As hinted at in the release notes of Version 2 (almost a month ago), the current nacelle arm design inherits a flaw that has been present in the project from its earliest foundations in 2018 and 2019. The forward pair of motors are/were tilted with a four-bar linkage which placed a static torque load on the tilt servos. That linkage design has a failure mode in which the respective servo stalls when trying to pull the motor down/forward, and this results is a twirling vehicle when trying to perform a forward VTOL transition, or even when just aggressively hovering. 

After several intensive days/weeks of CAD work, I have come to a stopping point on the nacelle redesign. While I am going to include these changes in the coming version 2.1 release of the project, I am trying to contact anyone and everyone who is building their own MiniHawk-VTOL to provide them the option to use the new arm design before encountering the "twirling issue" first hand. While I've printed prototypes of the new nacelle to confirm that it works and everything fits, I still need to test the entire thing on a flying vehicle, so this is very much a "beta". Here is a link to the STLs:

https://drive.google.com/drive/folders/14OMxRNMnFPUckKqzTNQ1_S6gNBs8WnNN?usp=sharing

Main changes and features:

• Support for 3x6x2.5mm ball bearings with 3mm shaft. The old 1.8mm metal pin option is also available.
• The tilt rotation axis for the motor is very closely aligned with the thrust axis of the motor. The torque effort by the servos should be very much alleviated compared to the old design.

Regards,

-Steve Carlson