So today I was out tuning my home built/designed pure X copter. Think Krieger/mitsuko. Comprised of some old Emax motors DYS bl20A and various other spare parts. It's basically 4 Emax arms(4mm) sandwiched between some 3mm Carbon squares.
This is my only 3s copter and running 6030 gemfans. The newer design with the beefier hub (much more durable then the originals)
So I was doing my first round of tuning. Flew 8 packs and I think I actually made some good progress. Maybe 85-90% tuned.
All of my PIDs before tuning were way low except they were in proportion. So it flew well. But now it's so much better. It can use some improvement for sure but it's nice. Real nice.
But the whole point of all this rambling is to say toward the end of my flying/tuning session I snapped a prop mid air doing a back flip. Doing a U turn just before I noticed some jello in the FPV feed but didn't really acknowledge it. At about 30-40 feet up, Just as I see the ground then horizon it's lets go. Instant loss of thrust it feels like but it doesn't roll or fall. I'm close enough to myself that I can hear the weird buzz noise and obviously can feel the partial loss of control and thrust but it was stabilized the entire time. It wanted to yaw a little bit but it was rather easy to keep flat and bring down very controlled.
So I just wanted to say thank you to all the developers and contributors for making a great firmware to pair with very capable flight controllers. I could not believe I was able to stay stabilized flat and Land while missing one blade of a two blade prop.
Cc3d/Taranis sbus.
Always stabilized when armed (on)