2ServoFlapOrnithopter

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2ServoFlapOrnithopter

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Ornithopter flap by 2 Servos

2ServoFlapOrnithopter 최신버젼 다운로드

최종 버전 다운로드 (.zip)

// repository documentation

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# Arduino CODE for 2ServoFlapOrnithopter ppm

2ServoFlapOrnithopter-ExpressLRS　https://github.com/KazuKaku/2ServoFlapOrnithopter-ExpressLRS

![230711-2 Pterasaur3small](https://raw.githubusercontent.com/KazuKaku/2ServoFlapOrnithopter/main/image/230711-2%20Pterasaur3small%20.jpg)

The Servo Flap Ornithopter(SFO) flies by flapping its wings, which are programmed through an Arduino board and operated using Servo.
Unlike model airplanes which use propellers to fly, this allows for a more natural flight.
However, because it uses the weak power of the Servo to flap its wings, it needs to be as lightweight as possible, which demands advanced building techniques.
 This is the code for an Ornithopter which uses two Servos.

![250110Ornithopters](https://raw.githubusercontent.com/KazuKaku/2ServoFlapOrnithopter/main/image/250110Ornithopters.jpg)

## Flight controls for an Ornithopter with a horizontal Tail

![2210830 ServoFlap system of 2 serevo](https://raw.githubusercontent.com/KazuKaku/2ServoFlapOrnithopter/main/image/210830%20ServoFlap%20system%20of%202%20serevo.jpg)

## New Servo Flap System by K.Kakuta

1 Bilateral Servo Flap between Max high point and Max low point

2 Change max flap point (throttle stick 3ch ) 
 
  and change Flapping frequency(5ch)

3 Change center of Flapping angle Horizontal (Ch1 aileron stick) and Vertical (Ch2 elevator stick)

4 Change flapping amplitude on each Servo (Ch4 rudder stick)
Increase flap amplitude of one servo and decrease flap amplitude of another servo

## Setting :

Set elevator and rudder and aileron stick Center-- 1500microsesond

Set 5Ch at Slider or Volume or other switch

Set throttle stick at low max --1000 microsecond

## Need :
   Small ppm output Receiver(over 5 channels)

High power High speed Digital Servo

-----BLUEARROW AF D43S-6.0-MG Micro Metal Gear Digital Servo is best
       
       When using a servo with a high supply voltage (such as HVServo), 
       
                                          please use wiring appropriate for that servo.

-----Servo Bluearrow AF D43S-6.0-MG Digital Servo (6V input) can be substituted with PTK7350 (6V input or 7.4V input).

-----Servo Bluearrow D0576HT-HV (7.4V input) can be substituted with PTK7465 (2S Lipo Direct input or 8.4V input).

Arduino Pro mini board  
   
  ---(Seeed Studio XIAO RP2040 and Waveshare RP2040 Tiny can also be used CODE for RP2040--Pin name change "2" to "D2", "5" to "D5", "6" to "D6")

---(Seeed Studio XIAO SAMD21 and Seeed Studio XIAO RP2040, Waveshare RP2040 Tiny work by 6V input)
  
  Lipo
   
   ----Lipo1cell (high discharge rate 20C) and Small StepUp DC converter (3.7V to 6V 1A or 4A) for Bluearrow AF D43S-6.0-MG Digital Servo or PTK7350
   
   ----Or Lipo2cell(direct input) or Lipo2cell and Small Stepdown DC converter (2SLipo to 7.4V or 8.4V) for Bluearrow D0576HT-HV(7.4V input) or PTK7465(direct or 7.4V-8.4V input)

## Wiring

PPM Receiver-- RX PPM signal input to D2 pin

right Servo --D5 pin

left Servo--D6 pin

A 5V on VCC 5Vpin on Arduino pro mini supplied to the RX. or 6V-8.4V to RX direct.

