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Mocha is an excellent, if reluctant, swimmer. On this occasion, she took a dip in the middle of the Indian Ocean during our sail from Thailand to the Maldives.
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Swan 46 Mk 1 https://www.scanboat.com/en/17407216
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D25 : Images from Nandor Fa
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On y est. Ce moment quâon attendait depuis des moisâĻ Are you ready? đ Quelque chose de grand se prÊpare. Et la suite risque de vous plaire đ⨠#oualaouti #excesscatamarans #voile #catamaran #sailingfamily #nouvelleaventure #bateau #comingsoon #sailinglife #catamaranlife
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Test of the hover controller, in particular in yaw direction (multicopter frame, i.e. roll direction in airplane frame). The yaw is stabilized using the flaperons which are in the propeller wash. The flaperon deflections are visible when Chris pokes the kite with the broom. The controller quickly reacts and stabilizes smoothly the yaw angle back to zero. Note that differential propeller directions as used for small multicopter-drones do not offer nearly enough yaw moment for control authority of the kite's inertia or expected wind loads. In addition, such a control scheme greatly reduces the thrust for yaw stabilization. This is why this is not feasible for our system.
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