Given the popularity of the 230/250 quads at the moment (blackout etc), I thought - wouldn't it be cool to have a rig that can do the ground skimming proximity stuff, but also with the normal "mod cons" of the APM?

Traditionally though, an APM would never fit. Until HK released the mini...so I built one.

I started with the Haldey-Bocks 230 frame, in Carbon Fibre. This was a mistake. I should have gone for the 250, because the fitting of the ESC's was a bitch of a job, especially with the thick 3DR power module hanging off it. And naturally, I forgot to solder in the XT for the video feed, so had to start again...

Anyway, this is the bare airframe:

So onto the fun part...

First, I fitted the camera, so I could make sure the clearances were good. I mounted it directly to the front CF plate to make sure I had as much room as possible behind it.

Second, I mounted the GPS antenna pole. This required a lot of trial and error, but eventually I found a position which worked.

Third, I fitted the APM mini in front of the post, and behind the camera. There is *just* enough room to do this. It is currently mounted with double 3M pads - I will review vibe damping after the first flight. Supposedly the blue balls do the "clean/dirty" thing, but is it enough to keep the APM within Z axis tolerances? Time will tell. These rcx are not the smoothest I have to say, and a propless spin up was really vibey.

I wired in the GPS, and the radio.

Then I mounted the 3DR telemetry radio to the roof. It is likely I will replace this with a minimOSD, and run a really simple OSD - volts, ground speed and home distance.

I then cable-tied the xt60 back on on itself on the PM - it was interfering with the props.

CoG is spot on, even though I thought it would be rearward.

Weight with tx will be 505 grams as you see it here. I have a wiring exercise to do (shorten and tidy), and to enclose the APM with some foam (for the Baro), and I hope that brings it down below the target 500 grams.

And that's it! It all fits together nicely. All the normal calibrations done - just compassmot to do (want to wait until I've got the camera and tx wired in first). Going for a really small 200mW 32ch 5.8. Will fit perfectly.

I didn't have time to get the thing in the air, but should able to get it in the air at the weekend. Can't wait to use DRIFT on this...:-)

Views: 19501

Comment by Mike Wilson on September 2, 2014 at 3:05pm
Thanks for the explanation. I get a little of the pitching up a as well when I stop. I was able to tune it out by reducing the I gain but I think I will try increasing the IMAX to see if that will be a better solution.

Developer
Comment by leonardthall on September 3, 2014 at 7:28am

Hey Shay, are you using a APM or a Pixhawk?

Thanks for the feedback everybody!!


Developer
Comment by leonardthall on September 3, 2014 at 7:34am

Hi Ryan,

I couldn't see your pid values but there are two things that can effect this. One of them is manual tuned rate pids that are actually quiet unstable and limit the stab P value. The second is the Rate I and I max terms. You can increase the I_MAX term to 1000 or 2000 but be carfull on take off because you can load the I term up and it can cause the copter too lean for a very short time depending on your PID values. You can also increase the rate I term to be significantly higher than P. I have tested to 4x but haven't had time to look into it too far.

Comment by Cao Tri Nguyen on October 18, 2014 at 8:52am

I make my H250 with mini APM and it has terrible roll vibration. I replace with standard APM and the same thing happen .

The same kit working perfect with naze32.

Please shared your setup , Thanks

Comment by Euan Ramsay on October 18, 2014 at 9:07am

Things have moved on a bit, as my 250 is now a 250-vtail. :-)
The pack doesn't last long enough for autotune to complete, so it's tuning old skool. Still a bit to do to totally lock it in, but it's flying ok as is.

Comment by Cao Tri Nguyen on October 18, 2014 at 9:12am

So finally which firmware version you are using?

The LPF and also Imax value which seem effect on setup.

Please share since I love to have H250 quad with APM 

Thanks

Comment by Euan Ramsay on October 18, 2014 at 9:18am

This was 3.2rc7, if I recall. This is my lunchtime blaster at work, so not had a chance to bump it to rc12.
As mentioned - apart from failsafes, flight modes and PID's I've changed nothing. The only additional is the use of a case, which has solved my baro problems, and now it loiters surprisingly well on factory PID's

Comment by chrisa on October 21, 2014 at 8:24am

It would look great with some body or fiberglass or something. Even carbon fiber would be better, it looks "not aerodynamic" at all.

Can you compare the V tail to the standard setup?

Comment by Euan Ramsay on October 21, 2014 at 8:33am

More yaw control, less efficiency. Better for tight slalom courses than open wide ones.

Comment by chrisa on October 21, 2014 at 8:46am

Do you have any videos or examples of this?

I would like to see how it can perform turns while in forward motion, or how well it can strafe, thanks.

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