Hi there, I am currently flying a V shape quadcopter . It is flying well but the desired flight time is not coming, like by theory if I should get 20 mins, I am getting 12-13 mins. Also one more thing I have noticed in my log that, two diagonally opposite motors are rotating at 1600-1700 pwm where th eother two are at 1200-1300 pwm. I am attaching the .bin file drive link. Can someone help me out please?
The vtail is very inefficient as a lot of your thrust is just wasted by the 2 motors fighting each other. you will probably end up with pitch instability too since the motors have a different throttle/thrust response.
Thats impressive with how much yaw authority it should have.
No such instability is found while flying…the flight was pretty stable. Just the desired Flight time is somewhat lacking.
Yes…according to log the RCOU shows yaw trend throught the flight but in real scenario it had yaw just after it lift from the ground, then there was no such yaw behavour is seen
That matches what happens if you have yaw imbalance, integrator takes out the error over time and then it flies mostly straight. You shouldn’t have significant yaw imbalance because it negatively affects the control loops. I wouldn’t be surprised if you had noticeable roll trim.
it’s a very inefficient design, if you have your rear motors at 45 degrees that means they’re using double the power because they are wasting half their thrust, also giving them half the lift. that will reduce your flight time by over 30%. if you want faster yaw then build a tricopter. it’s the same effect without the flight time loss.
Tricopters are generally harder to tune due to more complex interaction between thrust vectors.
I heard that adding few deg arm twist in sync with motor torque worked really well to increase yaw authority.