Shrediquette is an open-source tricopter that was developed by W. Thielicke just for fun. Shrediquette is now in it's 4th generation. More info on previous versions can be found on the website. This project now also exist in a quadrocopter and a hexacopter version.
The tricopter is programmed in Bascom. It is equipped with three gyroscopes and a dual axis accelerometer. Additionally, a servo at the rear tilts the motor to enable yaw control. ESC's are modified Tower Pro n18A (I2C). All settings of the tricopter can be modified using a graphical user interface. This makes it very easy to adapt the electronics to the installed components/ transmitter.
Two flight modes are available and can be selected in flight. In hover-mode, the copter automatically levels and flies on it's own. If there is no wind, it will stay in place. In acro-mode, the tricopter flies like rc helicopter (angular velocity control = heading hold). It can do all sorts of aerobatics (for a video, see resources).
A GUI is available that allows you to view and modify all relevant parameters of the tricopter. This GUI also allows the user to transfer new firmware to the tricopter using a RS232 cable.
I did some successful experiments with autonomous indoor flight. This enables the copter to fly completely on it's own, and to navigate along proprogrammed flight paths without GPS, pressure sensor or compass. I am using a webcam and some LED markers, the video of the camera is processed in Matlab. An example can be found in this video: http://www.vimeo.com/6347100
All the information available can be found on the website.
The Shrediquette also exists in a mini version (DLXm): Specs Shrediquette DLXm
- Motor shaft distance: 132 mm
- Max. dimension: 259 mm
- Weight: 230 g
- Props: 5x3 3-blade GWS
- Motors: Roxxy 2216-25
- ESCs: Turnigy Plush 6A with I²C->PWM converters
- Battery: 3S, 800 mAh
- Max thrust per motor: 237 g
- Thrust to weight ratio: 3.1:1
- Total current during hover: 4 A
- Endurance: 11 mins
video: Shrediquette DLXm on Vimeo
Furthermore there are quads, hexas, Y6 etc....: [] (I can't upload pictures, error message says: Webserver has no writing access to "public")