to run your code decently? Would it be the clock speed (240MHz) that's not fast enough? Was ESP32 available when you wrote your code? Or you just went with the best and biggest horsepower? 6:23 looks yummy! Soon I hope...
Some people have ported the code over to the esp32-s2 and said it runs just fine. The teensy 4 has STUPID compute overhead for this relatively simple code, I just like having the option if I want to load it up with other stuff :)
@@NicholasRehm interesting, also did they use Arduino or ESP-IDF? Also i am not that surprised it runs well on ESP32-s2 since unlike an arduino uno or RP2040 it has a floating point math unit and for the type of math that you are useing it is a great gain in speed. Also remember NOT to use core0 when useing the WIFI/BT since it may lag important code running on it . The tensey 4 was a huge overkill to begin with (unless you wanted to ad video/photo to SD)
Have you tried using a different transition curve than linear? Seems to me that a slower startup and faster transition towards the end would make it at least look more energetic.
is "yaw" spinning about the vertical axis wrt to the earth? or wrt the plane. new to all this but i was under the impression it was spinning around an axis perpendicular the wings surface
Hi, I'm new, trying out a tail sitter VTOL. Am I required to use a CW+CCW motor combination? Or I can just use a CW+CW to make this work? I would really like to know. I'm so inspired to make one of these. Thanks in advance!
Hi Nicholas, Great progress. Have been following your videos for quite a long time and glad to see that all missing pointers of tailsitter behaviour are solved in this video. I have few queries : 1) How about putting rudder or split flaps for forward flight. Does it creates any major difference instead of thrust vector? 2) Would like to touch base with you for a project. Kindly let me know how to connect with you.
yessir..been too long...you have far exceeded my meager building and pilot skills. No joke i have a ton of aircraft and may give you some if you come by lol @@NicholasRehm
Hobby coding and engineering always gets me wondering how hard it is to do these things with full scale aircraft. Must've been a pain in the ass to get the V-22 to transition correctly even if it isn't snappy like a styrofoam RC wing.
i wodnering is it possible when you flick the switch to have a timer like 1-2 seconds where it calculates what boths tates are and does100:0 then slowly fades to 0:100 of the other settigns merging them so it isnt a sudden jerk, but it slowly tilts over i unno, XD yaaaay i was right, but it was called fading :D and linear transition
It would be nice to know what battery, motor and props you used. I did some back of envelop figures with 300g 3S ,battery 2x50g motors and with all the lighter items I had zero grams left for the wing itself !
@@NicholasRehm Many thanks, that clarifies a lot, I'll adjust my specs. I think I've sources most of what I need. The pdf documentation is excellent, very clear and thorough. One thing that gets only passing mention is the ESCs. I ordered a Mitoot 40A model. 30g each. Oddly the lower rated ones were the same or heavier. It'll probably serve later too.
Hello Nicholas, i am new to the UAV community. I am planning on getting started with this TAIL SITTER model and learn about during the process. Can you please suggest the Motor and Battery spec for the tail sitter build?
@@NicholasRehm I have tried the single copter(Ball drone) model from Hackaday. The tail sitter VTOL fascinates me every time i look at it. Your built was the best one out there to learn. So, i thought about giving it a go. Thanks for the heads-up.
I'm sure you could port inav to a teensy but I think your question is more about adding those features to my code--so the answer to that is that its out of the scope of drehmflight
Would you recommend running features as such on say a raspberry pi? I am going down the rabbit hole of getting away from off the shelf flight controllers and am trying to figure out what skills I need to learn@@NicholasRehm
I'm manually adjusting throttle in this case. It takes maybe a little extra throttle in the first 1-2 seconds, but then reduces to ~1/2 hover throttle position once it gets up on the wing
What if you instead rotate the flight controller/imu to transition? Just stick it on a servo :) No code required? Tailsitters seem like the best option for vtol it’s a shame the abandoned it for fighter jets. Shouldn’t the F-35 be able to do this instead of adding that hover fan?
