Active stabilization mod for Rc Benchy

thingiverse

Wanting to make my boat even more unique, I kept adding different features, unfortunately with some negative effects. She became very top-heavy. I experimented with various keel designs to try and stabilize her in the water, but the results were mixed. Not satisfied with the outcome, and fearing she would tip over, I decided on a drastic solution - active stabilization! Warning: This is still a work in progress, but my initial testing today had amazing results. This is not a mod for the faint of heart; it requires various parts and a good understanding of RC systems and flight control systems. However, for those who enjoy tinkering, this is an exciting project. Some essential items you'll need to complete this mod include: Printing the included parts 2 x Mini servos (high-quality digital servos) A flight control board capable of running software like Inav or similar 3mm Id (approx 4mm Od) brass tubing 3mm stainless rod M 2.5 hex nuts 2.5 mm grub screws 500 size Heli flybar paddles (Alternatively, you can print one of the larger fins I designed for more roll authority) 450 size Heli ball links and rods (You may be able to make your own 'Z' bend rods instead) Related cables to connect the flight control board This mod primarily focuses on roll stabilization. However, it is also programmed to stabilize pitch, effectively making the boat think it's a plane. With some custom mixes, it works great to keep her stable and in check. The rudder is mixed with the "Ailerons" (fins), so she tries to bank herself into turns when steering is applied. The rudder is also stabilized to make the boat track straight. Currently, there's no navigation implemented in my boat; however, with the flight control board and the addition of GPS, I see no issues getting it to have autonomous control. But I prefer controlling her myself. Today's testing had very favorable results - activating the fins resulted in instant stabilization, eliminating scary roll movements, and the boat tracked straight. More fine-tuning of the PIDs is required, but overall, this mod has met my expectations. This is still a work in progress; my plan is to hopefully re-install the ballast internally in the hull, remove the keel, and restore the Benchys' clean lines. The keel made a significant difference on its own. Note: If anyone wants the keel design, let me know, and I'll post the file. I haven't created a video yet; however, once I get some more time for testing, I will share my results. If you're brave enough to try this mod, I'd love to see your results! And if I can assist anyone with their attempt, I'll do my best to help.