Hello everyone !!!
I started three months ago in the realization of a Y4Copter completely modify homemade.
I realized the chassis of my wooden quadcopter of 18mm by 18mm that one finds in the stores of do-it-yourself for the sum of 3 euros, I used aluminum chair seats for assembly and 4mm plywood .
I chose to change the location of the rear engines on my Y4, instead of using the classic layout ie the engines one below the other, I chose to arrange the rear engines One next to the other so as to have a space of 1cm between the helices as shown in the following photos:
Y4COPTER MODIFY
The chassis of my Y4COPTER is made to have a distance between
- 310mm on each side
- 370mm at the front
- 220 mm at the rear
ON-BOARD ELECTRONICS
- 4 Bruhless Engines Racerstar BR2208 1400 kv
- 4 Helices 8045 including 2CW and 2CCW
- 4 ESC 30A
- 1 Naze32 6 DOF Flasher under cleanflight v1.11.0
- 1 battery 3S 2200mah 45C which allows to provide a consumption of 99A
- 1 buzzer tester low voltage battery 1-8s
- 1 FPV TS832 transmitter
- 1 Battery 3S 520mah 30C
- 1 Camera CMOS 1000TVL
- 1 bezel FPV GOGGLES VR-007
- 1 Camera AT-30 4K
- 1 Radiolink R8EH receiver that works with the T8FB transmitter with a range of about 1000m
CLEANFLIGHT CONFIGURATION
Once all the chassis and electronics mounted, I connect my NAZE32 to my computer and I run "cleanflight-configurator" software to install on my computer.
I present a small video Tutorial, showing how to configure cleanflight on a NAZE32.
Once Cleanflight set up on my NAZE32, I test and set the PID to have a steady and steady flight.
PID ADJUSTMENT
All settings must be made in fashion ACCRO
Choice PID CONTROLLER MultiWii (Rewrite)
Adjusting the "P" LEVEL OF CORRECTION
Starting from the base values
Lower the I to 10 in order to observe the oscillations more easily.
Increase the P of the ROLL and of the PITCH until the oscillations the drone becomes uncontrollable. Lower the P gradually so that the oscillations disappear.
ADJUSTMENT OF "I" Integral
The drone slips all alone from right to left or from front to back.
Mount the I gradually until obtaining a nice sliding behavior limit to remove it.
For the aerobatics one will have a I low enough and for the video one will have a rather high I.
Small trick putting weight on one of the arms of the drone, to see well the changes.
The I also influence the P,
it is possible that vibration apparaisser, drop again P. ADJUSTMENT OF DERIVATIVE "D"
The DERIVATIVE "D" defines the response of the drone, will make the most nervous or softer.
Decrease "D" to soften reactions
Increase "D" to make the drone more nervous.
Increasing D also influences P. Changing the P when vibrations occur LACET
SETTING YAW
Generally set to 8.5 by default, this value is correct. Increase or decrease the YAW only if spontaneous rotation. Will make it more nervous or softer. Decrease "D" to soften reactions Increase "D" to make the drone more nervous. Increasing D also influences P. Changing the P when vibrations occur LACET SETTING YAW Generally set to 8.5 by default, this value is correct. Increase or decrease the YAW only if spontaneous rotation. Will make it more nervous or softer. Decrease "D" to soften reactions Increase "D" to make the drone more nervous. Increasing D also influences P. Changing the P when vibrations occur LACET SETTING YAWGenerally set to 8.5 by default, this value is correct.
Increase or decrease the YAW only if spontaneous rotation.
FINAL FLIGHT
I present a small video of a flight realize with my Y4COPTER MODIFIER
Hello everyone !!!
I started three months ago in the realization of a Y4Copter completely modify homemade.
I realized the chassis of my wooden quadcopter of 18mm by 18mm that one finds in the stores of do-it-yourself for the sum of 3 euros, I used aluminum chair seats for assembly and 4mm plywood .
I chose to change the location of the rear engines on my Y4, instead of using the classic layout ie the engines one below the other, I chose to arrange the rear engines One next to the other so as to have a space of 1cm between the helices as shown in the following photos:
Y4COPTER MODIFY
The chassis of my Y4COPTER is made to have a distance between
- 310mm on each side
- 370mm at the front
- 220 mm at the rear
ON-BOARD ELECTRONICS
- 4 Bruhless Engines Racerstar BR2208 1400 kv
- 4 Helices 8045 including 2CW and 2CCW
- 4 ESC 30A
- 1 Naze32 6 DOF Flasher under cleanflight v1.11.0
- 1 battery 3S 2200mah 45C which allows to provide a consumption of 99A
- 1 buzzer tester low voltage battery 1-8s
- 1 FPV TS832 transmitter
- 1 Battery 3S 520mah 30C
- 1 Camera CMOS 1000TVL
- 1 bezel FPV GOGGLES VR-007
- 1 Camera AT-30 4K
- 1 Radiolink R8EH receiver that works with the T8FB transmitter with a range of about 1000m
CLEANFLIGHT CONFIGURATION
Once all the chassis and electronics mounted, I connect my NAZE32 to my computer and I run "cleanflight-configurator" software to install on my computer.
I present a small video Tutorial, showing how to configure cleanflight on a NAZE32.
Once Cleanflight set up on my NAZE32, I test and set the PID to have a steady and steady flight.
PID ADJUSTMENT
All settings must be made in fashion ACCRO
Choice PID CONTROLLER MultiWii (Rewrite)
Adjusting the "P" LEVEL OF CORRECTION
Starting from the base values
Lower the I to 10 in order to observe the oscillations more easily.
Increase the P of the ROLL and of the PITCH until the oscillations the drone becomes uncontrollable. Lower the P gradually so that the oscillations disappear.
ADJUSTMENT OF "I" Integral
The drone slips all alone from right to left or from front to back.
Mount the I gradually until obtaining a nice sliding behavior limit to remove it.
For the aerobatics one will have a I low enough and for the video one will have a rather high I.
Small trick putting weight on one of the arms of the drone, to see well the changes.
The I also influence the P,
it is possible that vibration apparaisser, drop again P. ADJUSTMENT OF DERIVATIVE "D"
The DERIVATIVE "D" defines the response of the drone, will make the most nervous or softer.
Decrease "D" to soften reactions
Increase "D" to make the drone more nervous.
Increasing D also influences P. Changing the P when vibrations occur LACET
SETTING YAW
Generally set to 8.5 by default, this value is correct. Increase or decrease the YAW only if spontaneous rotation. Will make it more nervous or softer. Decrease "D" to soften reactions Increase "D" to make the drone more nervous. Increasing D also influences P. Changing the P when vibrations occur LACET SETTING YAW Generally set to 8.5 by default, this value is correct. Increase or decrease the YAW only if spontaneous rotation. Will make it more nervous or softer. Decrease "D" to soften reactions Increase "D" to make the drone more nervous. Increasing D also influences P. Changing the P when vibrations occur LACET SETTING YAWGenerally set to 8.5 by default, this value is correct.
Increase or decrease the YAW only if spontaneous rotation.
FINAL FLIGHT
I present a small video of a flight realize with my Y4COPTER MODIFIER
