Ever since I got my Eachine E011 about a year ago, I've been obsessed with drones, and I started using my 3D printer to create my own, progressively larger drone frames. After flying my 3D printed 3 inch quad for while, I thought that with my spare motors and props, I could make a hexacopter. It's not the fastest nor the most efficient setup, but it was a fun little project.
The following is some footage I cut together from a few flights. They're not from the latest version of my frame, so there's still a bit of vibration in places.
The hex is running Betaflight 4.1 using RPM filters with 48kHz JESC firmware. It's pretty hefty, with its dry weight coming in at around 184 grams. Using Onbo 3s 850mAh batteries, I can get flight times that last around 3:40 to 4:10 minutes with some freestyle, and can reach up to 8 minutes doing slow cruises. On GNB 3s 550mAh batteries, I usually get flight times that last around 2:30 minutes. A 3s 650mAh LiPo might be the sweet spot between flight times and performance, but I haven't gotten around to trying them yet.
In comparison to 3 inch micro quad, it's definitely less agile, but I do like that it has more momentum to throw around. It's nice for cruising around and doing light freestyle, though I have not flown any 5 inch or toothpick-style quads to really compare it to. The motors don't have a lot authority, due to its larger wheelbase and mass, so it required me to push P/D gains a lot higher than the default PIDs. However, the motors come down cool and PID tuning has been fairly simple, thanks to having a blackbox capable flight controller and following along Mark Spatz's tutorial series on PID Tuning Principles.
My PIDs in Betaflight with the Gyro and D Term filter multipliers both set to 1.5
Step Response graphs generated by PID Analyzer
I actually don't know how the frame itself will hold up in a hard crash as I've never had any. However, the canopy has remained unscathed after bouncing off dirt as a result of a flyway (don't make major changes to a frame and fly with the same aggressive tune...). The bottom plate also seems pretty tough, judging from the few times I've crash landed into dirt or grass from mechanical/electrical issues. But I'm not so sure if it could survive a hard crash on to concrete.
I am not at all an engineer, so my approach to designing a frame mainly came down to trial-and-error and gleaming what information I can from online. I did follow a few guidelines when designing the frame: Keep weight to minimum. Place most of the mass near the center of thrust. Make the frame as stiff. Avoid using print supports to prevent wasting filament. As for my goals, I simply wanted a drone that didn't have a lot of vibration in the footage and that had a good balance between performance and flight times. Initially, I also wanted to keep props out of view of the camera, but eventually gave that up as leaned more towards performance. Obviously, a carbon fiber frame is pretty much superior to a 3D printed frame in terms of stiffness, durability and weight, but there's something to be said for designing your own 3D printed frame. Printing it out, assembling it, flying, analyzing logs, then making changes, all within a couple of days is a pretty rewarding process.
Prior to designing my hex, I was fiddling around with indoor tiny whoop-style quad frames. I liked experimenting with different layouts and configurations, and so my time designing my hex was no different. I used FreeCAD to create the models.
I wanted to try something unorthodox first, so I started with a frame that used coaxial rotors, using the Y6 mix in Betaflight. From what I've researched, coaxial rotors do suffer from efficiency losses, but have the advantage of having a smaller wheelbase than a standard flat hex. They also keep props out of view of the camera. However, due to the need for some kind of landing gear, my initial design ended up very chunky looking. And its flight performance was pretty disappointing. Despite being lighter than my current design, it felt very slow and heavy in flight. I did try swapping the props on the bottom motors with those of a higher pitch, but it didn't feel like it made much of a difference. From what I can tell from the blackbox logs, the rear bottom motor was maxing out much quicker than the rest of the motors, severely reducing the maximum thrust. I'm guessing since the rear bottom motor were directly behind the body of the drone, it was receiving a lot of dirty air, limiting its thrust. Its middling flight performance, coupled with the fact that it was a bit of a maintenance nightmare, made me feel like it was a dead end, so I quickly moved on to other designs. However, I was able to find that it was capable of losing a motor, since one of my ESCs was malfunctioning at the time. But it did start tumbling in the air if I pushed it too hard.
So for the next set of designs, I went with a standard flat hex with box style struts that connected each motor mount. Without the struts, the hex suffered from severe resonance issues, even when I increased the thickness of the arms. So it was simply a more effective use of material to have the struts, and it allowed me to increase the height of the arms while keeping them thin. This increased the vertical stiffness of the frame. However, I found that if I made the arms too thin, the outer ring of motors and the center of the frame began acting as two separate bodies of mass, which limited yaw responsiveness (which was wild to see in footage, seeing the two front motors oscillating side to side). This frame design flew well for the most part, and had noticeably less drag than my current frame, though it had some mid-throttle oscillations. It also didn't seem to matter if the motors weren't in a perfect hexagon as far as I can tell. Betaflight seems to handle it fine using the Hex X mix, so a custom mix isn't really needed.
Next up, I tried overlapping props, which helped shrink the size of the frame. Judging from a few science papers, props that overlapped a small amount only had marginal efficiency losses. Initially, I used an overlap of 15% of the prop diameter and simply used a smaller version of the box style frame and had spacers to raise the side motors up about 8 millimeters. This worked fine, but I was afraid that this would also increase the magnitude the vibrations produced by the motors on to the frame. So I decided to mount the front and rear motors on to a top plate. However, since the struts of a box style frame would get in the way, I took inspiration from the DJI Flame Wheel arms and split the motor arm into two with cross struts in between. As for the flight performance, I didn't really notice any difference and flight times remained mostly the same. However, it suffered from more vibrations and was generally noisier (though it did make a neat chopping sound at high throttles).
