(Antenna whiskers are front, green LEDs back.)
AQ M4 with N4 expander, from Viacopter.
200mm Leora frame from Rosewhite (with extra piece for battery tray and a little drilling).
Tiger MT1306-10 (3100kv).
5x3 CF props (Maytech).
KISS 18A ESCs.
LiPo 2S 1100mAh 25C Hyperion CX G3 (70g).
FrSky X4R-SB Rx (modified for direct SBus and SPort hookup to AQ).
36mm AbuseMark PDB.
250g AUW as pictured, 11-12 min. flight time, ~35% power to hover (AQ Throt. Scale/factor set to 0.45).
Currently using PID controller with the following settings changes from default:
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CTRL_TLT_RTE_D 11200
CTRL_TLT_RTE_OM 3000
CTRL_TLT_ANG_P 585
CTRL_TLT_ANG_I 0.007
CTRL_TLT_ANG_D 2300
With default PIDs I got small, fast oscillations on tilt axes and the motors got very hot, very quickly. Reducing Tilt Rate and Angle D terms got rid of that problem, then turning up the angle P and I made it responsive again. Yaw is a little sluggish so I will play with Yaw Angle next, and need to play with Nav Altitude settings a bit.
Using simple dipole GPS antenna for now, best HAcc ~1m. Waiting for a new ceramic patch to arrive. Tried one of these PCB antennas and it was useless (25m HAcc at best, in any orientation).
Next addition: Micro camera/Tx for FPV.
To try:
1) Different make of prop. The Maytech CF ones seem OK and are well balanced, but they resonate sound/vibes like glass.
2) My 4400 mAh 2S LiPo packs (should carry it at ~45% throttle and give ~30min flying according to E-calc).
Sorry, no video yet... need a good camera operator to properly capture this little thing whizzing around.
-Max
