Protocopter

Controls: Tilt - QWES Rotate - AD Blade pitch - RF Ignition - I Camera - C About the creation: This helicopter is my 9th attempt at making a helicopter, 2nd at a virtual swashplate. One of the changes between current and older models (no. 7 and older) is that I used a differential link for the 2 rotors. This dissipates the torque they produce really well hence not spin the main body in Yaw axis. It includes a simple auto-stabilizing system, nothing too fancy, just a PD controller for Pitch and Roll. Also a D controller as a Yaw dampener. Most of the bulk (magic/math) is inside the Blade Controller CPU. It gathers Stabilizer and Player inputs and processes them with lots of math to accurately tilt 8 blades spinning in opposite directions. I included a simple blade position predictor in case the blades don't tilt fast enough, but I ended up not using it. It's still in the programming, just the coefficient is set to 0. The Main Seat has some simple interpolations added on tilt inputs. The ramp up is linear, while the ramp down is exponential. This gives a smoother transition between movement and it's one of the aspects I would want to improve on. To deal with soft physics bending the blades, I added a support bearing at the end of each one. This uses the feature of non continuous rigid bodies, basically having remote solid attachments to the main rotors. To not run out of torque, I use the technique of cramming 4 motors (possibly more, but here 4) into one space, resulting in 8 motors connecting the rotors together. The main body is connected with 1 motor to each rotor allowing me for Yaw movement.