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".
Thanks! At the moment there's no servos in my system, i tried now to take best stability without gimbal and cam, is the next step, with related measurment of noise to apm.
Wow! Can you share it or PM me? :-)
Marco, you're interested in my mount? It's designed in AutoCAD, can you read those files? If not, I can show you a screen shot.
Basically it ends up about 5" wide, and about 6" long. The trick to making it narrow is I tucked the tilt and roll servo behind the camera, instead of on the sides. It's only designed to accomodate 25° of roll, there is no "halo" design for roll compensation, it's simply like a teeter-totter. That head is then designed to hang from a RobotZone servo power gearbox, like this for pan:
I just have to get the linkage design finalized. It's intended to use sheet aluminum which I will have waterjet cut. Then use some standard bearings. Should result in 360° of pan, 25° or roll and 90° (or maybe a little more) of tilt. It should fit any camera up to 4" wide. But the way I'm designing it I intend to have the camera tray with a full aluminum face lens shroud to protect the camera. Maybe even put a 37mm filter on the front of the lens shroud tube.
Fantastic, i've no problem for reading dwg, but if you want at the moment just pm me some screenshot taken from your project to evaluate how you did.
Now with my Droidworks with "MK tower" i use the PhotoHigher AV200 Pro gimbal and it's cool, but too expensive.
This videoclip for Redbull Italy is one of our recent work, entirely directed, filmed and post-produced:
In attachment two images of my DW drone flying abow the two rally cars... :P
For now i do not feel absolutely Arducopter used for this purpose.
MK is a guarantee as reliability, there are still too many things to fix on Arducopter, now i keep it for us to experiment and fun.
I hope that the development team are dedicated to the stability of the system, before they enter other new features.
Cool, I'm a fan of rally. Nice work!
Today tried to fly with 4 lipo 4s 5000 mhA (more payload) but one EPP prop is broken during an aggressive maneuvers.
I upload video on youtube now, stay tuned... :-)
I can't wait for APC props!!! :-/
Here the video with broken epp prop, damn... :-)
My new light blu cap is very nice! :P
Thanks Robert! :-))
Nice catch. I'm glad you landed it, I thought you had crashed.
In your latest flight. Would you mind sharing your pids ?
Get it! :P
Thanks buddy! You da man :)