PX4 User Guide
  • Introduction
  • Getting Started
    • Basic Concepts
    • Vehicles/Frames
    • Flight Controllers
    • Sensors
    • Radio Systems
    • Flight Modes
    • Vehicle Status Notifications
      • LED Meanings
      • Tune/Sound Meanings
      • Preflight Checks
    • Payloads & Cameras
    • Flight Reporting
  • Basic Assembly
    • Mounting the Flight Controller
    • Mounting the GPS/Compass
    • Vibration Isolation
    • Cable Wiring
    • CUAV Pixhawk V6X Wiring QuickStart
    • CUAV V5+ Wiring Quickstart
    • CUAV V5 nano Wiring Quickstart
    • Holybro Pixhawk 6C Wiring Quickstart
    • Holybro Pixhawk 6X Wiring Quickstart
    • Holybro Pixhawk 5X Wiring Quickstart
    • Holybro Pixhawk 4 Wiring Quickstart - Discontinued
    • Holybro Pixhawk 4 Mini Wiring Quickstart - Discontinued
    • Holybro Durandal Wiring Quickstart
    • Holybro Pix32 v5 Wiring Quickstart
    • Cube Wiring Quickstart
    • Pixracer Wiring Quickstart
    • mRo (3DR) Pixhawk Wiring Quickstart
  • Standard Configuration
    • Firmware
    • Airframe
    • Sensor Orientation
    • Compass
    • Gyroscope
    • Accelerometer
    • Airspeed
    • Level Horizon Calibration
    • Radio Setup
    • Joystick Setup
    • Flight Modes
    • Battery
    • Safety
      • Failsafe Simulation
    • ESC Calibration
    • Actuators
    • Autotune
  • Vehicle Types & Setup
    • Multicopters
      • Multicopter Config/Tuning
        • MC Filter/Control Latency Tuning
        • MC PID Tuning (Manual/Basic)
        • MC PID Tuning Guide (Manual/Advanced)
        • MC Setpoint Tuning (Trajectory Generator)
          • MC Jerk-limited Type Trajectory
        • Multicopter Racer Setup
      • X500 v2 (Pixhawk 6C)
      • X500 v2 (Pixhawk 5X)
      • X500 (Pixhawk 4)
      • S500 V2 (Pixhawk 4)
      • DJI F450 (CUAV v5+)
      • DJI F450 (CUAV v5 nano)
      • QAV250 (Pixhawk4 Mini) - Discontinued
      • DJI F450 + RTK (Pixhawk 3 Pro)
      • QAV250 (Pixhawk Mini)
      • QAV-R 5" Racer (Pixracer)
      • Omnicopter
    • Planes
      • Fixed Wing Config/Tuning
        • Fixedwing PID Tuning Guide
        • Fixedwing Advanced Tuning Guide
        • Fixedwing Trimming Guide
      • Reptile Dragon 2 (ARK6X)
      • Turbo Timber Evolution (Pixhawk 4 Mini)
      • Wing Wing Z84 (Pixracer)
    • VTOL
      • VTOL Config/Tuning
        • QuadPlane Configuration
        • Back-transition Tuning
        • VTOL w/o Airspeed Sensor
        • VTOL Weather Vane
      • Standard VTOL
        • FunCub QuadPlane (Pixhawk)
        • Ranger QuadPlane (Pixhawk)
        • Falcon Vertigo QuadPlane (Dropix)
      • Tailsitter VTOL
        • Build: TBS Caipiroshka Tailsitter Build (Pixracer)
      • Tiltrotor VTOL
        • Build: Convergence Tiltrotor (Pixfalcon)
    • Airships (experimental)
    • Autogyros (experimental)
      • ThunderFly Auto-G2 (Holybro pix32)
    • Balloons (experimental)
    • Helicopter (experimental)
      • Helicopter Config/Tuning
    • Rovers (experimental)
      • Traxxas Stampede
    • Submarines (experimental)
      • BlueROV2
    • Airframes Reference
  • Flying
    • First Flight Guidelines
    • Flying 101
    • Missions
      • Package Delivery Mission
    • GeoFence
    • Safety Point Planning
    • Flight Modes
      • Position Mode (MC)
      • Altitude Mode (MC)
      • Manual/Stabilized Mode (MC)
      • Acro Mode (MC)
