Mini FPV Tricopter / Vtail / Quadcopter

Transcription

1 Mini FPV Tricopter / Vtail / Quadcopter Frame Assembly Manual / Tips and Tricks Armattan Minis Website: Main Armattan Website (doesn t have minis): RCGroups Discussion Thread: Contact service@armattanminis.ca V05 Updated January 21 st, P a g e

2 Contents Frame Specifications:... 3 Recommended parts:... 3 Parts included in Tricopter / Quadcopter frame kit... 4 Tricopter Build... 5 Step 1:... 5 Step 2:... 6 Step 3:... 7 Step 4:... 8 Step 5:... 9 Step 6: Tricopter Tricks and Tips With the Armattan Mullet Acro FC: Starting PIDs Quadcopter Tuning Values Vtail Build Step Step Step Step Step Step Vtail Tricks and Tips With the Armattan Mullet Acro FC: Starting PIDs Throttle Calibration P a g e

3 Frame Specifications: 1.5mm Carbon Fiber Main Plate 1mm Carbon Fiber Top Plate 1mm G10 FPV camera plate 3mm Carbon Fiber Arms Custom 3D printed direct drive tail mechanism for tricopter 6061 Aircraft Grade aluminum Vtail adapter Option for various vibration isolation methods (or none for a speed racer) Small (30.5mm) or large (45mm) FC mounting Various lipo mounting locations (bottom recommended) Foldable Various motor size options (accepts 16x19 motors) Up to 6" props Mobius and GoPro capable Recommended parts: Cobra kV multirotor version 12A Armattan ESCs (18A 30 second burst) 6" props with 3S (1000mAh-2200mAh) OR 5" props with 4S (1000mAh-1800mAh) TGY-212DMH servo (tricopter) or similar Armattan Mullet Acro ImmersionRC 5.8GHz 600mW VTx with Cloverleaf PZ0420 (or cheaper knockoff equivalent CC1333) Pololu 12V step up (5V of VTx to 12V of camera) Mobuis (GoPro capable) 3 P a g e

4 Parts included in Tricopter / Quadcopter frame kit (subject to change, parts may not be exactly as pictured) 2 x 1.5mm CF Main Plate 2 x 1mm CF Top Plate 4 x 3mm CF Arm 1 x 1mm CF FPV Plate 4 x Blue Gimbal Bobbin 6 x M3 35mm Aluminum Standoff 4 x M3 12mm Nylon Standoff 8 x M3 5mm Nylon Bolt 12 x M3 Locknut 4 x M3 3mm Spacer 12 x M3 4mm Metal Bolt 1 x 3.18mm Shaft with C-Clip 2 x M2 Locknut 2 x M2 6mm Metal Bolt 2 x M2 8mm Metal Bolt 4 x M2 Nylon Nut 4 x M2 5mm Nylon Standoff 4 x M2 5mm Nylon Bolt 1 x Lipo Strap (not pictured) 1 x 3D Printed Tail Mechanism 12 x M3 12mm Metal Bolt 4 P a g e

5 Tricopter Build Step 1: Place gimbal bobbins in one main plate, lipo strap in the other. 5 P a g e

6 Step 2: Mount M2 Nylon hardware to FPV camera plate. Insert shaft with C-Clip into tail mechanism. Screw on servo arm with M2 metal hardware, using either the short or long bolts depending on size. The screw that usually goes into the servo through the servo arm ISN T used. 6 P a g e

7 Step 3: Using 10 x 10mm bolts, 10 x M3 locknuts, 2 x 3mm spacers (washers optional, but recommended on sliding slots for arms) assemble arms to main plates. Spacers go at the front of the main plates. Check arm orientation to match motor pattern, flip over if motor wires come out sideways. This includes the tail mechanism piece. 7 P a g e

8 Step 4: Assemble the 6 x 35mm metal standoffs to one top plate with 6 x 4mm metal bolts. Also install the 4 x 12mm nylon standoffs with 4 x 5mm nylon bolt. Slide FPV plate into either slot, depending on where you d like to mount it. 8 P a g e

9 Step 5: Squish the bobbins through the top plate. Don t be afraid to really squish them to get them in, they re built to be squished. 9 P a g e

