I have just tried my Oktokopter on its second flight (despite the wind and light rain that made it a very short flight) and it seems flyable. When the weather calms down I will give it a longer flight and try and shoot some video.

Here are some brief details:
KDA20-22L motors, Turnigy 30A ESC's converted to I2C, APC 10 x 4.7 props, UBEC, GWS RX8 receiver, 10mm sq aluminium frame with pcb central hub and mounting plates

RC1 code modified to add I2C motor control and mixertable for controlling 8motors. ArduOktoKopter.zip


Peter

Views: 1534

Comment by Steve on November 8, 2010 at 4:58pm
That kind of carbon (pultruded) can't be drilled. Doing so will cause it to split down the grain. But you can epoxy other parts to the outside. You need woven carbon fiber if you plan to drill holes.
Comment by Chris on November 8, 2010 at 6:02pm
wow thats a lot of cables
Comment by Christian Schulze on November 8, 2010 at 9:15pm
@EUGEN MILJAN and @Steve,

I'm experimenting with a quad rotor using the APM+Oilpan and completely custom frame. Using carbon fibre for the arms. There was plenty extra so before starting the build I did some testing. I've found the non woven fibre splits, tears and twists unless the drill bit is < mill.

However I had great success using a Dremel and diamond taper bit after first drilling a < .5mm pilot hole. Hot knife through butter as they say.

One thing to keep in mind, is how to mount the arms to the body, and how to mount the motors. I found crushing the arms was very easy. One idea which I'll explore later is filling the arms with glue or some other none compressive material, but only where high compressions are applied (screw holes) to the arms.

Developer
Comment by Jani Hirvinen on November 8, 2010 at 11:36pm
Roberto, yes ArduOcto is using our mixertables that you wrote and like you said too. We are working to integrate that on main code.
Comment by Peter Seddon on November 9, 2010 at 3:43am
@robero
I am not sure where my mixertable came from as I have been reading Aeroquad and Redfox code and taking bits from each. There was also a thread on the Aeroquad frum about mixertables that I found and used.

@Steve
I don't think there are enough PWM outputs from the APM to drive 8 ESC's so the alternative is I2C or one of the other fast pwm prtocols that are being trialled.

Peter

Developer
Comment by Jani Hirvinen on November 9, 2010 at 5:39am
Peter, both ArduCopter and AeroQuad mixertables are created by roberto who is ArduCopter team member. Redfox is his nickname on repositories.

Moderator
Comment by Roberto Navoni on November 9, 2010 at 7:15am
Hi Peter .. so the mixertable in Aeroquad code is my code .I'm Redfox74 ... perfect so you are testing that on a okto ... send me the configurazion that are you tested so i can update the code with your configuration ,too
Regards
Roberto
Comment by Peter Seddon on November 9, 2010 at 10:07am
Robero,

If you look in the zip file above you will find the 'copter code including the mixertable. I used the data suggested by Arthur P on the Aeroquad forum but had to change the sign of the yaw values. I number my motors as suggested by Arthur (1 at the front going clockwise).

Peter

Moderator
Comment by Roberto Navoni on November 9, 2010 at 10:45am
Hi Peter ,
I check your code that is my mixertable ... Congratulation you are the first user that are using my code in your Multicopter :) So i check it and i see that you change the void WireMotorWrite() function .. without that code that you comment you can have some freeze on i2c bus ... is better that you use it.
Do you have a VIdeo of your first flight ?
This is my first video using the mixertable and Hexafox Coaxial configuration :
http://www.virtualrobotix.com/video/multipilot-board-hexafox-coax-1
Comment by Peter Seddon on November 10, 2010 at 4:03am
Robero,
The WireMotorWrite is used in the Motors code as the method to write the data to the ESC. I am not sure where you think I have something missing?

Thnak you for your help and interest.

Peter

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