ArduCopter Heavy X-Octo / X8 Coax - Foto, video and other
Hi all! After some pid tuning, but require further adjustment, today i made the first real flight with my "heavy ArduXOcto", i open this thread for sharing my experience if someone else wants build a similar "heavy configuration" using ArduPiloltMega 2560, IMU, GPS and Baro, etc.
I have previously tested more expensive systems like Mikrokopter and Wookong, and unfortunately i think there is still much hard work over the code for make this electronic flight like the competition, but considering the price i would say that goes too well.
I'm still quite satisfied, even though my copter in some aggressive maneuvers tend to wobble a lot, and in the Loiter mode some circles is inevitable because I believe that the management of the accelerometers correction is not optimized or inactive.
Over the baro range i've a good altitude precision, max 20/30 cm of excursion.
This is my hardware configuration:
- APM 2560
- OilPAN IMU
- Mediatek MT3329 GPS V1.6
- XL-MaxSonar MB1200 (with active filter and "thermal mods", 4 x 10 ohm resistor around the case)
- ESC HiModel Pro 30A, in high timing mode
- Two switching BEC 6V 5A (connected to electronics through two diodes 3A, the tension output is 5.33V)
- Motor TigerMotors MT2814 710 kv (mounted with 3° inclination for increase YAV control)
- Props APC 13x6.5 "E" (X8)
- Two-Way telemetry "Mikrokopter Wi232" (890 MHz)
- Six led strip connected to APM (pins AN8<->AN13 through ULN2003), thanks to u4eake for the code
- Homebuilt frame, mixed aluminum / vetronite (by AleBS, thanks dude! :P) + homebuilt hood
- Lipo 4s2p 5000 mhA 40c
- TX Futaba T12FG
- RX Futaba R6008HS
I'm uploading the video on my youtube channel, post them soon, for now I leave you some pictures.
I enclose the parameters used for the flight test in a soft wind, but there's one error, the real "Rate Pitch I" is set to "0".
Best...
Marco
NOW IN "X8 COAX" CONFIGURATION...
One of the first flight:
New video with "X8" frame and "ArduCopter V2.4"
Replies to This Discussion
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Permalink Reply by John Campen on -
I also found out in Win 7 you must set the Arduino execution file to run as administrator. Otherwise sometimes it wont upload the code and will give an error.
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Permalink Reply by Stephen Gienow on -
Hi there, have you done any waypoint navigation with this copter? If so, would you be willing to share the Nav PIDs? I am tuning an Octo that weighs around 3kg, and its navigation is not going as well as I'd like. The desired speed is 5 m/s, but between waypoints the ground speed usually ramps up to over 10 m/s, especially after pulling out of a loiter. So I guess I'm just trying to see if my Nav PIDs are even in the right ballpark? Thank you!
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Permalink Reply by captaingeek on -
glad i found this thread. having one heck of a time getting a heavy quad dialed. how much time do you think youspent getting it tuned? i spent most of the day tuning and still dont feel confident hovering. lots of wobbles. very poor yaw control.
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Permalink Reply by nubli hashim on -
nice sharing buddy. following eagerly
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