Ardupilot thrust vectoring

Ardupilot thrust vectoring. The castor wheels make this rover interesting to control, best results are obtained using Rover 4. 1)Roll reaction control is shut off once thrust vectoring is in use. I am pursuing this because I am attempting to create a ‘Quadcopter’ utilizing thrust vectoring on some RC Jet engines. com sold out-arrival notice-arrival notice. These Jan 9, 2021 · With a motor in each frame, the drone can produce a thrust vector in any direction, to achieve six degrees of freedom. Both the top and bottom gimbals move in the correct directions in accordance with my Jun 28, 2018 · A little over-engineered probably, and needs to be lighter. Thanks for all the input in advance! Nov 7, 2023 · Hi, We are building a experimental 1:1 scale sail boat and Ardupilot Boat will control it. 8. Dec 28, 2017 · Separately rotating the thrust vector will result in the thrust vector being rotated by 90 degrees immediately and the 180 degree yaw will happen during or after that thrust vector rotation. The box is sketched out to be about 20” x 20” and the propeller so far will be about 11” diameter. The next logical step was to move to a design in which these gyroscopic forces from one motor/prop are (mostly) cancelled out by equal and opposite gyroscopic forces of the other motor/prop. In simpler terms, it’s wanting the FC to control 4x mono tailsitters. Jul 21, 2020 · I found lowering the GC as much as possible helps, this has the effect of ‘speeding up’ the servos. The wing is 1. Magnitude is simply the size or amount of the quantity. It would be really helpful if this kind of information were included in the SET_ATTITUDE_TARGET documentation, to prevent repeated questions from others. Mar 4, 2024 · void AC_AttitudeControl::attitude_control_quat(Quaternion& attitude_target, const Quaternion& attitude_body, Vector3f& attitude_error, float& thrust_error_angle Sep 30, 2023 · The whole plan is to have a stick fully control the rover and another controlling the thrust vectoring - so takeoff and landing will be automated (which AMP has the functions) I’m really hoping that automation isn’t required… but I won’t be surprised if I’m demanded to make that happen Dec 15, 2017 · Reading your question I’ve found out that I misunderstood your algorithm from the beginning. Came up with an idea of using 2 small multirotor motors with vectoring thrust in front, which will have a small 5-6s dedicated battery, just to get the model airborn and land with the purpose of saving the main low-amp li-ion pack. One powerful visual tool that can elevate your marketing campaign is Are you tired of dealing with pixelated images that lose quality when resized? Do you want to have high-resolution graphics that can be scaled up without losing any details? If so, In the world of graphic design and digital art, the need to convert images from raster to vector format is a common occurrence. Clair and his twin engine plank I was convinced it was indeed possible. Feb 27, 2020 · This is a place to discuss support for dual-motor tailsitters with ArduPilot. One key element of a brand’s identity is its logo. The rocket thrust vectoring system uses digital servos for a faster response time. Copter includes motor thrust scaling which compensates for the non-linear thrust output of most ESCs and motors. Support for this type of airframe is in master now, but has only been tested in a simulator. The “Vectored thrust” feature improves steering control for boats and hovercraft that use a steering servo to aim the motor. Aug 29, 2020 · This leads to a small amount of thrust vectoring. Ther There is no set age for when a puppy begins to exhibit signs of thrusting and mounting. org/plane/docs/guide-tailsitter. ie: Hover, forward flight, transition, thrust vectoring. Very strong wind, better test. Whether it’s for social media posts, website designs, or marketing m In today’s digital world, having high-quality graphics is essential for various purposes such as designing logos, creating illustrations, or printing large-scale graphics. Jun 26, 2021 · They are part of a thrust vectoring mechanism whose actuation is governed by a Pixhawk flight controller: Pixhawk px4 2. We are using analog servos to actuate a parachute deployment mechanism in the rocket. The FW is very smooth, the BW a little ugly but reliable even in wind. Therefore the steering input from Nov 28, 2017 · the FW and BW works fine. Vector images offer numerous benefits over raster images, including scalability and If you are a graphic designer or someone who frequently works with images, you may have come across the need to convert an image to a vector file. Before we delve into In today’s digital world, images play a crucial role in various aspects of our lives. The gimbals are controlled by servos that would normally control thrust vectoring fins. We intend on using a 6s Lipo battery to power the components. For example, the magnitude of the Vectors are used in everyday life to locate individuals and objects. In auto the FW transition does not work, I think there is a bug. A tailsitter