I have finished my second quadcopter with ArduIMU. This time is a "mini" version with only 28cm from rotor to rotor and has the new Jordi´s magnetometer integrated!.
This tiny machine is fantastic, with a great stability. Look at the hands-off part of the video inside house!!
Very funny :-) Video:
Specs:
Motors: 1811 2000Kv 10grams brushless motors
Props: standard 5x3
ESCs : Turnigy 6A
Batt : 2S610 Lipo
Weight (RTF) : 180grams
Again it´s a very cheap and easy setup. Because I use standard propellers I mounted left and right motors with some twist. I´d really love arduIMU flat hardware...
Look at the PPM output Rx, Is this a new 2.4Ghz receiver form DIYDrones?
No, it´s a "lighweight" (4.1grams) mix between Spektrum AR6110 Rx and Jordi´s PPM encoder. This is nice for DIY projects...
The code is improved from the old version. This one has the magnetometer integrated so now we don´t have drift
on yaw axis, better implementation for the D term on the PID controler (more responsive to user inputs), same safety improvements, fast ESCs update rate (166Hz), new PID tunning...
But this history had an interesting lesson for me... The prototype you see here are really the second one, the first one was a dissaster... (flys bad...)
Do you want to know the "small" difference between them? This:
For the first one, I use an U shaped aluminium arms to save some weight. Well this shape is very bad in torsion and generates a lot of vibrations. This vibrations saturate the gyros (our gyros are quite sensible on vibrations because the low internal resonant frecuency). You could see here a graph of the gyro output value vs Throttle and you can see clearly the effect...
I change the arms to the square shape (8x8mm) and problem gone!! Perfect stability... :-) Vibrations are our enemy (Lesson learned)
Here is the new source code: Quad1_mini_20.zip (see notes.txt inside)
Old post (first version) here
New ArduPilot Mega will be a perfect platform for Quad´s also, so stay tuned...
Jose.
Comments
I guess I should never post a video of me flying something inside my house. Who knows what Jack would say about it ;)
I'm seriously impressed with your ArdIMU Quadcopter.
For the past few weeks I've being researching my own Quadcopter and I've settled on basing it on the AeroQuad platform due to its simplicity. However your Quad looks even simpler and I was wondering if you would go into a bit more detail on what your Quad can do and whether it's better basing mine on ArduIMU?
Thanks :)
you in the future poster can measurements of the tubes and of the councils for construction because I have well to build it too.
you have a bond for the construction and the information of development?
DODY
Peter
ps How do I edit a post that I have just made?
When I built my first quad I used prop savers like yours with the rubber ring to retain the prop. I found the prop rocked on the hub causing all sorts of problems. Since I changed to solid prop adaptors stability has been better and I have had no problems.
Peter
Will try to make on of these for myself
Buen trabajo! ;-)
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