      • Orbit Mode (MC)
      • Position Mode (FW)
      • Altitude Mode (FW)
      • Stabilized Mode (FW)
      • Acro Mode (FW)
      • Manual Mode (FW)
      • Takeoff Mode
      • Land Mode
      • Return Mode
      • Hold Mode
      • Mission Mode
      • Follow Me Mode
      • Offboard Mode
    • Terrain Following/Holding
  • Flight Log Analysis
    • Log Analysis using Flight Review
    • Log Analysis using PlotJuggler
  • Advanced Configuration
    • Finding/Updating Parameters
    • Full Parameter Reference
    • ECL/EKF Overview & Tuning
    • Flight Termination Configuration
    • Bootloader Flashing onto Betaflight Systems
    • Land Detector Configuration
    • Prearm/Arm/Disarm Configuration
    • IMU Factory Calibration
    • Sensor Thermal Compensation
    • Compass Power Compensation
    • Advanced Controller Orientation
    • Static Pressure Buildup
    • Serial Port Configuration
    • MAVLink Telemetry (OSD/GCS)
    • PX4 Ethernet Setup
    • Bootloader Update
  • Hardware (Drones&Parts)
    • Complete Vehicles
      • ModalAI Starling
      • PX4 Vision Kit
      • MindRacer BNF & RTF
        • MindRacer 210
        • NanoMind 110
      • Holybro Kopis 2
      • Bitcraze Crazyflie 2.1
    • Flight Controllers (Autopilots)
      • Pixhawk Series
        • Silicon Errata
      • Pixhawk Standard Autopilots
        • CUAV Pixhawk V6X (FMUv6X)
        • Holybro Pixhawk 6X (FMUv6X)
        • Holybro Pixhawk 6C (FMUv6C)
        • Holybro Pixhawk 6C Mini(FMUv6C)
        • Holybro Pix32 v6 (FMUv6C)
        • Holybro Pixhawk 5X (FMUv5X)
        • Holybro Pixhawk 4 (FMUv5) - Discontinued
        • Holybro Pixhawk 4 Mini (FMUv5) - Discontinued
        • Drotek Pixhawk 3 Pro (FMUv4pro)
        • mRo Pixracer (FMUv4)
        • Hex Cube Black (FMUv3)
        • mRo Pixhawk (FMUv3)
        • Holybro Pixhawk Mini (FMUv3) - Discontinued
      • Manufacturer-Supported Autopilots
        • AirMind MindPX
        • AirMind MindRacer
        • ARK Electronics ARKV6X
        • CUAV X7
        • CUAV Nora
        • CUAV V5+ (FMUv5)
        • CUAV V5 nano (FMUv5)
        • CUAV Pixhack v3 (FMUv3)
        • CubePilot Cube Orange+ (CubePilot)
        • CubePilot Cube Orange (CubePilot)
        • CubePilot Cube Yellow (CubePilot)
        • Holybro Kakute H7v2
        • Holybro Kakute H7mini
        • Holybro Kakute H7
        • Holybro Durandal
        • Holybro Pix32 v5
        • ModalAI Flight Core v1
        • ModalAI VOXL Flight
        • ModalAI VOXL 2
        • mRobotics-X2.1 (FMUv2)
        • mRo Control Zero F7)
        • NXP RDDRONE-FMUK66 FMU
        • Sky-Drones AIRLink
        • SPRacing SPRacingH7EXTREME
        • ThePeach FCC-K1
        • ThePeach FCC-R1
      • Experimental Autopilots
        • BeagleBone Blue
        • Raspberry Pi 2/3 Navio2
        • Raspberry Pi 2/3/4 PilotPi
          • PilotPi with Raspberry Pi OS
          • PilotPi with Ubuntu Server
      • Discontinued Autopilots/Vehicles
        • Drotek Dropix (FMUv2)
        • Omnibus F4 SD
        • BetaFPV Beta75X 2S Brushless Whoop
        • Bitcraze Crazyflie 2.0
        • Aerotenna OcPoC-Zynq Mini
        • CUAV v5
        • Holybro Kakute F7 (Discontinued)
        • Holybro Pixfalcon
        • Holybro pix32 (FMUv2)
        • mRo AUAV-X2
        • 3DR Pixhawk 1
        • Snapdragon Flight
        • Intel® Aero RTF Drone (Discontinued)