![210811-2 New ServoFlap system  Wiring](https://raw.githubusercontent.com/KazuKaku/2ServoFlapOrnithopter/main/image/210811-2%20New%20ServoFlap%20system%20%20Wiring.jpg)

Ground -GND pin

6V -RAW pin ( 6-6.2V from Stepup DC converter or 7.4V-8.4V from StepDown DC converter or 2S direct)

## Wiring 5V for ppm RX
Wire 5V power supply from Pro Mini Board VCC to 5V ppm RX

![224023 New ServoFlap system for 5VRX  Wiring](https://raw.githubusercontent.com/KazuKaku/2ServoFlapOrnithopter/main/image/224023%20New%20ServoFlap%20system%20for%205VRX%20%20Wiring.jpg)
## My setting

Lipo: 70-150mAh1cell Lipo battery

Servo: BLUEARROW AF D43S-6.0-MG Micro Metal Gear Digital Servo

Arduino Pro mini board

DC step up converter from 1cell Lipo 3.7V to 6V output

## Flap motion and Wing control VTR 
ServoFlapOrnithopterAmericanKestrel112 Flap motion and Flight Control
(https://www.youtube.com/watch?v=uDIVc77CtyM)

## Making VTR 
Making of ServoFlapOrnithopterAmericanKestrel112 
(https://www.youtube.com/watch?v=oznn0DH_pOc)

All List
(https://www.youtube.com/playlist?list=PLErvdRrwWuPooowmNbeGPEB-HlgC26jC-)

## My YouTube channel 
 Various ServoFlapOrnithopters have been uploaded.
(https://www.youtube.com/@BZH07614)

## My Website of ornithopter
 (https://kakutaclinic.life.coocan.jp/HabatakE.htm)

## Request site for production of Kazu Ornithpter
(https://kakutaclinic.life.coocan.jp/KOrniSSt.html)

## Flight controls for an Ornithopter without a horizontal Tail (such as a butterfly type)

The operation of the Aileron is the opposite of that for an Ornithopter with a horizontal Tail.

The servo's operating range is currently set to 1000–2000 μs, but changing the "2" to "1.12" extends the range to approximately 600–2400 μs.

This configuration is more effective for butterfly-style ornithopters.

Section to modify -----
 
    servo_comm1 = (int)( (ch3value -1000)/2+1500 + rudder + elevator+ servo_zero1-flapamp);
    
    servo_comm2 = (int)(1000 + (2000 - ((ch3value -1000)/2+1500)) + rudder - elevator- servo_zero2-flapamp);  
     
 change to below  ----
 
    servo_comm1 = (int)( (ch3value -1000)/1.12+1500 + rudder + elevator+ servo_zero1-flapamp);
    
    servo_comm2 = (int)(1000 + (2000 - ((ch3value -1000)/1.12+1500)) + rudder - elevator- servo_zero2-flapamp);

![230706 ServoFlap system of 2 serevo for Butterfly &DragonFly](https://raw.githubusercontent.com/KazuKaku/2ServoFlapOrnithopter/main/image/230706%20ServoFlap%20system%20of%202%20serevo%20for%20Butterfly%20&DragonFly.jpg)

## Wiring of ESP32S3 - 2 Servo Flap Ornithopter system
![260409 ESP32S3SFOfor2SFOV3Wiring](https://raw.githubusercontent.com/KazuKaku/2ServoFlapOrnithopter/main/image/260409%20ESP32S3SFOfor2SFOV3Wiring.jpg)

The Seeed Studio ESP32S3 operates at Max 240MHz, resulting in fast processing speed. (Arduino Pro Mini 16MHz, RP2040 133MHz)
 
 With Seeed Studio ESP32S3, the existing PPMReader cannot read ppm signals, so a new library called SimplePPM was created and used.
 Since sketches for the ESP32S3 must be written using GPIO numbers rather than pin numbers, the input and output pin numbers for the ppm signal (m) were changed.
 Seeed Studio ESP32S3 can operate on a 6V power supply.
  Plese use -- 260406SFO2SV3ESP32S3/sketch_260406SFOfor2ServoV3forESP32S3
  Wiring  RX ppmSignal to D2( GPIO  3)
   Rt Servo to D4 (GPIO  5)
   Lt Servo to D5 (GPIO  6)
  6V to 5V pin
  Ground to GND
  6V from DC converter to RX

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