Coaxial Dualcopter mk II - almost like RC SpaceX Falcon 9 thrust vectoring rocket

thingiverse

This is a cutting-edge 3D printed coaxial dualcopter made from everyday multirotor parts. Check out how it flies: https://youtu.be/lt3TfAiue1Q * Thrust and yaw control are provided by 2 counter-rotating propellers * The upper motor is a 2205 2300KV with a 5x4.5x3 propeller spinning in the CW direction * The lower motor is a 2205 2600KV with a 4x4.5x3 propeller rotating CCW * The flight controller runs INAV 2.0 * Control surfaces are rotated 45 degrees from their long axis to fit servos * The flight controller itself is also rotated 45 degrees * Control surfaces are installed using tape hinges * Any 9g servo will work just fine * This dualcopter runs on a 4S battery that must be placed on top * Structure is provided by two 14mm carbon pipes * Use hot glue and zip ties to secure all parts to the carbon tubes * Each STL file needs to be printed once Required parts include: * 1 x 2205 2300KV brushless motor * 1 x 2205 2600KV brushless motor (a 2300 will also work, but it will have less yaw authority) * 1 x 5x4.5x3 propeller * 1 x 4x4.5x3 propeller * 2 x 14mm carbon pipes (12mm internal diameter), each around 270mm long * 2 x 2g servos * 3m bolts to secure the motors * Good adhesive tape for control surface hinges * Some pushrods * Hot glue * A flight controller compatible with INAV * A radio receiver # INAV mixer ``` mmix reset mmix 0 1.000 0.000 0.000 -1.000 mmix 1 1.000 0.000 0.000 1.000 ``` ``` smix reset smix 0 0 0 50 0 smix 1 0 1 -50 0 smix 2 1 0 50 0 smix 3 1 1 50 0 ``` PIDs (you will need to retune depending on thrust and servo throw, as they are far from perfect) ``` set mc_p_pitch = 140 set mc_i_pitch = 50 set mc_d_pitch = 10 set mc_p_roll = 140 set mc_i_roll = 50 set mc_d_roll = 10 set mc_p_yaw = 50 set mc_i_yaw = 20 set mc_d_yaw = 0 ``` This is an experimental device! During take off, do not ramp up the throttle. Instead, yank it to 75% and then settle low. Control surfaces need airflow to maintain stability **EDIT 2018-10-04** Updated STL files to slightly move center of gravity upwards, improving in-air handling