      • Pixhawk Autopilot Bus (PAB) & Carriers
        • ARK Electronics Pixhawk Autopilot Bus Carrier
    • Flight Controller Peripherals
      • ADSB/FLARM (Traffic Avoidance)
      • Air Traffic Avoidance: ADSB/FLARM
      • Air Traffic Avoidance: UTM
      • Airspeed Sensors
        • TFSlot Airspeed Sensor
      • Barometers
      • Camera
      • Distance Sensors (Rangefinders)
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        • LeddarOne Lidar
        • Benewake TFmini Lidar
        • Lidar-Lite
        • TeraRanger
        • Lanbao PSK-CM8JL65-CC5
        • Avionics Anonymous Laser Altimeter UAVCAN Interface
      • ESCs & Motors
        • PWM ESCs and Servos
        • DShot ESCs
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        • DroneCAN ESCs
          • Zubax Telega
          • PX4 Sapog ESC Firmware
            • Holybro Kotleta
            • Zubax Orel
        • VESC
      • TBS Crossfire (CRSF) Telemetry
      • FrSky Telemetry
      • Gimbal (Mount) Configuration
      • GPS/Compass
        • ARK GPS
        • Holybro DroneCAN M8N GPS
        • LOCOSYS Hawk A1 GNSS
        • Hex Here2
        • Holybro M8N & M9N GPS
        • Sky-Drones SmartAP GPS
      • Grippers
        • Servo Gripper
      • Optical Flow
        • ARK Flow
        • PMW3901
        • PX4FLOW (Deprecated)
      • Precision Landing
      • Parachute
      • Power Modules/PDB
        • CUAV HV pm
        • CUAV CAN PMU
        • Holybro PM02
        • Holybro PM07
        • Holybro PM06 V2
        • Holybro PM02D (digital)
        • Holybro PM03D (digital)
        • Pomegranate Systems Power Module
        • Sky-Drones SmartAP PDB
      • Satellite Coms (Iridium/RockBlock)
      • Telemetry Radios
        • SiK Radio
          • RFD900 (SiK) Telemetry Radio
          • HolyBro (SIK) Telemetry Radio
        • Telemetry Wifi
          • ESP8266 WiFi Module
          • ESP32 WiFi Module
          • 3DR Telemetry Wifi (Discontinued)
        • Microhard Serial Telemetry Radio
          • ARK Electron Microhard Serial Telemetry Radio
          • Holybro Microhard P900 Telemetry Radio
        • CUAV P8 Telemetry Radio
        • HolyBro XBP9X - Discontinued
      • RTK GPS
        • ARK RTK GPS
        • RTK GPS Heading with Dual u-blox F9P
        • CUAV C-RTK
        • CUAV C-RTK2 PPK/RTK GNSS
        • CUAV C-RTK 9Ps
        • Femtones MINI2 Receiver
        • Freefly RTK GPS
        • Holybro H-RTK-F9P
        • Holybro H-RTK-M8P
        • Holybro H-RTK Unicore UM982 GPS
        • Locosys Hawk R1
        • Locosys Hawk R2
        • Septentrio AsteRx-RIB
        • Septentrio mosaic-go
        • Trimble MB-Two
        • CubePilot Here+ (Discontined)
      • Remote ID
      • Smart Batteries
        • Rotoye Batmon Battery Smartification Kit
      • Tachometers (Revolution Counters)
        • ThunderFly TFRPM01 Tachometer Sensor
      • I2C Peripherals
        • I2C bus accelerators
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      • DroneCAN Peripherals
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On this page
  • Modifications
  • Autopilot
  • Rotor-head
  • Two-blade rotor
  • Release device
  • Parts List
  • Electronic
  • Mechanical parts
  • Printable parts
  • Recommended spare parts
  • Video
  • Photo gallery of changes
  1. Vehicle Types & Setup
  2. Autogyros (experimental)

