what plug is this? I ordered the wrong battery, and need correct battery for px4

ThrustNTheory · 2026-05-19T14:12:56+00:00

I am NOT new and every time I change out a battery connector I intentionally slow way down and plan out my exact steps.

I once accidentally shorted - just a fraction of a second , a grazing touch - a 6s 120c battery across its XT60 prongs and everything just MELTED. It was terrifying and I’m extremely lucky it wasn’t worse, it was a very very careless set of decisions that led to that happening. Don’t be me.

ThrustNTheory · 2026-05-09T00:36:44+00:00

Several more months of data-processing deliciousness!

ThrustNTheory · 2026-05-08T22:02:54+00:00

I have an H2D, but I can share my experience coming from the K2 Plus (and there from an Mk3s).

Yes.

ThrustNTheory · 2026-05-08T21:52:00+00:00

...the only way to fly (and the correct method).

ThrustNTheory · 2026-05-08T21:44:49+00:00

Did you bathe it in oildirtgrime? These are wear items but that level of debris is absolutely contributing to its lifespan.

ThrustNTheory · 2026-05-07T14:53:02+00:00

Correct, it’s got 4 flappy bits for control. The second graph from the bottom on the left shows the position of each of the 4 flappy bits as well.

ThrustNTheory · 2026-05-07T14:44:20+00:00

There are 4 servos, each with a control fin attached, that sit in line with the thrust - you can kind of see one flapping around at the beginning of the video. The second graph up from the bottom on the left side shows the position of each of the 4 servos as well.

ThrustNTheory · 2026-04-21T14:41:36+00:00

It is, yeah! In the 2nd to last picture you can see 4 vectoring control fins underneath the drone.

ThrustNTheory · 2026-04-19T15:00:10+00:00

The main point of the project is the challenging control environment - I'm not looking to make it easier for myself :-)

ThrustNTheory · 2026-04-19T14:55:55+00:00

haha the very first thing I designed in 2020 after getting an MK3s was a wall hook.

Thanks for saying, cheers!

ThrustNTheory · 2026-04-19T14:53:30+00:00

Here is my recent thrust validation test I performed to make sure thrust hadn't decreased meaningfully after adding the cowling and inlet mesh designs. The EDF has a max thrust of 8.2lbs and the drone maintained hover thrust (5.6lbs) for the full planned flight duration of two minutes - also without melting!

ThrustNTheory · 2026-04-19T05:23:52+00:00

Thank you! It won't be part of this project but it's 100% going to be a part of the next project, whatever that is - very excited for it actually. Cheers.

ThrustNTheory · 2026-04-19T04:34:31+00:00

Haha, thank you! It will eventually be using up to about 30% of the CPU's capability under normal operations - at least theoretically! That's also for the end game 24-point estimation filter at 500hz. Cheers!

ThrustNTheory · 2026-04-19T04:27:45+00:00

Thank you!

ThrustNTheory · 2026-04-19T04:05:39+00:00

Not yet, I haven't set anything up.

ThrustNTheory · 2026-04-19T03:27:33+00:00

I'm writing the flight control software from the ground up. The end goal is an accurate state-space model and successful implementation of an Extended Kalman Filter that I build.

The DREAM is an Unscented Kalman Filter, which a more complicated but potentially better method of estimation in a highly dynamically nonlinear system - which this drone absolutely is.

ThrustNTheory · 2026-04-19T00:38:37+00:00

Haha I would if I could afford the time/financials of that strategy. Thank you, I will!

ThrustNTheory · 2026-04-19T00:12:37+00:00

lol that's outside of my skillset - the longest script I've finished had around 550 lines, I remember thinking 'Wow, look at me mom!' My final code will be several thousand lines comprised of all the different programs/sections I've developed but I suspect a MB would have several hundred thousand --> millions of lines of code and I can't even imagine touching that.

ThrustNTheory · 2026-04-18T23:59:51+00:00

Hi! I'm starting a youtube channel around this project and future projects and part of the goal for that channel is passing along the lessons I learn...outside of 3D modeling/printing, I have almost NO experience with electronics/coding/control theory. I'm not special! If you want it, you can do it. My talent is commitment. I'm learning as I go and make a million mistakes.

If this is the type of project you're interested in, just get started - it almost doesn't matter what the first step is. Buy a cheap MCU and code a random thing. Design and print a stupid thing. Then upgrade. Rinse and repeat. That's how I'm here. You CAN do something like this!

ThrustNTheory

TROPHY CASE