Illustrated cable connections between APM + Receiver, APM + ESC's and motor locations for ArduCopter.

+ Configuration

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Albums: ArduCopter wiring
Location: World

Comment by Wallace Edwards on July 15, 2010 at 10:09am
Jani, I have a newbe question. I notice one set motors (left/right) are set for ccw, could a pusher prop be used instead of running the motors ccw?

Comment by Jani Hirvinen on July 15, 2010 at 10:23am
You need to have both Pusher & Puller props. This is due we are using centrifuge forces as our rudder. So if all motors are spinning on same direction, whole quad will spin on opposite direction. Having 50% CW + 50% CCW motors we can counter measure this spin and also we can it to rotate quad. By speeding up other group a bit and slowing down another, this way our total thrust is still 100% but we are turning. Controlling speeds on these groups we can easily spin it which ever way we want.

3D Robotics
Comment by Chris Anderson on July 15, 2010 at 10:39am
Excellent diagram, Jani--super helpful. I'll integrate into the ArduCopter manual.

Comment by Jani Hirvinen on July 15, 2010 at 10:47am
Sure, I just updated it to Wiki too...
Comment by Wallace Edwards on July 15, 2010 at 4:24pm
Thanks Jani for the answer, a follow on question which motors get the pusher props?

Comment by Jani Hirvinen on July 15, 2010 at 5:54pm
Well there are only 2 possibilities to put them... When you start your engines and your props "blow" up, change their order. They should all blow downwards :)

Some companies calls their props pushers even they are pullers and vice versa, so it's better not to say that pushers always goes on "these" motors and pullers on those... Best way is just to test or when you are about to mount them, think which way motor is running and look your prop, you can figure it easily. Like I said they all should blow down.
Comment by Eric on July 15, 2010 at 8:22pm
This is a cool-looking diagram. What program did you use to make it?

- Eric

Comment by Jani Hirvinen on July 16, 2010 at 7:23am
As I'm a Mac user I use OmniGraffle to do my network/documentation/design and other sheets. You can do similar documents even with M$ Visio.
Comment by Peter Seddon on July 19, 2010 at 8:31am
I'm a JR user and the channel assigns are different. Can you tell me the channel assignments in the above diagram (ie what signals are needed on each of the ArduMega inputs)?

regards Peter

Comment by Jani Hirvinen on July 19, 2010 at 9:13am
Yes This illustration will be updated after public alpha release is out. In final version of this illustraion, it will contain channel information. Here they are as in text:

IN0 = Aileron
IN1 = Elevator
IN2 = Throttle
IN3 = Rudder
IN4 = AUX1
IN5 = AUX2

This same information can be found from code it self and should be... again .. Should stay as is now ... but due we do not have yet public alpha release i don't put my head on it yet :P


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