![SN1 :: [2024-09-16] :: The Shouting Star flies FPV](http://i.ytimg.com/vi/234LO696xGk/mqdefault.jpg)
I want to demystify these sorts of drone concepts all the way down to the actual implementation. Did seeing the code help, or bore you?
It was super interesting to see the code! Makes it all more clear and interesting :)
Seeing the code was helpful, thanks!
Love seeing the code..... it takes a while for me to understand it.... never boring... I have spent hrs and hrs on your projects.
This was a well thought out application challenges/educational video; however, I cannot help to think if you had simply added two rudders behind the motor thrust-line so regardless of the flight mode you had same control inputs. Any thoughts?
Very interesting. I need to learn to code though.
This is probably the most cogent explanation I've seen about tailsitter flight dynamics. Breaking down the problems one step at a time, plus not being afraid to show code, makes this super easy to understand. Excited to see your next build!
Hearing this gives me the awesome feeling of "mission accomplished", thanks a ton!
@@NicholasRehm 🫡 Least I can do when my latest bicopter is powered by dRehmFlight!
Seeing each step was fantastic! I'm especially impressed he was willing to fly all of the intermediate steps that he knew were going to fail. It's so easy to just think through these problems and skip to what you assume is the finished solution, but actually testing the physical response of using a binary transition or not changing the forward flight gains really drives the lesson home.
"Hey look, it's RC test flight"😀. Great explanation of the transition problem.
this video actually took work to make and offers something unique. all RC test flight does anymore is drive around in a boat.
@@dronefootage2778inaccurate
@@dronefootage2778tbh tho im still here for the boat stuff (i started watching in like 2017 for the solar plane project 🤩)
@@dronefootage2778I’m wondering where your great output of high effort work is?
@@GeahkBurchill i just watch youtube
The fact that you give such a good explanation into how and why you did things, makes this video to be into a whole other level. It passes from being an entertainment video to be a super good educational video + still being fun to watch. I'm exited to see the next project.
Thanks for the kind words
This is the most impressive "unimpressive" piece of foam I've watched in a long while.
Yep, I think it's time to breakout the drehmflight board again and play with it some more! You really have made something special here with your software and videos. I appreciate you taking the time to share this stuff with the world
Nice! It's always cool to see people who are able to do physical design/builds, complemented with coding skills to solve both problem domains. Really looking forward to your large, folding design!
Thanks! Hoping to have that one flying any day now
@@NicholasRehmI hope it goes well!
so smart that you put a timeline on yr advertisement.. I watched the whole ad rather than clicking ahead, because I knew the length.
fabulous video. i really like the progression: stepping through each problem on the path one at a time, and placing the viewer in the mode of expecting each change to be the last one, but then exposing the remaining issues to address
Hey thanks! It was a fun process to work through and I'm happy I could share
The only thing your “unimpressive piece of foam” needs to be my dream aircraft is a camera, vtx, and code that pivots the camera mount 90 degrees during flight mode transition. Your next project looks absolutely stunning! I can’t wait to see it! Thanks again for all your hard work and for sharing it with us. 🙏
That sounds like it would be a sweet setup. Check out my buddy peter's mini-qbit for something eerily similar ruclips.net/video/W0tthPSNnRE/видео.html
I suppose a second camera and a PWM-controlled switch would be about the same weight as a servo and linkage, with less mechanical complexity. If the camera switch signal was sent as part of the flight mode transition function, it would make the transition even simpler. Thanks for the video suggestion. 👍
That tease of a reconfiguring quad-to-fixed-wing looks VERY cool.
Thank you for adding the code in the video. It helps me to understand. I can't wait to see the next video.
You make such brilliant, groundbreaking videos with some nice engineering work too. We’ll done Nicholas, another one in the can.👍
Thanks so much!!
