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
Earl, what size (motor to motor distance) is your prototype?
Jose.
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Earl
.i'm try to develop a quad using your code but i need some help ... I'm using sanguino micro AVR 644P at 20 Mhz ... is possible to upgrade your code to support it ? I yet compile and put on micro but i have some problem with radio routine because don't decode perfectly the radio input i think that is an a problem of prescaller because I'm using 20 Mhz instead of 16 Mhz . Do you have some idea ?
Then I'm using NMEA code of arduimu for my gps ... I think that i need to change the file correct ?
Regards
Roberto
I used your code on a flying wing. It worked well and I made some improvements and made a clearer code. I created a google project : http://code.google.com/p/easy-imu-pilot/
If you want to see the modifications. I also plan to improve a little bit the command laws and we are developing a basic ground station (in java).
Bye,
Loris
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