V-Tail quadcopter

One of the noticeable things comparing my tricopter to other quadcopters is the speed of yaw. Quadcopters, because they rely on the torque effect of a pair of motors going faster than the opposite pair tend to be quite lazy in yaw. My tricopter, on the other hand, is not lazy.

In fact, it’s pretty damn fast rotating.

So, I build a V-Tail quadcopter, which in theory should be somewhere in yaw speed between a quadcopter and tricopter.

You can see in the picture above that the ‘rear’ two motors are angled which should give more grunt in yaw. I also put a sonar range-finder to play with. It should be able to remain at a precise point above the ground. I’m using INAV on the flight controller which supports sonar.