Great technical overview! I purchased Horizon Hobbies Xvert 5 years ago. Great VTOL and performs like your plane for transitions. This plane is a ton of fun to fly and very inexpensive. Keep it up! Love your videos.
Lots of fun tech packed into that plane!
I don't recall how I stumbled upon this channel but I'm happy I did. The way you explained all that gibberish was impressive. Keep doing what you're doing!
So you basically need 2 FC profiles, different PID values, reference orientation & controls. Neat!
Also, the fade part is smart!
Glad you was able to hear what I was screaming through the screen from the beginning of your video about you need a factor changing the weight of control and two different controllers for diffenent modes. :D
Well done... Flies and transitions much smother now.
Amazing in-depth vid, thanks for inspiring others!!!
I’ve been wanting to make a tailsitter for a while now! Great video!!! Keep it up!
Thanks! Hope this inspires you to follow through with it
@@NicholasRehmwhat parameters on ardupilot should we pay attention to in order to smooth and tune our quad tailsitters? Please let me know!
Congratulations. Very impressive.
You are brilliant. Everyone wants to see you build a single-seater VTOL machine capable of 1 or 2 hours of flight time, will essential avionics (com, nav, weather), and some safety features (enclosed blades or jet ; crash parachute...) ; plus a pivoting nacelle - that would be THE airborne motorcycle
That would be sweet
Awesome work! Incredible what a single - very intelligent and hard-working - individual can do. Many thanks for the fun and inspiration.
Thanks for the kind words!
No problema señor@@NicholasRehm. Keep up the good work!
As a programmer, as soon as you had the violent transition working I was like, ok nice, the final step is just an easy lerp from hover to forward!
This is so GOOD, Nick! 👍👍
Hey, I know you aren't impressed with your "piece of foam", I am impressed. I've been trying to get a plane working but struggling with the balance because I have older, heavier equipment.
Basically, another awesome job! Well done.
Thanks for the comment, keep at it with your project!
It's an interesting coincidence that the RUclips silver play button and quadcopters both have 4 corners🤔👀
Great video, keep it up!
Flight dynamics and controls is such a challenging problem. So many important details!
Great clear walk-thru of the basics leading up to achieving stable transitions. Being able to make reasonably smooth transitions to level flight without airspeed or angle of attack sensors is pretty amazing.
The ultimate test would be to fly the tail sitter through a loop, or barrel roll ... involving transitions to hover at various points in the maneuver.
That would be fun. Wish I had more time to dig a little deeper
You have a great talent to explains things
Appreciate it!
Love how to showed the code and talked about how. Peeps leave out the details so thanks for the info cause I want to do this shit but I ain’t that so any info is awesome!!
I made this video for curious people exactly like you 😄
dude, i always love your videos. Now they are getting funny too with your crazy humor😍🤩
Great project! Thanks for the video, Ill be waiting for more!
Hey thanks!
Very nice video ! Especially great that you let us in on the engineering process. ❤ this !
Really interesting video!
great work
Looking forward to your next Tailsitter larger project.
Amazing video, thank you very much!!! Can't wait for the next one...
Well that freaked me out.
I was across the room listening to the end of the video and I hear (seeming to come from someone in the room) “hey look it’s RCTF” and of course the next thing I hear is Daniel’s voice as a video I had started yesterday auto-played. I was utterly confused for about five seconds. Well done lol
That's hilarious hahah
"unless you're an investor" 😂
Thanks for the arduino version added to the RCGroups page... now to sort the wiring out..... if you only knew the amount of times I tried to set up a tailsitter years ago using other flight controllers....this seems too simple to be true.... now to dust off a few old wings.... and print some more glue on motor mounts..... cheers
This would be a great way to get beginners flying.
Thank you man! Great to do :)
Great explanation
You have some AWESOME videos! Thank you!
Hey thanks!!
This tailSitter looks so much fun!
I want to build one ❤
I found that you provide the final code over at Patron!