Since I already had four of the motors mounted on the top plate, I thought I might as well try a pusher configuration with all six motors. Plus, it allowed me to mount the Avan Mini 3x2.4x3 props on to the DYS 1404 motors, which normally don't fit. Putting props in a pusher configuration supposedly helps raise efficiency due to having no obstructions downstream of the props. However, it does increase vibrations due to the increased turbulence of air from the arms hitting the props. So in terms of flight performance, I didn't really notice that much difference except some more vibrations getting into the footage, as well as it being noisier overall.
At this point, the hex was getting pretty heavy, having a dry weight of around 200 grams, so I really wanted to shed some of the weight. Since I rarely crashed, I felt that I could sacrifice some of the protection. A lot of the toothpick style builds I've seen had the camera canopy mounted directly on same set of screws as the flight controller. Using that idea, I got rid of all the heavier aluminum M3 standoffs I was using earlier. I also replaced the XT60 connector with an XT30 connector, which further reduced the weight and didn't seem to affect voltage sag that much. I did manage to bring the dry weight down to around 176 grams, with an AUW of around 256 grams, just a few grams over the 250 grams limit (which doesn't apply in my country, but is a nice goal to try to reach). Unfortunately, the hex was still suffering from mid-throttle oscillations, so I had to increase the thickness of the arms, which brought the dry weight back up to around 184 grams. However, shedding the extra weight really did help improve the flight performance, making the hex feel punchier and nimbler. I did try a design that didn't have the cross struts in the motor arms to reduce drag. But this caused more mid-throttle oscillations, even when I did increase the thickness of the arms. Having less vibrations is more valuable to me, so I stuck with the cross struts. In the current version of the frame, the bottom plate weighs 33 grams while the canopy weighs 7 grams.
Of course, experimenting with 3D printed frames means experimenting with different kinds of filaments. All frames were printed by my modified ANET A8 3D printer (the AM8 by pheneeny) with a Bowden extruder without an enclosure. I keep all my filaments in a dry box while printing and I use PrusaSlicer to slice my models.
Previously, I've used these two motors on a 3 inch quad in similar configurations. I find that the 1106 generates more thrust, is lighter and more responsive. But I generally get longer flight times with the 1404, and that it seems to handle less filtering and/or higher D gains much better. I'm guessing it's because it's larger and thus it's able to dissipate heat better. So I decided on going with the 1404 for the hex. I've had to disassemble the 1404 motors a few times to clean out dirt, which was relatively easy. But I had an issue with a motor where the motor bell refused to come off, and I eventually had to give up on using it.
I haven't been flying drones long enough to say that I could pick up on some the nuances of a prop's flying characteristics. But I did try a variety of 3 inch props to feel them out.
I'm not sure what else I could do to reduce the weight of the frame with this set of components. But if I could start from scratch, I am curious how an ultralight hex with HD would perform. I'm not sure if there is universal definition for ultralight, but if I go by what I generally see for the AUW for 3 inch toothpick-style quads (100 grams), and extrapolate from that, I get that an ultralight hex would have an AUW of around 150 grams. I could swap out the motors for some 1105 motors, swap the VTX and ESCs for a 16x16 stack, and use a 3s 650mAh battery instead, but that probably only gets me to AUW of around 200 grams, with everything else being equal. At this point, I probably would have to look into creating a light weight carbon fiber frame to further reduce weight. But I'm not looking to designing a new frame any time soon.
Anyways, I enjoy designing drones as much as flying them and hopefully this writeup helps someone out there. I designed my frame to fit my specific needs and components, but let me know in the comments if there's any interest in the STLs and I'll post them on Thingiverse.
I'll leave off with an uncut flight of mostly cruising and some freestyle in 60fps with the onboard audio on the current version of the frame.
Flight Controller |
20x20 Mini Drone Flight Controllers for - RaceDayQuads
(12 builds)
Racedayquads.com
|
$0.99 |
ESCs |
2 x Spedix 20A 4 In 1 Mini ESC BLHeli_S Dshot600 2-4S 20x20mm For RC Drone FPV Racing
(11 builds)
Banggood.com
|
$53.18 |
Motors |
6 x DYS 1404 BE1404 4300KV 6000KV 2-4S Brushless Motor For RC Drone FPV Racing Multi Rotor
(15 builds)
Banggood.com
|
$72.84 |
Propellers |
3 x 2 Pairs Gemfan Windancer 3028 3-blade Propeller Compatible 5mm/1.5mm Mounting Hole for FPV RC Drone
(31 builds)
Banggood.com
|
$9.00 |
FPV Camera |
Caddx Turtle V2 1080p 60fps FOV 155 Degree Super WDR Mini HD FPV Camera OSD Mic for RC Drone
(73 builds)
Banggood.com
|
$71.28 |
FPV Transmitter |
Banggood.com
(16 builds)
Banggood.com
|
See Site |
Antenna |
A Pair Foxeer Lollipop 2 RHCP MMCX Right Angle/Straight 5.8G 2.5dBi FPV Antenna For FPV Racing Drone
(15 builds)
Banggood.com
|
$19.90 |
Receiver |
FrSky R-XSR 2.4GHz Micro ReceiverDefault Title
(937 builds)
Racedayquads.com
|
$21.99 |
Hats down to you sir!
I mean build itself is interesting but documentation of whole process is priceless!
Dude this is detailed, and unique, and interesting, and well thought out. Your performance, and designs are GREAT!
You must be awesome at builder time. I would love to meet you and build something together.
Oh wow! This is fantastic! Quite a detailed design and engineering process. For me, a hex is a chance to slow down and really enjoy the aspects of building a multirotor. The extra 50% in the "bottom end" seems to just be able to complicate things "just enough" to both be maddening and exhilerating simulatenously. Props for... doing more props!
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Would you mind linking to the stls for the quad?