PIC32Flight Control & dsESC4
Hereby my project, I wanted to build a quadrocopter to learn more about system control and brushless motor and because it is cool. To target also was to make it without as little wires as possible and that is why I made a stacked PCB setup. Made two PCB's one flightcontroller with a lot of possibilities to expand in the future (for instance two PIC32 and also place for MPU-9150). And one PCB with 4 ESC's integrated and battery current measurement, still have to do a lot things (first thing is altitude control). For me it is just a learning experience (programming is not my strongest point). Hope you like it.
Flightcontroller with PIC32
- 400Hz angle and speed control
- 2S to 5S
- MPU-6050
- HMC5883L
- MS5611
- GPS
- SD
- Spektrum
- Telemetry (Wi.232, will be replaced by RFM22 in the future)
- PC control (Labview)
- Servo outputs
- The possibilty to make bode plots of the quad (looks like this)
dsESC4
- dsPIC33FJ
- 12A per ESC without cooling, (has to be tested more with thermal camera)
- 2S to 5S
- Current limiting
- Closeloop RPM
- Battery current sensor
- I2C
- SPI
- UART
Todo:
- Altitude control
- GPS position control
- Making it autonomously
- Vision control
- Camera gimbal
- ....
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Comment by Michele on February 17, 2013 at 8:36am -
What did you use for stabilize? DMP (native fusion MPU-6050) , kalman or DCM ?
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Comment by Muhammad Al-Rawi on February 17, 2013 at 8:45am -
Now that is truly DIY. Very well done. Looks awesome.
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Comment by Jeroen van de Mortel on February 17, 2013 at 8:52am
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Comment by C. Escudero on February 17, 2013 at 10:44am -
Wow, looks everyone is doing great stuff here, I am interested in youy ESC design, can you share it?
thank you
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Comment by Mohcine on February 17, 2013 at 10:49am -
Wow !!! Great work !!!
Did you use the App note from microchip for the ESCs or did you developped your own code?
Are you flying with the IMU mounted like that ?
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Comment by Jeroen van de Mortel on February 17, 2013 at 11:34am
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I programmed myself but got inspiration of some papers. I sample the BEMF during the On and Off time of the PWM. Normally there is a foam undeneath the IMU but left it out of the photo.
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Comment by Mohcine on February 17, 2013 at 11:57am
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Thank you for sharing, Keep up the great work !
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Comment by J on February 17, 2013 at 12:10pm -
Inspiring. I take it the ESCs are block commutated... Did you explore FOC (field oriented control) & DTC (direct torque control)?
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Comment by Jeroen van de Mortel on February 17, 2013 at 1:50pm
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Yes the motors er driven by six step block commutation, I think you need current sensors for FOC or DTC.
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Comment by J on February 17, 2013 at 2:10pm
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This guy has current sensing http://autoquad.org/esc32/
svn checkout http://esc32.googlecode.com/svn/trunk/ esc32
You've probably been here, but for others, Shane Colton has a wealth of information & builds on FOC http://scolton.blogspot.com/p/motor-controllers.html
A very nice DTC build
http://forums.aeva.asn.au/forums/3phase-im-dtc-controller-build_top...
He says the software was a couple of days, most of the work was the high power stuff (for cars).
The guy who made the ultraesc--quickest 6 step, mentioned the possibility of sharing the design.
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