Since a while I wanted to try a plank flying wing with no rudder or vertical stabilizer, using differential thrust for yaw stabilization.
After I saw the video from Ran D. St. Clair and his twin engine plank I was convinced it was indeed possible.
I started only recently to build a similar flying wing, using salvaged components and failed foam cores.
The wing is 1.2m (~4ft) span and 42cm (16.5in) chord, and weights around 1kg (2.2lb).
The motors are 2207.5 1750kv from race quad, turning 5" propellers. Not the most efficient but perfect to give a try.
ESC’s are old Turnigy Plush’s. I might change them for more recent BL_Heli esc’s.
The flight controller is the Mamba F405 board that is currently being added to Ardupilot.
I’ve based my firmware on ArduPlane-4.0.5.
Everything is set up and I plan to fly it tomorrow. For the firsts flights I will add vertical fins.
Once I am confident enough with the pitch and roll tuning I will start to remove the fins.
I’ve set up differential thrust using ThrottleLeft and ThrottleRight for the motors.
Then I’ve set RUDD_DT_GAIN to 100% to have full control with the motors on this axis.
I’ve also set KFF_RDDRMIX and YAW2SRV_SLIP to 0 to remove any mixing with the ailerons.
I’m wondering how YAW2SRV_RLL needs to be set, but I guess the default value is a good start.
The tuning will mostly be made using YAW2SRV_DAMP and YAW2SRV_INT.
It might be useful to set those parameters via an RC Input on this particular use case, but for now there is no option to do that.
Crossing fingers for tomorrow