Robotics-BioCopter

1. 1 Introduction (Prepare)

1.1. 1.1 Goal

Build a bicopter(a kind of frame) like this

1.2. 1.2 Pros & Cons

• Cheap : only 2 servos and 2 motors
• Unstable
• Hard to tune

1.3. 1.3 Hardware

• Servo $\times$ 2
• Motor $\times$ 2
• Flight Controller Board $\times​$ 1 : SP Racing F4 Pro
• Transmitter $\times$ 1 : FS-i6
• Receiver (Rx) $\times$ 1 : FS-iA6

1.4. 1.4 Software

• CleanFlight / BeteFlight / iNav (based on similar code)

2. 2 Assemble

• 电调校准，首先要将油门信号调到最大，然后上电，然后油门信号调到最低。校准完毕

3. 3 Software Setup

3.1. 3.1 Betaflight

• Setup servo pin map MORE

resource #list all avaliable pin map
resource motor 3 none #we just need 2 motor, so we can free motor 3 & 4, remember the pin of motor 3 & 4
resource servo 1 a06 #setup the pin for servo 1 & 2
save #all the changes will lose if you don't save

4. Bib

• Receivers Type: PWM(avoid), PPM(main), Serial(advanced) MORE