New QUAD 630mm r445-DIMU-QUATOS flight test

[afernan]

Below a short summary of my new build, quite standard refference:
H/W
- Board 6.1, r445 DIMU QUATOS
- ESC32V2
- MT3110, props TM12x40

Perfo:
- Low vibs (< 0.75m/s2). Frame natural frequency (arms/legs) = 42Hz; PH excitation > 82Hz (min freq at min mass)
- 1.1Kg dry mass
- 25+min flight time with Zippy 5000mA-4S,40C

Build: Custom frame, CF 16mm tubes (0.75mm thick); brackets in 3DPrint in ABS (new design more robust)

Video: or http://youtu.be/pKaBIz4V-c8
I can share the design. If u want it, pls send me a PM for that

Enjoy

[bn999]

Spectacular, absolute pin point precision. That's what an AQ is supposed to be all about. I think you have hit on the #1 foe, and that is vibration. You cannot properly integrate ACCs with the shifting bias that is introduced with vibrations.

Wonderful work. As soon as I get back to building another machine, I want to use this frame design.

[afernan]

Thanks Bill, specially coming from you. We do really need to thank you for your awesom work in AQ.
It´s a pleasure to fly this (almost perfect) machines

[kinderkram]

Fantástico!

Looks like we have a candidate for a new reference frame.
When will the mass production start?

btw: may I remind you to also upload the video to Youtube? Gracias!

[bn999]

Q: Does removing the landing gear have any negative impact on the vibrations seen? In other words, are they part of the solution or can they be done away with if need be?

[afernan]

@Bill:
None influence while inside Quatos (already tested). It behaves the same with/without legs. It behaves as a real mechanical rotating flying machine should do (like a real helicopter). You need only to well separate excitation from structural resonances (about factor of 2) and that´s it.

But with KISS-PID it definitebly has influence since the control it´s able to excitate every appendage natural frequency (arm and leg). This same machine I´ve tryed before with KISS-PID and was difficult to setup. I got it working with DRATE & SLOT = 100 and Tilt D Rate = 9000 only. Didn´t like it.

@Norbert. I´ll upload to Youtube. I simply didn´t do it because It´s a "working" video, not really very exciting. But I see it excites you...

[plexus]

very beautifull. the vibs are very low.
I cry when i see your building
Alain

[afernan]

Below acceleration levels comparison with:
- long legs (200mm) = 0.75 m/s2
- short legs (160mm) = 0.5 m/s2
- no legs = 0.5 m/s2
all tested in Pos Hold and same parameters set. So no significant influence of legs length on Acc levels (because their natural frequency is well far away of excitation)

[chschmid]

Angel, what a sexy build .
This is superb - and the precision you achieve - fantastic. Many congrats from snowy Switzerland.

Cheers
Christof

[SuperSharpShooter]

Love it! I'm going to have to give quatos a go.