Heavylift variable pitch quadcopter

It is my first drone

Motor to motor distance : 140 cm

Rotor diameter:70 cm

Maximum size:210 cm

Weight: 1.6 kg ( esc, motors and wires) without batteries

Motors are 4 pcs http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=...

White gears are from HK450 class helicopter with one way bearing for autorotation

esc 4 pcs http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=...

Tested in the house tied to that piece couch. At full thrust it tried to lift the couch which has over 14 kg

I tried to use Arduino to level the drone but using just the accelerometer is quite hard. I'm trying now using accelerometer wii motion plus gyro combo

I filtered the data from the accelerometer using a simple low pass filter. I'm currently trying to understand Kalman filter.

I tested it outside but it failed to level the drone and have a little crash. The damage was only visible on the pipes. So I bought a new set

Is the accelerometer sufficient for the job?

I also bought a lot of sensors (sonar, barometric sensor with 9 cm resolution, gps, magnetometer 1 axis, gyro, and KKcopter controller board to replace my arduino)

 

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Permalink Reply by Hyon Lim on July 23, 2011 at 9:20am

Accelerometer is not enought to stabilize quadrotor. Main reason is that because of vibration.

And also accelerometer can't stabilize yaw.

Permalink Reply by Radu V on July 23, 2011 at 10:15am

Thanks. I've managed to filter vibration using low pass filter. I'm currently testing a standard quad -  gyro only

Permalink Reply by Radu V on July 23, 2011 at 10:15am

 

Permalink Reply by fibrewire on July 23, 2011 at 3:00pm

can you get the ratings of the motors, and then plug all of your variables into the formula found here to get an idea of how much this quad can lift

Permalink Reply by Radu V on July 23, 2011 at 11:42pm

Using the formulas from that page and minimal motor power wich is 420w the lifting power is 36.36 lb (16.53 kg)

But I've tested those motors and their real power is close to 880w (after 10 min at 880w they were barely warm)

Using the 880w data the lifting power is 60.54 lbs (27.52 kg). Also if I use 500 mm blades and 880w motors lift should be 80 lbs (36.45 kg). I've verified those formulas on Martin jetpack and came close (a little under) to their real data. I will post soon some video of quad testing ( accelerometer only).

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