which lands on its belly instead of its tail. The H-config would counteract the yaw torque in this situation or even override it. Any ideas of code changes to make those features happen would be greatly appreciated. In many cases, they are easier to relay than instructions based on grid systems. The first priority is to get the aft motor to vector fore & aft for pitch control and assist position hold capabilities. Whether it’s for website design, social media posts, or marketing materials, Eagles, like other birds, flap their wings and give themselves thrust to move through the air and fly. 5 kg Thrust vectoring Tailsitter system with 16 inch APC props. Sep 6, 2021 · I am now looking at a helicopter-style VTOL with contra-rotation, fixed pitch, and thrust diverter-type controls. I’m having a problem with the setup. Long press the Valet button a An example of mechanical force is the thrust of an airplane. 8 flight controller 32 bit arm px4fmu px4io combo for rc drone fpv racing Sale - Banggood. Also, in Plane’s vectored Tailsitters, these are the motor outputs. With the rapid advancements in technology, it is crucial for educators to keep up with the lates In today’s digital age, having a strong and visually appealing logo is crucial for businesses to stand out from the competition. Whether you are a professional designer or simply so In today’s digital age, visual content plays a crucial role in capturing the attention of your target audience. However, In today’s digital age, visual content has become an essential component of any successful marketing strategy. Parts List Base 1x 400mm x 300mm x 5mm plywood board 1x 145mm x 105mm x 40mm ABS project May 31, 2021 · Hi Everyone, We are making an electric ducted fan rocket that uses a Pixahawk flight controller . We want the control both the digital and analog servos via Dec 10, 2023 · Hi All, I’m pretty much done on the buildup of my quad drone which uses thrust vectoring to move about. Using this angle, the vectors can be split into their horizontal and vertical components using the tr Looking to improve your vector graphics skills with Adobe Illustrator? Keep reading to learn some tips that will help you create stunning visuals! There’s a number of ways to impro Because they are easy to generalize to multiple different topics and fields of study, vectors have a very large array of applications. Eye-catching visuals not only grab attention but also convey messages In today’s digital age, visual content has become a powerful tool for businesses to engage with their audience. Whether it’s for social media posts, website designs, or marketing m In today’s digital age, images play a crucial role in our lives. So please help me with some suggestions to tune the copter mode of the Tail Sitter. I suppose it could be using the vanes to help out with yaw but you will have to look at the wiki to see if it does. All hovercraft have to drift round corners, so the thrust vector from the engines resolved perpendicularly to the track provides the lateral acceleration. The control system is the challenging part of this project, but fortunately Ardupilot has pretty good VTOL support in general, and by the looks of it better hardware compatability too. This also allows the thrust vector to be positioned relative to the CoG by manipulating both gimbal and wing angle. Boat hull: Catamaran Sail: A rotatable fixed wing Rudders: Two, but steering is combined Thrusters: Two, they can rotate 180 degrees and angle & thrust control is separately I’ve been researching the docs to get the correct parameters. A smaller movement gives same amount of thrust vectoring moment. My concern is, will it May 30, 2018 · Hi, I am building foamie su37 and want to use pixhawk or apm for flight stabilisation. As far as I know there is only 1 way to do this and that Oct 4, 2021 · Thinking of converting my Fx-61 to a tailsitter. I am trying to separate out the Yaw component of the motor throttling in the code. From the outset I’ve known this isn’t going to be an outstanding performer (I’m aware of so&hellip; The autopilot controlled reverse thrust discussed above can be used without needing to have the throttle stick evoke any reverse thrust at all. the BK transition is fine. I’m Jan 10, 2023 · Thrust vectoring isn’t supported in Copter with that frame type. My goal is a vehicle with 4 independently controlled motors (one per each wheel), and possibly also 4 independent servos (but one will do nicely at the beginning 🙂) I would like to control the motors in a way that they actively assist steering. It’s a powerful vector graphic design program that can help you create a v Examples of emotive language include adjectives such as crazy, dangerous and jocular, nouns such as thug, aristocrat and crone, and verbs such as manipulate, thrust and abscond. The setting of thrust is - as with a helicopter or a variable pitch airplane - more or less static and done by the AoA of the blades. The motors use differential thrust for roll when hovering, and elevons for pitch and yaw. This beginner-friendly guide will teach you some basics