Correct. I had to build the binary, but otherwise it didn't require any changes (IIRC). Tuning the controller was a real challenge. Many props and a few motors shafts gave their lives so that it could fly.
Thanks. Hovering kite is a good description. My official name for it was the unimaginative ProtoB for prototype B, but the best name I've heard was the Flyangle. It's nothing compared to the beasts you, maddmackx, and Jacko are building though.
Sure. The battery is located in the center, slightly above the flight controller, on the back side. The airframe is made of carbon rod, a few 3D printed joiners, some Depron foam, and a laser cut wood mount for the Pixhawk. Total weight is 565 grams with battery. The telemetry modem is running at 115200 baud. Sadly, it does not have a GPS. It was designed as a crash-resistant test rig for the sole purpose of testing code and tuning PIDs. I'd be happy to talk about the story behind the project, but that is a wall of text I'm not sure belongs here.
Picture of back
That's why I'm here. Let's crash this thing so others don't have to. Should I try the master branch or one of the binaries floating around here?
You guys have been busy. The quaternion controller sounds exciting and complex(just googled and found a paper). There are a lot of projects where that could come in handy. Is there somewhere to go to read more about the aerodynamic model?
Nothing of the sort. This is just a simple proof of concept test rig. It is a far cry from a practical or even useful vehicle. The only benefit is that I can use this to test the basics of vehicle stability with very little cost or risk. It won't be until the more refined vehicles like yours are flying that testing of various flight modes can commence.