You should totally rebundle this video as a build video, and market it as: a cheap sub 250 project you can build with your kids and have a great intro to programming 🎉
This is basically kiwico without the parts.
And you buy working code by signing up for Patron 😊
Do a short video on the hardware and programming environment you used for your development, Nice Video
Awesome video, excellent well done.
From Ireland thanks
So cool!
Thanks!!
This settles it, I'm making a Drehmflight FC PCB thats actually made properly. Last time I tried it really wasn't up to spec, but seeing what you can do with it tells me it's worth it to go again.
Check out @michaelrechtin's 3d printed quad project...he made a pretty sweet pcb breakout and I have a few on my desk now. Here is another someone made: github.com/joerenteria/dRehmFlight-PCB
I remember designs for carrier based tailsitters for the US navy in old popular mechanics magazines. Without fly-by-wire they would have been death traps.
The code is very clear and simple and well written. Thanks for making that available, it helps see how all this works. Have you done any more on the spinning 3-wing drone. I love the way it looks in straight flight. You left a teaser at the end of "part3" but I don't see anything since and that was a year ago.
You could also call this one the aileron sitter. If I was doing this I may want a bit of stand-off so it was not actually landing on the control surfaces.
great explanation, detailed and clear.
Wow that works really well
If anyone would like to try designing and programming this in a game I recommend Main Assembly
"trust me, I'm an engineer."😂
Your channel are so good that I unsubscribed and subscribed again! Nice project, keep them coming! Thank you!
Thanks!😁
the transition between hover and forward flight reminds me of the antagonist machines' movement in the Matrix...
This is an awesome project and walkthru for the "hover to forward" flight problem, I followed your thoughts the whole way and it is so satisfying! One thing I'm not sure about is at 8:20, did you set the fade transition time on a fixed timer, or is it something else that's controlling/adjusting how fast or slow the fade phase should be?
Thanks for answering my question and for creating such awesome content, keep up the amazing work!
It's on a fixed "timer"--in reality it's just rate-limiting how much that variable can increment with each flight controller loop if that makes sense. I tune that increment size which directly corresponds to total time from 0 --> 1
@@NicholasRehm as your flight controller loop has a fixed frequency, a fixed rate also results in a fixed transition time... or where am i wrong?
A very informative video, many thanks.
I have built my own "tail sitter" I used iNAV in heading hold mode. I find the transition of roll to yaw and vice versa confusing, although given in my case, I don't need it to land in hover; given I have an advantage that my craft can do high alpha up to a hover.
IMO the advantage to roll and yaw switching is in tilt rotors. Still a feat to do it all on your own code.
Where has this been all my life? I'm putting this control scheme in my AIM-7 for next years FF!
YOU'RE THE SIDEWINDER GUY????
@NicholasRehm I had the big white missile, with the dual drone motors, it was technically an aim 7 sparrow
cool tech 👍
Very interesting!
I wonder what happens if you use pitch input as a transition fader, for 90 deg pitch use all hover, for 0 deg pitch use all airplane control settings, and mix proportionally for all pitches in between. Maybe you won't even need a dedicated switch, but instead, push the stick forward to transition.
I mean, remove the notion of two different modes altogether and use a single control law for both, blending two different control laws based on the current pitch?
Unfortunately the ambiguities/singularities of euler angles complicates this
@@NicholasRehm Interesting, thanks.
Just wondering what motors, esc, and battery combo's you're using here....Oh and keep up the fantastic work!
Cheapest dys sunfun motors they sell on getfpv, some cheap knockoff blheli ESCs from Amazon, and lots of 1500mah 4s batteries. That basically flies 90% of what I build
The frame of ref and the actuators don't change relative to each other. You could've just change the definition of the remote control sticks 🙂
Using Euler angles for attitude command complicates this a bit. But yes I’ve done exactly this for rate-command tailsitters in the past
飛行制御において姿勢制御プログラムの重要性がよく分かる映像です。
市販されているドローンにも言えますが、自動姿勢制御機能が備わっていないモデルは操作が非常に難しいですね。
I would have taken a much different approach. I would have viewed my aircraft as only having 1 forward direction. I simply would have changed my setpoints to better fit the way I want to control it. I also would have used vectors instead of Euler angles to allow the angle controller to still function, which starts to break down due to the singularity problem of Euler angles.
