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Arducopter3D with SimonK reversible ESCs - Day2

Posted by Bob Doiron on June 26, 2014 at 6:30am

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 frame

- Adrucopter3D code (based on Arducopter 2.9.1b)

Here's a close up of the prop configuration:

3d, arducopter, arducopter3d, simonk, inverted, reversible

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Comments

Bob Doiron June 26, 2014 at 6:08pm

Code is up: https://github.com/bdoiron74/ardupilot/tree/Arducopter3D

I tried to wrap the '3D' changes in #ifdefs, but I'm sure I missed some...

bdoiron74/ardupilot

APM Plane, APM Copter, APM Rover source. Contribute to bdoiron74/ardupilot development by creating an account on GitHub.
Bob Doiron June 26, 2014 at 1:38pm

The throttle range is set up as reverse/forward with the mid point as neutral (-100...0...+100).
John June 26, 2014 at 11:57am

Very cool! What triggers the motors to reverse direction? Is it automatic and reverses when the angle of the controller gets beyond a certain point? Or do you need to manually flip a switch?
Aaron Curtis June 26, 2014 at 11:41am

Woah, never even thought about trying to do this without variable pitch!
Bob Doiron June 26, 2014 at 9:01am

@Troy - nice camera work and commentary! :P
Chuck Durham June 26, 2014 at 8:42am

Awesome work Bob - hoping from your contributions to the APM code base more of us will be looking to build some 3D reversing quadcopters.
3D Robotics

Chris Anderson June 26, 2014 at 8:27am

Impressive!