ATROPOS: Fonera based Quadrocopter


I have been working for a year on my home-made quad. It is made with wood, and it is controlled via wifi using a Fonera Router


Both WII NK and WM+  sensors gives the information to the router throughout custom CPU GPIO pins. To achieve I2C communication a especial linux kernel module is used to make an emulated i2c port with every 2 GPIO pins available.


The user can pilot the aircraft with a HTML5 and canvas web interface, making AJAX request on every key stroke or mouse movement. Telemetry is received with COMET (SERVER Push) HTTP information and Javascript is used to manage the entire page.

Fonera sends rotor commands to a 16F876 PIC, which generates PPM signals to manage ESC ( Electronic Speed Controllers). Those ESC are the power stage to trifasic motors.

To achieve very fast and less time consuming requests, http router web server has been modified on it's source code, to process all the AJAX requests in a RAM shared memory portion on the router.





Software control is home-made, and suited to be run into Fonera. It reads nunchuck and motion+ wii sensors, applies a low-pass filter, and a 2ndcomplementary filter (The RoyLB implementation ->thnx!) on every loop which has been previously readed.


Now I'm testing better PID values...


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  • thank u brother...........

  • Hi!. Motors are 1100KV. That means the motors spin 1100 rounds per volt you apply. Motors are for 11,1v LiPos (max operating volts). So you get 1100x11,1=12.210 RPM of maximum rotation speed.

  • hey brother can u tell me what is max speed of ur motor afterusing ur own battery?????????

  • Yeah, I'm preparing a source code project in google code. I hava to learn how it works xD


  • Very nice.Do you plan to make the source code available?
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