Tackling it this way I never have to change how the aircraft views the world, but rather just how I control the aircraft, this means that you don't need to change PIDs as yaw and roll PIDs are suddenly changed and may not function as well as was hoped.
Yep, all of my process arose from the desire to work with slightly more intuitive euler angles. Your method I would argue is the "correct" way to tackle the problem
@@NicholasRehm Wouldn't it be possible to just have 2 different world views, one pitched forward 90 degrees, the angle PID controller could switch between the two, then this would be the only way you have to change the world view.
Euler is more intuitive for sure, I do think with the right helper methods that a vector view is also simple enough to grasp, but still not as easy as Euler.
@@NicholasRehm Your approach is however still the correct one for something like a tiltwing aircraft, where the fuselage remains level through the transition. Though in this case the angle between the wing and the fuselage can be used in place of a switch to tell the controller what proportion of mix is necessary to give the pilot intuitive input responses.
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very cool man. really good break down. I feel you should show more code examples but that could just be my cs brain talking! lol
I'm doing everything I can to work more code in, but people click away real fast once it hits the screen :(
Them gooses get everywhere....
Would it not be easier to auto-transition the controls depending on pitch angle instead of a switch input?
yawservo = yaw*sin(pitch) + ail*cos(pitch) type of thing?
Obviously it would cripple aerobatic flight, but that is not the goal i think.
I have a generally doubt - What is the difference between Normal PID and Geometric PID for aerial vehicles control ? I am a bit confused and It will be very helpful if you can demystify it.
Incredible work! Do you have any thought as to the increase in range in airplane mode. Thanks.
definitely more
Fantastic video, is there a version of the code specifically for this tail sitter, I would like to try building one of my own?
I'll probably post the modified version from this project in my rcgroups thread sometime soon
could you share the process, code, component , and step you followed for us to recreate those amazing fom project 🎉🎉🎉🎉🎉
Loved the video. I just finished a project using the ESP32-S2. It was a big one. 1.1MB in Flash.
I know even the ESP32-S3 doesn't have the power of a Teensy 4 (@600MHz), but does it have the power to run your code decently?
Would it be the clock speed (240MHz) that's not fast enough? Was ESP32 available when you wrote your code? Or you just went with the best and biggest horsepower?
6:23 looks yummy! Soon I hope...
Some people have ported the code over to the esp32-s2 and said it runs just fine. The teensy 4 has STUPID compute overhead for this relatively simple code, I just like having the option if I want to load it up with other stuff :)
@@NicholasRehm Great. I hate to learn yet another hardware.
@@NicholasRehm interesting, also did they use Arduino or ESP-IDF? Also i am not that surprised it runs well on ESP32-s2 since unlike an arduino uno or RP2040 it has a floating point math unit and for the type of math that you are useing it is a great gain in speed. Also remember NOT to use core0 when useing the WIFI/BT since it may lag important code running on it .
The tensey 4 was a huge overkill to begin with (unless you wanted to ad video/photo to SD)
Have you tried using a different transition curve than linear? Seems to me that a slower startup and faster transition towards the end would make it at least look more energetic.
I have not but that would be fun and easy to play around with! Agreed that profile might give some benefits
is "yaw" spinning about the vertical axis wrt to the earth? or wrt the plane. new to all this but i was under the impression it was spinning around an axis perpendicular the wings surface
Hi, I'm new, trying out a tail sitter VTOL. Am I required to use a CW+CCW motor combination? Or I can just use a CW+CW to make this work?
I would really like to know. I'm so inspired to make one of these. Thanks in advance!