ThunderFly Auto-G2 (Holybro pix32)

PreviousAutogyros (experimental)NextBalloons (experimental)

Last updated 1 year ago

The ThunderFly Auto-G2 is an autopilot-controlled autogyro based on the RC model, with several parts of the original model substituted for 3D printable ones.

:::note Auto-G2 autogyro’s airframe is developed and maintained by ThuderFly s.r.o. company. :::

All the added parts are available on as an open-source project. Printed parts are designed in .

Modifications

Durafly Auto-G2, in its original design, has a three-blade rotor with 400 mm long blades with a CLARK-Y profile. Rotor head allows tilting in the ROLL axis only. Autogyro is controlled by a rudder and an elevator. Durafly Auto-G2 autogyro box contains the autogyro polystyrene body, ESC, motor (probably 800kV), 4 servos, tail airfoils, 3 blades with rotor center parts, wire chassis and a prerotator.

Modification of the Durafly model are as follows:

  • Addition of an autopilot

  • Rotor head with two axes of freedom (pitch, roll)

  • Two blade rotor with safely breakable rotor plate

  • Larger landing gears

Autopilot

Rotor-head

The rotor head is (compared to the original autogyro) modified so it allows a motion in both roll and pitch axes. Thanks to this, the rotor can control turning as well climbing of the autogyro. Directional control of autogyro by rotor is possible even in case of low airspeed compared to the original rudder and elevator control.

The printed rotor head consists of three parts. The bottom part is screwed using an M2.5 screw to the original plywood pylon. An M3x35 screw found between the first and the second part creates the pitch axis freedom and the connection between the second and the third part the roll axis freedom. The latter axis is made of an M3x30 screw with a screwed self-locking nut. From the rotor side, the screw head has a large area washer.

Rotor axis, made of M3x50 high tensile strength screw, goes through the third part. Bearings used are 623 2Z C3 SKF. At the end of this part, there are ball rods attached via M2.5 screws to servos positioned in the bottom part of the pylon. It is preferable to exchange these original servos for better quality ones as they are weak and in the original construction they help each other.

Two-blade rotor

The original Durafly Auto-G2 autogyro has a three-blade rotor, which as been modified in this built to use a two-blade rotor. The reasons are reduced vibration and easier construction. Printed central parts are designed to be used both with Chinese Durafly blades or 3D printed blades.

The rotor's central part consists of several components which have following roles:

  • They enable blade flapping.

  • They have deformation zones that break upon impact with ground. Thanks to this, the rotor can usually be repaired quickly by replacing only one component.

  • Easy setup of blades angle-of-attack.

HobbyKing rotor blades

3D printed rotor blades

It is also possible to print rotor blades.

The printed rotor blads are still under development, but preliminary tests show they are of better quality mostly thanks to their precise shape and absence of longitudinal grooves. However, some of the production processes still need to be tuned.

Balancing

Proper blades balance is very important to minimize vibrations. Blades have to be balanced in such a way, that the center of gravity is located in the middle of the rotor axis.

Printed blades are balanced in the production process and there is no need to further balance them.

Release device

If you want to launch an autogyro using a winch or if you want to launch it by towing you need to print a release device. It is a small box equipped with servo which pulls out the pin and releases the rope.

The whole part is glued, using a hot-melt adhesive, under the engine on the bottom part of an autogyro’s body. If an autogyro is towed by a rope its engine must not be turned on. It can be handled, for example, by nulling the engine’s output in the transmitter if the release device switch is closed.

Parts List

Electronic

  • GPS (GPS Module NEO-6M, with patch antenna)

  • Additional servo for release device (optional)

Mechanical parts

  • Rotor head Bearing (623 2Z C3)

Printable parts

  • Rotor head:

  • Rotor:

  • Rotor blades (optional)

  • Autopilot holder

Recommended spare parts

  • Rotor centre plate with deformation zones (3D printed)

Video

Photo gallery of changes

The aircraft with all of the modifications is already quite heavy. Therefore a low-weight flight controller is recommended (e.g. or ).

The autopilot should be mounted on the bottom side of the autogyro on a 3D printed damping pad. We have used the damping platform found on

It is possible to use a printed central part of the rotor with the original blades. These blades can be bought on . Hobbyking blades differ in the position of center of gravity and it is therefore necessary to balance them properly.

Autopilot (, )

Airspeed sensor ()

Stronger servos as a substitution for the original ones (optional), ()

Propeller ()

Servos with improved quality (recommended , original servos are not very durable))

Propeller ()

Rotor blades ( or 3D printed)

@

Holybro pix32
CUAV nano
thingiverse
HobbyKing
Holybro pix32
CUAV nano
SDP3x
BlueBird BMS-125WV
APC 10x7
Prop adapter
Pylon end
Pitch part
Roll part
center part washer top
center part washer bottom
center plate with deformation zones
washers for setting AoA of blades
Rotor nut
Release device
Front wheels
BlueBird BMS-125WV
APC 10x7
HobbyKing
youtube
Duraflyâ„¢ Auto-G2 Gyrocopter
GitHub
OpenSCAD
Auto-G2
Rotorhead
Blades assembly
Release device
Auto-G2 1
Auto-G2 2
Auto-G2 3
Auto-G2 4