New quadcopter "Zecke Q185" - max dimension 7.3 inch from tip to tip

Here is my new quadcopter. The max dimension is 185 mm (tip to tip).

 

 

The video from the first outdoor flight is shown here: https://www.youtube.com/watch?v=Un_guPJ1Qoc

Some details:

- weight 170 gramm
- propeller AirAce 3-blade left/right, motor Hacker A10/12S
- ESC Turnigy 6A (not modified = PPM)
- 2 cells LiPo 740mAh, flight time is about 6 minutes
- RC-control via a single Spektrum - DX7-satellite-receiver
- ATMEGA328 in the new 20 x 30 mm big "Tumba-Control"
- 3 x ADXRS610 + 2 x ADXL322 from Sparkfun in an 17 mm IMU-cube
- software is own development based on Arduino, source code is about 8kbyte
- closed loop frequence about 400 Hz
- use of axis - (de)coupling via rotary matrix / quaternion

The carbon - balsa design is very stiff. In the "Tumba-Control", based on a ATMEGA328, are: 6 low pass filter for the sensors, the UART is connected to the 2.4 Ghz-satellite-receiver, then the are the 4 PPM-pins to the 4 ESC. And there is the 3.3V (2.4 Ghz-satellite-receiver) and 5 V supply. The aim was to design a quadcopter platform with a minimal dimension.

Best regards Tumba

Here some more pictures:

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I just stumbled upon your creation while browsing Google for parts. Very nice concept! How is it holding up? Do you fly it much?  (you should make this a blog post  :)    )

Hi John,

I fly the copter often. He is designd for the IMAV 2011 competition:

http://www.imav2011.org/images/stories/documents/imav2011-summeredi...

But I need more traing to fly similar to my team member William:

http://vimeo.com/22988846

Currently I performe the landing outdoor at the two lower propeller. Indoor I use a cage.

 

Best regards Tumba

how to use this satellite reciever?

would be great if you could share that part of your code ;-)

 

anyways great work, just found that on the MK-Forums ;-)

First you have to program the DX7 transmitter to "acro" and "aux2" to "rocker".

Then you have with the code below the values: rc_lift (0..680), rc_pitch(-340..340) , rc_yaw(-340..340), rc_roll(-340..340), rc_s1(0,1,2), rc_s2(0,1). Here is the DX7 related code:

/* ------------------------------------------------------------------------ */

/* define global values */

/* ------------------------------------------------------------------------ */

int rc_lift, rc_pitch, rc_yaw, rc_roll, rc_s1, rc_s2;

unsigned long uart_time_old;

unsigned int i, z[16];

/* ------------------------------------------------------------------------ */

/* setup procedure */

/* ------------------------------------------------------------------------ */

void setup()

{

uart_time_old= 0;

 

for (i= 1; i<=16; i= i+1) z[i]= 0;

i= 1;

 

Serial.begin(115200); /* DX7 satellite */

}

/* ------------------------------------------------------------------------ */

/* read the DX7 satellite procedure */

/* ------------------------------------------------------------------------ */

void read_rc()

{

unsigned long uart_time;

unsigned int uart_dt;

 

uart_time= micros();

uart_dt= int(uart_time - uart_time_old);

uart_time_old= uart_time;

 

if (uart_dt > 8000) i= 1;

else i= i+1;

z[i]= Serial.read();

 

if (i == 16)

{

rc_pitch= int(256 * z[ 7] + z[ 8]) - 2560;

rc_roll= 1536 - int(256 * z[ 3] + z[ 4]);

rc_yaw= 3582 - int(256 * z[ 9] + z[10]);

rc_lift= 854 - int(256 * z[11] + z[12]);

 

rc_s1= 0;

if (int(256 * z[ 5] + z[ 6]) < 5700) rc_s1= 1;

if (int(256 * z[ 5] + z[ 6]) < 5500) rc_s1= 2;

rc_s2= 0;

if (int(256 * z[13] + z[14]) < 4600) rc_s2= 1;

 

i= 1;

}

}

/* ------------------------------------------------------------------------ */

/* global loop procedure */

/* ------------------------------------------------------------------------ */

void loop()

{

while (Serial.available() == 0)

{

read_imu();

calc_imu();

calc_mot();

run_mot();

delay(2);

}

 

read_rc();

}

 

/* ------------------------------------------------------------------------ */

/* end of program */

/* ------------------------------------------------------------------------ */

Amazing! This was worth a full blog post, BTW. Don't be shy--you've done terrific work that deserves the biggest audience.
thanks for that!

do you sale this copter ?

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