Bob Doiron
  • Male
  • Halifax, Nova Scotia
  • Canada

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  • Jeremy colon
  • Helen Pike
  • Troy Strum
  • leonardthall
  • Phillip Schmidt
  • DocWelch

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Stability Control Loop Improvement

Started this discussion. Last reply by Bob Doiron Apr 2, 2014. 40 Replies

Hey gang,I just implemented an idea I had a while back to improve the Arducopter stability control. It's basically using the stabilized acro idea and comes from noticing that my acro leveling code…Continue

Tags: Stability, PID, Arducopter

Flipping Arducopter

Started this discussion. Last reply by leonardthall Aug 19, 2013. 73 Replies

When I was learning to fly my quad I couldn't wait to develop the skills to start doing acrobatics. I had no idea that arducopter was so limited in this area. Here's the stock options:Stabilized…Continue

Tags: acro, flip, arducopter

915 Mhz air module 5v power requirements (mA)?

Started this discussion. Last reply by Bob Doiron May 24, 2013. 1 Reply

Does anybody know what the power requirements are for these air radios (915Mhz specifically)?I want to put one in my Turnigy 9x and it's been suggested that the 5V regulator has 60-100mA to…Continue


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Arducopter3D with SimonK reversible ESCs - Day2

Posted on June 26, 2014 at 6:30am 19 Comments

Here's the video from day 2 of testing my 3D / reversible prop code. I still have a minor bug to work out in the acro pitch leveling code, but what's working is working well!

- Afro 30A ESCs with SimonK (reversing/braking/complementary)

- RcTimer 9x4.7" CF props (doubled up for symmetry) 

- RcTimer BC3530-10 1400KV motors

- Rctimer 450…


Arducopter3D with SimonK reversible ESCs

Posted on June 16, 2014 at 7:00pm 5 Comments

This was the maiden flight of my 3D hacks to the Arducopter 2.9.1b code. So while my piloting sucked, I was pretty impressed that it actually worked!

The ESCs are Afro 30s with SimonK configured with COMP_PWM=1, MOTOR_BRAKE=1, BRAKE_SPEED=8 and of course RC_PULS_REVERSE=1 to allow reversing.

The props are actually two sets of carbon fiber props stacked on top of…


Arducopter: Motor Response Compensation

Posted on March 14, 2014 at 7:30pm 16 Comments

I see a lot of work being done to increase the update rate getting to the motors of a quad for stability. The APM only updates the PWM value at 100hz (not ideal), so I got to thinking about how one could improve the performance without too much headache... (TODO: see if the 100hz loop could be increased to 200 or more...)

In this graph I modeled a…


PVC V-Tail Photos for DocWelch

Posted on September 16, 2013 at 6:00pm 23 Comments

Here's what I can do for photos this late in the game. I really should have taken build photos before everything got covered up with electrical tape and zip ties ;) The craft is crude, but I'm really happy with how it flies with modded 2.9.1b firmware. I'm working on 3.0.1, but tonight's weather got in the way of my test flight.…


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