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 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.

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!!

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 


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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