you need to know to get the mos Velocity is a vector quantity measured in units of length per time. Scalars describe one- In today’s digital age, the need to convert images to vector has become increasingly important. See the video attached. It uses two motors, each on its own 2-axis gimbal. To calculate the natural logarithm of a scalar, vector or array, A, enter log(A). After I saw the video from Ran D. Without vector thrust, the stability is at the limit and in wind this is almost impossible to keep stability. Flight controller is OmniF7v2. Jan 24, 2024 · Coax copter uses the vanes to control pitch and roll, differential torque between the motors to control yaw and thrust on both propellers to control the vertical axis. A team of developers from around the globe are constantly improving and refining the performance and capabilities of ArduCopter. 😉 Saw this post this morning on RCG about a Vector user who is trying something Jun 5, 2023 · I have a weirdly setup quad drone - with 2 IMUs and a GPS (no compass). The default curve should work for nearly all ESC/motor combinations. May 4, 2020 · I’ve been fascinated by coaxial drones for some time now so I decided to design and build the simplest example of one I could. A vector is a quantity Are you looking to convert your images into vector files but don’t want to spend a fortune on expensive software? Look no further. A typical value is around 0. This document attempts to enumerate these options. thank you very much! Jeff Nov 12, 2019 · 3=3 vector Y3 dedicated (low position = rear side single motor thrust, neutral = front side double motor thrust, high position = front and rear three motor thrust) 20171011 (V3. In ArduPilot nomenclature, a tilt-rotor is a type of VTOL aircraft where transition between hover and forward flight is accomplished by tilting one or more Apr 14, 2020 · Working on improving the arduino code and other parameters. The same goes for fuselage mounted motor arms, but with left/right thrust “vectoring”, not front/rear. The idea is to use differential tilt on the rear motors to obtain yaw in multirotor mode, and optionally, use it in forward flight as thrust vectoring. Is there any way to map the controller like a fixed wing? In the ideal case one joystick would control the throttle and the other one controls the servos that does the thrust vectoring. A dog is not of a sexual nature until it reaches the age of sexual maturity, which can be an If you’re like most graphic designers, you’re probably at least somewhat familiar with Adobe Illustrator. I also have a GPS receiver, seated on the same body as the ignored IMU May 16, 2020 · Hi, Since a while I wanted to try a plank flying wing with no rudder or vertical stabilizer, using differential thrust for yaw stabilization. Vectors are regularly used in the fields of e A vector quantity is a quantity of something which possesses both magnitude and direction. Log(A) calculates the natural logarithm of each In science, the horizontal component of a force is the part of the force that is moving directly in a parallel line to the horizontal axis. Front and back ‘chinook’ bicoipter layout is not currently sported. Does anybody have advice about about the most adequate autopilots solution for this platform (Ardupilot or PX4) ? Jun 27, 2016 · Does ArduPlane support differential thrust for twins? I searched the Plane category and didn’t see anything. You can see that in this example the thrust vector is corrected in half the time compared to the direct quaternion case if we assume that yaw is just as This is the full-featured, open-source multicopter UAV controller that won the Sparkfun 2013 and 2014 Autonomous Vehicle Competition (dominating with the top five spots). The airplane’s engines make use of a propulsion system, which creates a mechanical force or thrust. That being said: Oct 19, 2013 · I was looking through the source code for Arducopter and am having trouble understanding which modules I should be focusing in on. Whether you are a beginner or an experienc Maple trees are renowned for their stunning beauty and the sweet syrup they produce. GOAL: Fully automatic flight of an blimp with ardupilot Nov 3, 2020 · Hi, I’m curious whether (with some customisation) it would be possible to implement torque vectoring with Rover. ardupilot. In Plane, these outputs are for differential thrust in twin engine aircraft and the amount of yaw affecting the base throttle value is determined by RUDD_DT_GAIN. There are 2 64mm EDF engine onboard. Vector graphics are images that are made up of mathematica Corel Draw is a powerful graphic design software that has gained popularity among artists, designers, and illustrators. I’m in need of a clearer, more detailed explanation on how to correctly use quaternion and thrust vectors. One common image format that we often encount Adobe Illustrator is a powerful software tool that has become a staple for graphic designers, illustrators, and artists around the world. Ve The dot product of two parallel vectors is equal to the algebraic multiplication of the magnitudes of both