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Swashplateless Hellicopter

requirements

  • AS5147 - Magnet Encoder
  • Development Board - NUCLEO-STM32G431KB
  • Main Motor - TAROT 4006 kv 620
  • Main Propeller - 1552 CW (DJI S1000 prop)
  • Tail Motor - HGLRC AEOLUS 1202.5 8000KV
  • Radio Controller - Spektrum (receiver : SPM9645)
  • Hings - https://www.thingiverse.com/thing:5239549

original idea

MODLAB UPENN : https://www.modlabupenn.org/2014/10/23/underactuated-rotor/

Description

Novus_RTOS

This project was made at STM32CubeIDE.

You can download at [HERE] then you can also open project

If you wondering about pin number. you can see it at Heli.ioc

NUCLEO-G431KB Pinmap.xlsx

This file contains information about the connection between NUCLEO and other sensors.

Before flight

The program has been developed for CW propeller. so you have to use CW prop at main motor The moment direction is determined according to the position of the motor, and the position of the motor is measured based on a blade in which the pitch angle increases when the blade is in the lag position. Therefore, power must be applied after the blade is positioned forward.