Tricopter

thingiverse

### Long "abondoned" project. inspired by rcexplorer.se this tricopter started as an idea roughly 2017 with leftover arms of an old ZMR250. i designed a fitting base & toplate, aswell as an 3dprintable tilt mechanism for a cheapish servo. after i got carried away, i eventually had some time to finish up my build with parts frome my spare bin. in the future i want to add a small gps and try some big capacity li-ion packs with it. ### STLS: - **tiltmount.stl**: upper part of tiltmechanism. needs a servo horn. - **tiltbase.stl**: lower part of tiltmechanism. servo is secured with a ziptie - **halstack.stl**: mountingplate for RX & VTX. use heatshrink - **antennamount.stl**: can be used to "mount" the R9MM-Antenna flush to the baseplate - **microcam.stl**: mount for a 19x19mm microcam - **baseplate.stl**, **topplate.stl**: frame parts, to be cut out of carbon - **arm.stl**: just for reference, i used leftover zmr250 arms ### Hardware: - M3 Screws ([click](https://www.banggood.com/Suleve-M3CH2-M3-Carbon-Steel-Allen-Bolt-4-20mm-Button-Head-Hex-Socket-Cap-Screw-Bolt-Metric-120pcs-p-1094163.html?cur_warehouse=CN&rmmds=search)) - M3 Nylon Locknuts - 4x M3 Standoff 25mm ([click](https://www.banggood.com/de/Suleve-M3AR5-10Pcs-M3-25mm-Knurled-Standoff-Aluminum-Alloy-Multi-Color-p-1171590.html?cur_warehouse=CN&ID=224)) ### Electronics: i used what i had on hand. not really a lot of space in this build. - Corona 919MG ([click](https://hobbyking.com/en_us/corona-919mg-digital-metal-gear-servo-1-7kg-0-06sec-12g.html?queryID=ce8b922bd12ed6a87957d527a204d598&objectID=35884&indexName=hbk_live_products_analytics)) - 3x 2306 AOKFLY RV2306 2400kv ([click](https://de.aliexpress.com/item/32850828196.html?spm=a2g0o.productlist.0.0.7b437e7a9siQIu&algo_pvid=ac3248cd-43cc-43e8-a353-584086a39afb&algo_exp_id=ac3248cd-43cc-43e8-a353-584086a39afb-1)) - 3x 30a Blheli_S ESC ([click](https://de.aliexpress.com/item/924228276.html?spm=a2g0o.productlist.0.0.1f4d4de5zfMGX8&algo_pvid=33b8e50d-6435-414a-a9e7-6985e8fe1e1f&algo_exp_id=33b8e50d-6435-414a-a9e7-6985e8fe1e1f-1)) - Matek F405 STD ([click](http://www.mateksys.com/?portfolio=f405-std)) - Frsky R9MM ([click](https://www.frsky-rc.com/product/r9-mm-ota/)) - Eachine Nano VTX V3 ([click](https://www.eachine.com/Eachine-Nano-V3-VTX-5_8GHz-40CH-25-or-100-or-200-or-400mW-Switchable-FPV-Transmitter-Built-in-Microphone-Support-OSD-or-Pitmode-or-IRC-Tramp-For-RC-Racing-Drone-p-2114.html)) - AOMWAY RHCP Stubby Antenna ([click](https://de.aliexpress.com/item/1000008608113.html?spm=a2g0o.productlist.0.0.4f3c55702uhh4p&algo_pvid=8881679b-e9c1-427e-a376-4025176da398&algo_exp_id=8881679b-e9c1-427e-a376-4025176da398-1)) - Caddx Ant ([click](https://caddxfpv.com/products/caddx-ant-1200tvl-global-wdr-with-osd-2g-ultra-light-nano-fpv-camera)) ### Current Software & PID-Tune inav 3.0 ( https://github.com/iNavFlight/inav ) current pid tune is flyable, but not totally optimized. set mc_p_yaw = 44 set mc_i_yaw = 23 set mc_d_yaw = 7 set tpa_rate = 20 set tpa_breakpoint = 1700 set rc_yaw_expo = 70 set roll_rate = 60 set pitch_rate = 60 set yaw_rate = 40