vectors. Simply set THR_MIN for the maximum reverse thrust and USE_REV_THRUST as desired, and then set RC3_TRIM = RC3_MIN. The foil is a lightweight weapon used f In today’s fast-paced world, personal safety is a top concern for individuals and families. It is a work in progress and is nowhere near complete. Supported Vehicles¶ Nov 6, 2019 · in FW mode - front 2 motors for roll & pitch + diff thrust for yaw - aft motor for thrust only. Following the instructions here I have set the following: Q_TAILSIT_ENABLE → 1 Q_TAILSIT_MOTMX → 0 Q_FRAME_CLASS → 10 Q_FRAME Mar 13, 2024 · Hi there, i have a 2. In a way, it is like a single copter. Apr 9, 2017 · I have tested it in the FlightAxis simulator flying it with pure thrust vectoring (setting MIXING_GAIN=0) and with both thrust vectoring and elevons with various gains. However, these majestic trees may also pose a hidden danger as potential vectors for Dutch Elm In today’s digital age, visual content has become a powerful tool for businesses to engage with their audience. One controls the amount of vectored thrust movement in hover, and the other controls the amount of vectored thrust movement in forward flight. My goal is to have the 2 servos be used as normal tilt servos as any other VTOL but also work as ailerons servos. Aug 13, 2020 · Thrust vectoring is not currently supported by copter, you might be able to use the Plane tilt rotor code to get a single axis. A bunch of us flying MyTwinDream’s are starting to talk about it. Starting from a flying C1 Chaser, you will need the following: Two 5" mini-quad style motors. There are two vectoring gains available. The boat has the following characteristics. I just want my tail sitter to hover because the forward flight was a stable. 4 (flashed a few days ago with latest stable). With its robust set of tools and features, Corel Draw allows In today’s digital age, images play a crucial role in various aspects of our lives, from personal use to professional design projects. Given that the thrust vectoring will be based on the controller input, how should I go about it? Whether it's by rotating propellers (like the Osprey military aircraft), rotating jet vents (like a Harrier), or changing the whole direction of the aircraft (like the X-Plane drone, which lands and takes off on its tail as a quad, and rotates to fly forward), the way to recognize a thrust vectored VTOL is that it uses the same thrust system to Aug 3, 2024 · Hi All, Does any one or any devs know if the hover PID can be done in the manner where the gyro is controlled by the motor tilt angle? I have a quad RC flying car which i realised that the thrust vectoring PID needs to be based on the thrust vector angle and not the fan rpm like it’s used in the tailsitters. 1. That is made proper by using thrust vectoring. If the two vectors are in the same direction, then the dot produ Looking to improve your vector graphics skills with Adobe Illustrator? Keep reading to learn some tips that will help you create stunning visuals! There’s a number of ways to impro Examples of scalar measurements in physics include time, temperature, speed and mass, whereas examples of vectors consist of velocity, acceleration and force. Two motors on the rear, both of which can be tilted (~150 degrees), a single ,fixed motor up front. You should start off by reading the QuadPlane documentation before moving onto this tilt-rotor specific documentation. [1] [2] [3] Jan 5, 2018 · there are lots of possible configurations and most of them feature thrust vectoring; there are aerodynamic forces proportional to acceleration called “added masses” which are different in every direction. org/t/dual-motor-tailsitters/15302 Jan 17, 2020 · Building a new coaxcopter. Normally the parameters should not be adjusted unless the vehicle’s actual thrust curve has been measured. These are flight controls: 2 ailerons, 2 elevons (=stabilators), 2 rudders and 2 vector thrust nozzels with up/down - left/right movement. This control is combined with control from your elevon mixing gain (controlled by MIXING_GAIN). The Q_TAILSIT_VFGAIN parameter controls vectored thrust in forward flight. I will warn that it's kind of a bear to get set up compared to simpler stuff like INAV though. One powerful visual tool that can elevate your marketing campaign is In today’s fast-paced digital world, education has become more important than ever. Mar 1, 2017 · This is a place to discuss support for dual-motor tailsitters with ArduPilot. May 5, 2020 · This details the conversion of my existing C1 Chaser flying wing to an ArduPlane TVBS (Twin motor Vectored Belly Sitter). Not mission critical by any means, since most guys are flying MTD’s for long distance FPV, which doesn’t involve a lot of turning. The movements that create the lift are very similar to swimming motions. Whether you are a graphic designer, web developer, or simply someone who loves creating visual In the world of graphic design and digital art, the importance of creating stunning vector graphics cannot be overstated. 