Here is my DIY 4 channel sub micro;






I used the "slide pin" approach on the rotor cyclics as the mechanics is pretty much simple than using commutators, floating magnets, cyclic motors, etc. etc.



One thing the delayed the completion of the project is the late arrival of this;



Its the 2nd magnetic actuator which i will use for the aileron channel.

To complete the circuit, i added a 2nd walkera 4#3 servo controller board that will drive the aileron magnetic actuator. Here she is with the trim pot added. I used thin wires to make it light.

Using a knife cutter, i made two "plastic slide pins" for the aileron and elevator channel. I used a thin solid copper wire as poles so that i could easily bend them when the time comes in "fine-tuning" the cyclics;



and here she is with the 2nd magnetic actuator, 2nd servo controller and the two plastic slide pins mounted on the picooZ frame;



Close up of the cyclic mechanics from the front;



and close up of the cyclic mechanics from the rear. Take note of the two overlapping plastic pins;



To keep the cyclic controls precise, i added centering magnets at the side of the actuators;




This means as i release the cyclic stick (center), heli goes into the normal picooZ hover mode.



Rotor Cyclics in action using 2.4Ghz Transmitter and Receiver

http://www.youtube.com/watch?v=KPVjry-A-J8

and a short video documentation

http://www.youtube.com/watch?v=2WslsYuLTOo

and how fast she scan fly ..

http://www.youtube.com/watch?v=IVFDqBwZAUI

UPDATE:

TX stick view while heli is hovering and a couple of ground hovers;

http://www.youtube.com/watch?v=gb1hXqaE75U

Nice job!
I've got three of the 3-channel Havoc helis (1 of each freq).
Do you still only get a 7 - 10 minute flight per charge?
I've seen the latest 4-channel Havoc helis - do they work like your DIY?
I'm even more impressed that you could fly it outdoors.

http://www.youtube.com/watch?v=FWW1PnnLtaY

BRAVO! Thanks for sharing!

thanks. It think the 4 channel Havoc is purely a multiple rotor play. A couple of rotors for aileron and elevator movement. In this case, one single rotor is manipulated to provide roll,fore,aft control using two magnetic actuators.


I forgot to add this video. It shows actual TX stick movements while heli is flying and a couple of ground hover videos;

http://www.youtube.com/watch?v=gb1hXqaE75U

Watching those videos it's amazing! It's so rock solid stable that it could be a special effect or something! (I'd say it looks like it's on a wire, but it is more stable than that!!)

How much did the project set you back? I'd love to mod my little toy heli to be that controllable.

Am I right in thinking that the magnetic coil actuators react fast enough to keep the disc lined up at the attitude you want, rather than doing it mechanically?

I cant compute exactly how much the mod was as some of the parts are provided for free. Yes the actuators react fast enough providing stable cyclics.

Check the video below as i pass the heli through a basket loop three times to demonstrate flight stability and controllability.


http://www.youtube.com/watch?v=4xR5iHM_uzg

One of my latest flight videos -- flying a 4 channel PicooZ insde a small loop - 4 X

http://www.youtube.com/watch?v=UiMqH3dZJyE

Any plans to convert this to CP (collective pitch) ?

You should also think about posting this on "HackaDay". They would love to post this unique design. Great work BTW. Awesome design!