10 Step 6: Install second top plate with 6 x 4mm bolts. 10 P a g e

11 Tricopter Tricks and Tips Use double sided servo tape between the servo and the arm along with a ziptie to ensure it doesn t move. When installing the servo (stick tape onto servo first), have the tail mechanism installed already. Flex it up a bit so that when you re putting the servo spline into the servo arm, the tape isn t touching the arm. Then align from above and push the servo onto the CF arm. If the servo or tail mechanism needs to be replaced, undo the bolts holding the small piece to the arm first and slide the entire mechanism backwards off the servo. In hard crashes, the gimbal bobbins can pull out of the main and top plates. To remove the chance of this happening, it s recommended to loosely put zipties through them to act as limiters in a crash. A small PDB (such as the Armattan mini PDB) is recommended. It makes the build much easier and adds minimal weight. CG location is at the middle of the hexagon cutout on the top plates. 11 P a g e

12 With the Armattan Mullet Acro FC: Ignore the prop directions in the Naze manual. Having all three props spin the same direction will limit the throw and therefore the rotation speed in a yaw direction. Instead, have the front two props counter rotate in the same way a quad does. The back prop can go either direction. Limit the servo throw to extend its life. The tail mechanism doesn t allow for full 180 degree movement. I use the following, but it will depend on your servo and configuration. Type set tri_unarmed_servo = 0 into the CLI to stop the servo from moving when not armed (not required, but nice to have). Set looptime to 2500 (in CLI, type set looptime = 2500 and don t forget save ) Starting PIDs (you may have to retune based on your setup) 3S: 12 P a g e

13 4S: 13 P a g e

14 Quadcopter Tuning Values 14 P a g e

15 Vtail Build Step 1: Follow tricopter build step 1 (bobbins and lipo strap) Step 2: Install landing gear (if purchased) onto one arm. Insert 4 x 12mm bolts through other arm and place 4 black nylon spacers on the bolts. 15 P a g e

16 Step 3: Slide on the second arm with the landing gear and screw onto Vtail adapter. Only catch the first thread or two, don t tighten the bolts all the way. Step 4: Use 2x12mm bolts and sandwich one arm between the plates, the other on top. Thread 2xM3 nylock nuts onto these two bolts and tighten fully. Then tighten the 4 bolts going into the Vtail adapter. This will flex the arms slightly, making them very resistant against flexing. 16 P a g e

17 Step 5: Use 4x6mm bolts and screw two more arms onto the Vtail adapter, ensuring the motor pattern is correct. Step 6: Continue to build the remainder of the frame the same as the tricopter (above). 17 P a g e

18 Vtail Tricks and Tips All prop directions are OPPOSITE of a regular quad. Make sure your ESC connections reflect this. This is looking down on the quad. You can top mount the motors (pictures above are bottom mounted). This makes it so you don t need landing gear and protects the props better. You do lose a very very small and completely negligible amount of thrust doing this. As mentioned in the tricopter section, hard crashes can cause the gimbal bobbins to pull out of the main and top plates. To remove the chance of this happening, it s recommended to loosely put zipties through them to act as limiters in a crash. CG location is at the rear bobbins. 18 P a g e

19 With the Armattan Mullet Acro FC: The built in Vtail mixer on the Naze isn t the best. It will work fine, but flight characteristics might not seem natural. It is recommended to use the cmix function and set the mixer to custom and enter the following mix (copy enter segment into CLI and hit enter). Motor order is the same as a quad. cmix cmix cmix cmix mixer custom save Starting PIDs PID s for Cobra 1960kV, FC6045, 3S 2200mAh Lowering looptime to ~2500 is also recommended (matches the frequency of 400Hz ESCs, can be lowered even farther for faster ESCs). Throttle Calibration It is possible to calibrate all the ESCs at once through the Mullet, and is the recommended way to do so. This procedure should be done with PROPS OFF, as doing it incorrectly can cause all motors to go to max throttle. Begin by connecting the Mullet to baseflight configurator, do not plug the lipo in yet. Set mincommand to 2000 and save (either in CLI or the Configuration tabs). Then set mincommand to 1000, but don t save yet! Plug the lipo in, you should hear a single high tone (SimonK) or a series of high beeps (BLHeli). Save the mincommand at 1000, and your ESCs should do their respective tones. I lower mincommand to 950 after this as this is below the minimum throttle the Mullet sees from my radio (hovers around 975 in the Receiver tab). 19 P a g e