User Manual

22/06/2016 MicroduinoQuadcopterTutorialMicroduinoWikipedia
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Front&LateralMotion
Themotor1istheheadoftheaircraftandthemotor2istherear.
Howdoesthequadcoptermoveforward?Getathrustinthehorizontaldirection:Byincreasingthespeedofthemotor2andthe
thrustincreasesintherear.Bydecreasingthespeedofthemotor1,thethrustwillgetreducedinthehead.Inthiscase,theaircraft
willmoveforward.Atthesametime,bymaintainingthespeedofthemotor3and4tokeeptheantitorquebalance,theaircraftwill
flyforwardsteadilyandviceversa.
Sincethequadcopterissymmetricalinthemiddle,theactionofcontrollingthequadcopterforwardorlaterallyissimilar.Justkeepin
mind,thecontrolofthetwogroupsofmotorsshouldbereversedwhiletryingtoflytheaircraftlaterally.Forexample,bykeepingthe
speedofthemotor1and2thesame,increasingthespeedofthemotor4anddecreasingthespeedofthemotor3,itwillgenerate
horizontalthrusttotheleftandtheaircraftwillmoveleft.
YawingMotion
Thethreekindsofmotionmentionedaboveallhappeninthedirectionsofthethreeaxes.Next,we'llintroducethemotionaroundthe
threeaxes.
Yawingmotionistherotationinthehorizontaldirection,namelyrotationaroundtheZaxis.