Hi all,
I have finished my second quadcopter with ArduIMU. This time is a "mini" version with only 28cm from rotor to rotor and has the new Jordi´s magnetometer integrated!.
This tiny machine is fantastic, with a great stability. Look at the hands-off part of the video inside house!!
Very funny :-) Video:


Specs:
Motors: 1811 2000Kv 10grams brushless motors
Props: standard 5x3
ESCs : Turnigy 6A
Batt : 2S610 Lipo
Weight (RTF) : 180grams
Again it´s a very cheap and easy setup. Because I use standard propellers I mounted left and right motors with some twist. I´d really love arduIMU flat hardware...


Look at the PPM output Rx, Is this a new 2.4Ghz receiver form DIYDrones?
No, it´s a "lighweight" (4.1grams) mix between Spektrum AR6110 Rx and Jordi´s PPM encoder. This is nice for DIY projects...


The code is improved from the old version. This one has the magnetometer integrated so now we don´t have drift
on yaw axis, better implementation for the D term on the PID controler (more responsive to user inputs), same safety improvements, fast ESCs update rate (166Hz), new PID tunning...

But this history had an interesting lesson for me... The prototype you see here are really the second one, the first one was a dissaster... (flys bad...)
Do you want to know the "small" difference between them? This:


For the first one, I use an U shaped aluminium arms to save some weight. Well this shape is very bad in torsion and generates a lot of vibrations. This vibrations saturate the gyros (our gyros are quite sensible on vibrations because the low internal resonant frecuency). You could see here a graph of the gyro output value vs Throttle and you can see clearly the effect...


I change the arms to the square shape (8x8mm) and problem gone!! Perfect stability... :-) Vibrations are our enemy (Lesson learned)

Here is the new source code: Quad1_mini_20.zip (see notes.txt inside)
Schematic (conections): Photo1 Photo2
Old post (first version) here

New ArduPilot Mega will be a perfect platform for Quad´s also, so stay tuned...

Jose.

Views: 23658

Tags: ArduIMU, IMU, arduino, magnetometer, quadcopter, quadrotor

Comment by andy on September 12, 2010 at 12:47am
I download Quad1_mini_20 code,but I not see main code where the main code??
Comment by Yun Youngjun on September 12, 2010 at 12:50am
This is main code "Quad1_mini_20.pde"
Comment by Theodor Chervyakov on September 13, 2010 at 12:23am
Nice work Jose! Why you take only 28cm from rotor to rotor?Why not less
Comment by Jesus on October 9, 2010 at 12:16pm
Hello:
I´ve all connected and the arduimu programmed, but I think there is something in the ppm encoder-rx couple that don´t work properly.
I´ve configured the tx like an airplane and connected like Jose Julio said, but when I accelerate the engine don´t do nothing. Any idea?
Thanks
Comment by Rhine on October 15, 2010 at 1:02pm
hi jose i was wondering maybe how much will it be to get one of those from u already built?? i also have a new fpv gear with monitor if u want to trade one of those for all my fpv system with 7"monitor please add me n write me back ok..right now i have a ar drone that i had for a week now but still need to buy a ipod touch to fly it i been useing mybother iphone..
Comment by mahmood on January 22, 2011 at 6:13am
Awesome pics and a good info hope to see more
Comment by cholo on January 22, 2011 at 3:36pm
Comment by dhiraj rajendra jadhao on April 6, 2011 at 7:56am
hello all
i have read all your post on the forum.
i am building a quadrotor same like here.

Currently i have arduimu+v2 board with Magnetometer attached.

And i have 8 chaneel ppm encoder from diydrones store.

i am using Spektrum DX5e Radio With AR500 5 channel receiver.

i have programmed the imu with the Quad_mini20 firmware with
some parameter change.

I have connected the receiver channel to ppm encoder in
following order:

Receiver PPM Encoder
Aileron CH1
Elevator CH2
Throttle CH3
Rudder CH4

But in the serial monitor i am getting following values:
JJ ArduIMU Quadcopter 1.20 mini PID
Rx values: 1037,1037,1037,1037
,0
,0
AN[0]:381.11
AN[1]:391.98
AN[2]:365.85
AN[3]:506.50
AN[4]:512.00
AN[5]:510.00
-2,4,0,0.00,20
-5,7,0,0.00,14
-8,9,0,0.00,14
-12,10,-1,0.00,14
-15,11,-2,0.00,14
-17,14,-3,0.00,14
-20,16,-4,0.00,14
-22,18,-4,0.00,14
-24,20,-13,0.00,14
-25,21,-22,0.00,14
-24,21,-31,0.00,14
-22,19,-40,0.00,14
-18,17,-48,0.00,14
-13,14,-57,0.00,14
-10,12,-65,0.00,14
Comment by Josu Berriatua on April 7, 2011 at 9:41am

Hi, I'm doing a ArduIMU quadcopter with V2. Cargo Arduimu code without problems and HappyKillmore ArduimuTest is fine, but when I try the plate with a servo and transmitter receiver does nothing, no move to move the plate, and even when I move the levers on the transmitter. I tried to verions 1.5 - 1.6 - 1.7  - 1.81 and 1.8.2.
At first I did not use GPS or barometric or magnetometers.
Can anyone help?
I use a Tx JR 388 (35 Mhz) and Rx NER589X (PPM). No works directly and no work with PPM encoder.

Thank you for your attention.

Comment by honish wase on May 11, 2011 at 5:16am
CAN YOU HELP ME OUT with the connections of PPM encoder to ARDUIMU?

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