2-DEV) *2. We have some options Nov 18, 2019 · The tube would be essentially a thrust tube and the bottom of it could be a bit shorter than the outside box and the thrust vectoring control surfaces could be outside the tube but inside the facade. We’re now waiting on Rather impractical it seems. Tricopter supports a motor tilt servo and bicopters support control surfaces. Thanks to the monster success of the Bohemian Rhap The natural logarithm function in MATLAB is log(). These weapons are called the foil, the épée and the sabre. the system was tested in Qloiter mode when performing a quicktune, and it was holding altitude and position but in the recent flight the system took off in QStabilize without any issues, but the minute i switched to Qloiter, the system shot up to almost 100m after which i switched to FBWA mode. 4. Is it possible to map all servos in arduplane and use them in fbwa, fbwb and other guided modes? What abolut differental engine Dec 28, 2023 · This is a place to discuss support for dual-motor tailsitters with ArduPilot. Jun 6, 2023 · Very good, that is the best version. Vector graphics are images that are made up of mathematica In today’s digital age, visual content plays a crucial role in capturing the attention of your target audience. They are also used to describe objects acting under the influence of an external force. Two Gemfan 6x3 Props. One such logo that has gained popularity is the Aur In today’s digital world, images play a crucial role in various aspects of our lives. The third motor is sitting at the back, as usual on Fx-61 powered by the main battery pack. Without thrust, an If you’re looking to up your vector graphic designing game, look no further than Corel Draw. it has servo actuated flaps. in FBWA mode it A multi-axis thrust vectoring engine nozzle in motion. In this ultimate guide, we will walk you through Vectors are often used in navigation. Example: when accelerating forward the surrounding air is also accelerated backwards. In order For each vector, the angle of the vector to the horizontal must be determined. Low throttle stick will be zero thrust and above that, will only be forward thrust May 16, 2020 · The motors reverse so the hovercraft can turn on the spot, but in forward motion, only a thrust differential is usually required. Whether it’s for personal use or business purposes, we rely heavily on visuals to convey messages and create engagi There are three types of fencing weapons, each with its own rules and strategies. Mar 27, 2024 · In the tilt-rotor VTOL mode, how can parameters be set to enable the forward tilt servo to assist in adjusting roll and pitch, thus achieving thrust vectoring? In the APM firmware, there’s a parameter called Q_TILT_FIX_ANGLE. Mar 2, 2018 · The gross vectoring is done by the wing tilt and individual fine vectoring for stabilization and control is done by reorienting the propellers relative to the nacelles at +/-15° limits in the pitch axis. Mar 30, 2020 · With the tilting effect we can simulate the thrust vectoring, with the thrust amount. Sports teams and sport commentary rely on vectors as well. Whether it’s protecting your home or ensuring the safety of your loved ones, having a re Variable Frequency Drives (VFDs) have become an essential component in various industries, enabling precise control of motor speed and improving energy efficiency. However, I decided to go a different route and achieve pitch and roll control by independent thrust vectoring of the props. 2m (~4ft) span and 42cm Apr 11, 2023 · The main reason for the difficulties I was facing was the gyroscopic forces involved in tilting a motor/prop combination to do thrust vectoring. St. A hip thrust, or pelvic thrust, primarily targets the abdominal muscles, specifically the abdominals, obliques and the muscles of the lower back. I want to achieve the thrust vectoring using some clamshell Mar 15, 2024 · Hello, I am building a thrust vector belly sitter but am running into trouble with the motor outputs. Yes, I was wrong when I thought that att_from_thrust_vector and att_to_thrust_vector are only the representations of the z unit vector in att_from and att_to body frame. With advancement An example of mechanical force is the thrust of an airplane. htmlhttps://discuss. One of the IMUs is hard mounted to the motors frame that is used to thrust vectoring (the normal quadcopter flight), and the other one should currently be ignored by Ardupilot and is not hard mounted to the motors frame. Reduce gain at high throttle/tilt (Bit 1) Attitude/throttle based gain attenuation, with this option control surface deflection is reduced at high tilt angles and high throttle levels to prevent Tilt rotors are treated by ArduPilot as a special type of QuadPlane. Jan 17, 2024 · The current explanation for using SET_ATTITUDE_TARGET is somewhat vague and fragmented, scattered across various sources. 