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

Last crawled date: 3 years, 1 month ago

This is 3D printed coaxial dualcopter made from common multirotor parts.
This is how it flies: https://youtu.be/lt3TfAiue1Q
Thrust and yaw control is provided by 2 counter rotating propellers
Upper motor is 2205 2300KV with 5x4.5x3 propeller rotation in CW direction
Lower motor is 2205 2600KV with 4x4.5x3 propellers rotating CCW
Flight controller runs INAV 2.0
Control surfaces are rotated 45 degrees from long axis to fit servos
flight controller is also 45 degrees rotated
control surfaces installed with tape hinges
any 9g servos will do
runs on 4S battery that has to be on the top of dualcopter
structure is provided by 2 14mm carbon pipes
use hot glue and zip ties to secure all the parts on the carbon tubes
each STL file has to be printed once
Required parts:
1 2205 2300KV brushless motor
1 2205 2600KV brushless motor (2300 also will do but will have less yaw authority)
1 5x54.5x3 propeller
1 4x4.5x3 propeller
2 14mm carbon pipes (12mm internal diameter), each around 270mm long
2 2g servos
3m bolts to secure the motors
good adhesive tape to make control surface hinges
some pushrods
hot glue
flight controller compatible with INAV
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 have to retune depending on thrust and servo throw, they are way 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 highly experimental device! During take off, do not ramp up the throttle. You have to yank it to 75% and then settle low. Control surfaces needs airflow to maintain stability
EDIT 2018-10-04
Updated STL files to slightly move center of gravity up improve in the air handling