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The IMU cube

is unlike a helicopter, which is indeed under the rotor is a Tricopter not a stable position and there would be an ass full of work to regulate the rotors continuously to the Tricopter remains straight in the air, in other words,

That's impossible!

So the part about flying at all, there is the IMU.
An IMU (Inertial Measurement Unit) is there, the location and capture it Bewegungend Tricopters in space.

Our IMU consists of three gyroscopes and accelerometers.
A gyroscope can detect a rotation, which is expressed as angular acceleration.
An acceleration sensor Earth's gravity, which is indeed an acceleration, and thus recognizes and left. This
4 sensors are arranged as a cube, so that each gyroscope one spatial direction (pitch, yaw, roll) is detected and the acceleration sensor also acquired the inclination.

The gyros can now see the spin in any direction and know the position sensor, such as the Tricopter is just in the air.

The Steuuerung compares these values \u200b\u200bwith the commands of the remote and unresponsive.

Rotates the Tricopter now as not in any direction and komt of the spark that command, he governs from, etc. Thus, the system is stabilized almost perfectly - just because a Tricopter stable position Sun

I use the ADXR Sparkfun than 610 of Gyro, which provide 300 ° / s, and an ADXL322 accelerometer.

In this video you can see very beautiful, like the twisting of the cube in different directions evaluated in the software:





The IMU is connected to the control board developed by William TRIguide.