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ArduCopter Hexa First outdoor test

Posted by Roberto Navoni on June 22, 2010 at 9:30am
Hi ,
this is the first video of early test doing on Hexafox that using my branch of Arducopter firmware .
The hardware is MultiBoard because I'm waiting APM from Chris .. ;) Now I'm implemented Matrixtable , I2C Bl-ctr and a RPC server for sharing the sensor on Multisensor Board .

The main board control, Multipilot Board :
  • Gyro.
  • Accelerometer.
  • Radio RX.
The second board interface the sensor :
  • 4 Ir-sensor.
  • 1 Sonar.
  • 1 GPS.
  • 1 Magnetometer.
The comunication between the board using RPC protocol with binary payload and CRC control.

all the code is avaible update daily on my repository : http://code.google.com/p/lnmultipilot10/source/browse/#svn/branches/Redfox74

or on arducopter repository : http://code.google.com/p/arducopter/source/browse/#svn/branches/Redfox74

Some news and update about the status of project is on my blog here : http://diycyborg.ning.com/profiles/blogs/some-news-on-multi-pilot-amp and on this thread on Diydrones.

I need more help to set the PID ;)

In the next day I start to test GPS Hold and Sonar automatic altitude . That's function is yet implemented in the code .

Regards
Roberto (FOXTEAM ArduCopter DEVTEAM)
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Comments

  • Moderator
    Roberto Navoni June 23, 2010 at 1:09pm
    Now I'm working with Riccardo to implement a GS protocol for setting pid in realtime .. so' will be more sample to setup it. How do you think are better parameter for my configuration ?
    My Hexa have six motors , propeller 10 the weight is around 2.2 kg in order to fly
    Regards
    Roberto
  • Developer
    Jose Julio June 23, 2010 at 7:11am
    Congratulations Roberto,
    Im my opinion, there are some oscilations, so less P, a bit less I and more D... this is a trial-and-error process...
  • Adam Conway June 22, 2010 at 9:57pm
    Ah makes sense, thanks!
  • Moderator
    Roberto Navoni June 22, 2010 at 8:47pm
    Hi Adam ,
    more fans is more payload and more safe... in my test I check until 12 Fans . Normally this kind of UAV used for Aerial image ... in that application is important to use HD professional camera . The wheight will be around 2-3 kg . If a propeller broke is possible to continue to fly , instead in quad configuration if 1 propeller broke your quad crash :(
    Regards
    Roberto
  • Adam Conway June 22, 2010 at 8:28pm
    I fear that I am asking a stupid question, but what is the benefit of 6 fans over 4?
  • Moderator
    Roberto Navoni June 22, 2010 at 12:41pm
    Thanks Brad ... this is my actual configuration ... I'm not yet started to configure it ....

    // QuadCopter Attitude control PID GAINS
    #define KP_QUAD_ROLL 10 //1.7 // 1.5 //1.75
    #define KD_QUAD_ROLL 0.45 //0.35 // 0.4 //Absolute max:0.85
    #define KI_QUAD_ROLL 0.4 // 0.4 //0.45
    #define KP_QUAD_PITCH 10 //1.7
    #define KD_QUAD_PITCH 0.45
    #define KI_QUAD_PITCH 0.4
    #define KP_QUAD_YAW 3.5 // 3.8
    #define KD_QUAD_YAW 1.2 // 1.3
    #define KI_QUAD_YAW 0.15 // 0.15

    #define KD_QUAD_COMMAND_PART 50.0 // for special KD implementation (in two parts). Higher values makes the quadcopter more responsive to user inputs

    // Position control PID GAINS
    #define KP_GPS_ROLL 0.035
    #define KD_GPS_ROLL 0.0
    #define KI_GPS_ROLL 0.01
    #define KP_GPS_PITCH 0.035
    #define KD_GPS_PITCH 0.0
    #define KI_GPS_PITCH 0.01

    #define GPS_MAX_ANGLE 20 // Maximun command roll and pitch angle from position control
    // MAX_COMMAND
    #define MAX_ROLL 100
    #define MAX_PITCH 100
    #define MAX_YAW 100
    // Altitude control PID GAINS
    #define KP_ALTITUDE 0.75
    #define KD_ALTITUDE 0.4
    #define KI_ALTITUDE 0.2
    Regards
    Roberto
  • Brad Powers June 22, 2010 at 12:36pm
    Less of the I, more of the P. :)
This reply was deleted.