single-propeller-drone

🚁 a drone that flies on a single propeller, mounted on top of a finned body, with no other motors it's trending on github with 530 stars, ardupilot firmware fork and fusion 360 files included jyjblrd/single-propeller-drone

Joshua Bird's drone flies on one motor. A hinged propeller changes blade pitch as the motor speeds up and slows down. Timing those changes lets it steer. Experimental build. CAD and firmware forks jyjblrd/single-propeller-drone Clip via @IlirAliu_

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I Built A 3D Printed Drone With Only One Motor I've been working on an under-actuated drone that can fly with only one motor for the last few months. The propeller hub is 3D printed out of PPA-CF and has a hinge, so when the motor accelerates the blades lag behind and one pitches up while the other pitches down. By pulsing the motor torque 300 times a second, timed to the rotor angle, the drone controls its pitch and roll with the same motor that produces its thrust. Along the way I also built a "poor man's high speed camera" - a camera flash synced to my camera and motor controller, so I could take images of the propeller at precise angles to analyze its behavior. The mechanical simplicity hides a lot of software. At almost 20,000 RPM, a 0.2 ms control loop is already 20 degrees of rotation late, so I wrote custom firmware for the motor controller to compute the torque pulses on board. The body also slowly spins, so the drone gets its heading from an infrared "lighthouse" beacon in the corner of the room that it sees once per revolution. The full video explaining how it all works is available on youtube: youtube.com The code and CAD are open source on github: jyjblrd/single-propeller-drone

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