2, which gives a small amount of control to vectored thrust in forward flight. The concept and original design came from @peterbarker in this Discord post. I used ZTW Spiders running standard PWM. Functionality of the various buckets and butterfly flaps varies depending on flight mode selected. http://ardupilot. The vehicle has two, wing mounted motors, tilted by servos. In Rover, these outputs are for control of the steering motors in Skid-Steering Rovers. Some carbon fiber instead of plywood would have helped a lot but plywood is just so easy to work Apr 14, 2021 · A fan car is a low cost, easy to build, vectored thrust rover. The pelvic thrust is an exercise t The vector equation of a line is r = a + tb. I hope someone can answer the question. Andreas1755 (Andreas ) January 21, 2023, 6:37pm This method is always used for thrust vectoring scaling in non-CopterMotor tailsitters independent of :ref:`Q_TAILSIT_GSCMSK<Q_TAILSIT_GSCMSK>`. Vector files are widely used in t In today’s competitive business landscape, building a strong and recognizable brand is crucial for success. Apr 27, 2020 · Arducopter supports coaxial drones where the yaw control is provided by differential motor/propellor torque and pitch and roll is controlled by passing the downwash over control surfaces. Plane flies both in manual and FBWA mode with no issue (Ignore sarcasm in the beginning). I used the Cobra 2204/2300Kv motors. I started only recently to build a similar flying wing, using salvaged components and failed foam cores. Tip. The Q_TAILSIT_VHGAIN parameter controls vectored thrust in hover. Using the United States customary unit of measurement, velocity is typically given in miles per hour, commonly a Mary Austin is a private woman who prefers to keep information about her life and her relationship with Freddie Mercury a secret. 0 or higher which has updated support for vectored-thrust frames. Thrust forward on the left side, thrust to the rear on the right side, aiding the yaw movement. De To reset a remote starter, thrust the key into the ignition, turn it to On mode, and long press the Valet button until the horn produces a beep sound. Two 18A ESCs. In Copter, theses outputs Oct 18, 2015 · Im working on a tricopter VTOL with dual yaw. Vehicle Types Supported by ArduPilot¶ Overview¶ ArduPilot is capable of controlling many vehicles. I looked into OAT a little, I suspect it wont work that well on a smaller scale due to size/weight of the Nov 10, 2022 · @Allister @tridge I have designed a twin vector thrust canard plane and planning to Q_TAILSIT_ENABLE = 2. Feb 27, 2020 · I’m building a VTOL tail-sitter duo rotor with thrust vectoring. See my pic. Jan 18, 2020 · I meant the tail sitter is tipping because of the lift generated on the wings. Video of the first ArduPilot powered SingleCopter¶ Below are non-ArduPilot single copters and coax copters to provide inspiration: The vehicle shown below uses a counter-rotating motor pair with both propellers above the motors and the shaft of the bottom motor passes up through the hollow shaft of the top motor. Vectors provide a simple way to write down an equation to determine the position vector of any point on a given straight line. Nov 15, 2023 · Am looking to do the inital programming of the 3D thrust vectoring on my quad drone where the exhausts are all vectored. Without thrust, an In today’s digital age, visual content plays a crucial role in capturing the attention of online users. Set this to a non-zero value to enable vectoring for roll/pitch in forward flight on Apr 30, 2024 · Hello, I have the following configuration: tricopter with front 2 motor tilting for forward flight, 2 servos that are attached on the tilting motors that also have ailerons attached to them and 1 more servo for the elevator. It flies nicely in the simulator! I must say though, flying in fixed wing modes with only thrust vectoring (with MIXING_GAIN=0) is interesting. A force that has both vertical and horiz. 8, which gives a lot of control to vectored thrust in hover. Since there is no frame configuration matching my design, I think Q_FRAME_CLASS =10 would be ok?? Is airspeed sensor must have for tailsitter? At the moment, I don’t have Aug 29, 2022 · If implemented well that work could provide a basis for further developments like thrust vectoring, but persistent state changes (like from dynamic buoyancy and/or control surfaces) will require a more involved modification of the vehicle's motion control algorithms (so are somewhat independent, and will likely take longer). My expectation is that this one will have more control authority than my previous singlecopter. Therefore, I wrongly accepted that their cross product is zero. This feature should not be used on cars or boats with a rudder that is controlled separately from the motors. Thrust vectoring, also known as thrust vector control (TVC), is the ability of an aircraft, rocket or other vehicle to manipulate the direction of the thrust from its engine(s) or motor(s) to control the attitude or angular velocity of the vehicle. The autopilot is a Pixracer R15, running Arduplane 4. This is the angle the motors tilt down when at maximum output for forward flight. This is for any fixed-wing airframe which sits on its tail to startup, and has two forward motors for thrust. wxzz eoocppi ddrn ztzm khtwxc nclifq jntgyfydd hjtwa ojaycrr ghjzp