Hi Nicholas,
Great progress. Have been following your videos for quite a long time and glad to see that all missing pointers of tailsitter behaviour are solved in this video.
I have few queries :
1) How about putting rudder or split flaps for forward flight. Does it creates any major difference instead of thrust vector?
2) Would like to touch base with you for a project. Kindly let me know how to connect with you.
Rudder, split flaps, differential thrust--they all create a yawing moment which is the same in the eyes of the flight controller
Thanks for the revert. Is it possible to connect Raspberry Pi to this for further camera integration ?
Love a good lerp
So neat. Is this something someone could pickup and flash to a tailsitter or are there bonus steps?
I have an X-Vert and other planes for you to mess with anytime my old friend!
Hope you and the fam are doing well these days! We definitely gotta link up to fly again
yessir..been too long...you have far exceeded my meager building and pilot skills. No joke i have a ton of aircraft and may give you some if you come by lol
@@NicholasRehm
Now we can build the X-Wing.
Hobby coding and engineering always gets me wondering how hard it is to do these things with full scale aircraft. Must've been a pain in the ass to get the V-22 to transition correctly even if it isn't snappy like a styrofoam RC wing.
Physics and fundamental principles are all the same. But lots and lots more testing, validation, modeling...
I am impressed by the work done. Is firmware based on Ardupilot/BF/iNav or something else? Can I try this FW on my aircraft?
It is my own flight controller code running on an arduino-compatible microcontroller. Check out the link the description to the GitHub repo
Ooh new video
i wodnering
is it possible when you flick the switch to have a timer like 1-2 seconds where it calculates what boths tates are and does100:0 then slowly fades to 0:100 of the other settigns merging them so it isnt a sudden jerk, but it slowly tilts over i unno, XD
yaaaay i was right, but it was called fading :D and linear transition
It would be nice to know what battery, motor and props you used. I did some back of envelop figures with 300g 3S ,battery 2x50g motors and with all the lighter items I had zero grams left for the wing itself !
180g battery, 2x 1750kv 24g motors with 5” props and peak thrust at 900g each. Foam wing weighed maybe 100g at most
@@NicholasRehm Many thanks, that clarifies a lot, I'll adjust my specs. I think I've sources most of what I need. The pdf documentation is excellent, very clear and thorough. One thing that gets only passing mention is the ESCs. I ordered a Mitoot 40A model. 30g each. Oddly the lower rated ones were the same or heavier. It'll probably serve later too.
Hello Nicholas, i am new to the UAV community. I am planning on getting started with this TAIL SITTER model and learn about during the process. Can you please suggest the Motor and Battery spec for the tail sitter build?
If recommend staying away from a vtol as your first build
@@NicholasRehm I have tried the single copter(Ball drone) model from Hackaday. The tail sitter VTOL fascinates me every time i look at it. Your built was the best one out there to learn. So, i thought about giving it a go.
Thanks for the heads-up.
I need simulation model of tailsitter vtol uav?
Nicholas, could you potentially run features of inav on a teensy? i.e. RTH, OSD, etc?
I'm sure you could port inav to a teensy but I think your question is more about adding those features to my code--so the answer to that is that its out of the scope of drehmflight
Would you recommend running features as such on say a raspberry pi? I am going down the rabbit hole of getting away from off the shelf flight controllers and am trying to figure out what skills I need to learn@@NicholasRehm
Wingtra uses this kind of drone
Do you also throttle up during the transition? It looks like the smooth transition still looses a few feet of altitude.
I'm manually adjusting throttle in this case. It takes maybe a little extra throttle in the first 1-2 seconds, but then reduces to ~1/2 hover throttle position once it gets up on the wing
What if you instead rotate the flight controller/imu to transition?
Just stick it on a servo :) No code required?
Tailsitters seem like the best option for vtol it’s a shame the abandoned it for fighter jets. Shouldn’t the F-35 be able to do this instead of adding that hover fan?
tldr PID magic
Informational