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ArduCopter with self made frame

Posted by Yihan on July 17, 2011 at 8:19pm

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Hi,

i have built this quadcopter for my school project. I started this project recently.

 

Items for the project

- ArduPilot Mega w/ ATMega2560 with ArduPilot Mega IMU Shield

- 4 ×  TURNIGY Plush 6A Speed Controller

- 4 ×  18-11 2000kv Micro Brushless Outrunner (10g)

- 4 ×  GWS EP Propeller (DD-4025 102x64mm)

 

I refer to http://diydrones.com/profiles/blogs/indoor-fun-with-a-tiny by  Jose Julio for the quadcopter design. I know he had use his own code for the quad and able to fly it.

 

All my motors are turning CCW, and i have tilted 2 motors to counter the torque effect.

As my Mega board is a newer version (ATMega2560), i am unable to load his code.

 

I uploaded the ArduCopter Quad code and i know i have to change the PID values.

The quadcopter was very unstable will keep spinning on the ground and topples most of the time.

 

I read this http://code.google.com/p/arducopter/wiki/AC2_Tweaks 

and lowered the STABILIZE_ROLL_P and STABILIZE_PITCH_P values. It was better, but still not very stable.

 

I have a question, does the code work with my frame with 4 motors turning CCW? 

 

Thank you! :)

 

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Tags: arduopter, frame, own, topples, unstable
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Replies

  • Yihan July 24, 2011 at 7:51pm

    Hi all, i solved the problem and got my quadrotor to fly up.

    However it wont lift off vertically. Instead, it went forward.

    I tried changing some PID values.

    Any advices from you guys?

     

    Thank you very much?

     

  • Yihan July 21, 2011 at 10:45pm

    Bring up my post. Need some help/ advice.

    Thanks!!

  • Kelvin Dadhania July 18, 2011 at 1:01am
    Sorry I was asking if i can use CCW and CW prop??


  • Kelvin Dadhania July 17, 2011 at 11:45pm

    hi

     

    i am planning to make similar frame. And i have few questions

     

    1. Can i use Arducopter 2 code???

     

    2. Can i use counter rotating props available at hobbyking???

    here is the link to props

    http://www.hobbyking.com/hobbyking/store/__11327___4x2_5_Propellers...

     

  • Yihan July 17, 2011 at 9:47pm

    There is one more problem. I set to 'X' configuration to fly the quadcopter and set to fly in Stabilize mode.

    I held the quadcopter in my hands and push the throttle to 3/4 power. ( im using a 2cell battery now, changing to a 3cell soon). When i roll the quadcopter to the right, meaning pushing the 2 left motors up and the the 2 right motors down, it doesnt recover. Instead of the 2 right motors powering up to recover, the left motors power even more.

    Any idea what is happening here?

  • Developer
    Jason Short July 17, 2011 at 8:49pm

    The code is intended to be used with counter rotating props, but you could get away with it with just the right tilt angle.

    I would suggest you tie a string to it on each side and get it stable indoors before flying. Try lowering your Rate P value first.

    Jason

     

    Tweaking PID is a little out of date. The D term in Stabilize is now called Rate P.

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