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
There was short between GPS adaptor 1st pin and 2nd pin.
I am now waiting for another componet-cap,5V reg which were removed by me.
I wish MCU is alive. it's almost out of stock to buy it difficult.
BTW what's cc5r component? It's 74157 in shematic drawing.
I searched this component but I can not find and anothers show up.
Yun
ArduIMU board means.
I uploaded PID values of mini quadcopter.
Yun
Earl
Before this was happen I just connected fdti cable through my notebook.
FDTI cable cause black out of arduIMU suddenly?
regards,
Yun
Do you have experience board power out?
I was watching serial monitor of arduimu connecting FDTI cable.
abruptly power out , green led out, yellow led out.
FTDI cable had right voltage. it's normal I tested it with another arduino board.
When I connected FDTI cale with ArduIMU board, com port9 disappeared.
another arduino board when I tested it, It's ok. com port9 was recognized.
How to fix my board? any ideas welcome.
Yun
Regards,
James
point 2) you need to make an harness to connect the 4 ESC´s to the same battery connector.
Dody, I think you need to configure #define MAX_CHANNELS 8, (this is your number of Tx channels + 1). I will try to prepare an small code to test the radio alone...
Jose.
• transmitter futaba 7 canal FF7.
• Receiver JETI RX5.
In is the program, it necessary to put 5 ways or 7 ways?
For the moment when I bring the radio into service, the engines turn, stop, without I touching with the radio.
Dody.
In a friendly way
dody
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