Look Who it Was Random video

SJ State quad airplane

813 views · Published 22 February 2015 · 4:04 · Indexed 15 October 2026

Channel: wcolby1 · 2015 · Autos & Vehicles

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We set up P1 as Hover and P2 as FFF but with the motors set to 40 degrees from vertical the TX was programmed to P1.45 (As near as I can recall...)
 
 
 
In P1 the diagonal motors were used for yaw as usual for a quad-copter.  In P2, which we never got to, rudder stick input drove the motors on each side as appropriate.  In P1.45 it was some of both.
 
 
 
All of the motor tilt angles were statically adjusted on the ground.  There was no servo based motor tilt mechanism installed at this time. At all of the various motor tilt angles we used,  from 0 degrees (hover) to 40 degrees (SFF) the front motors were tilted forward about 5 degrees more than the rear motors.  With the left front motor turning CCW and the right front motor turning CW this acted to enhance yaw authority.
 
 
 
Part of the theory was that having the front motors tilted more forward would slightly reduce the lift in the front and help make up for the rotor downwash on the rear wing.  In practice I never noticed any significant pitch up tendency as we “transitioned” through various motor tilt angles.  The downwash from the rotors was sufficiently outboard of the wing tips to minimize the impact.

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