Glorious Day for my Arducopter: Second Flight


Special thanks to Paul Dowling and Jason Short for their help with PID's tunning! I would have never taken off without their advice.


Both stabilize and simple mode work flawlessly.


The beast is flying with four 4 cells batteries, 400 gram each. wingspan is 120 cm. Propellers are 14 X 7 3 blades.

Total flight weight: HEAVY.

Views: 539

3D Robotics
Comment by Chris Anderson on September 25, 2011 at 8:40am

That's huge! Very smooth flight, too. 

Comment by Aydin ESER on September 25, 2011 at 12:21pm

That's great!

please share you pid settings and motor type, brand

Comment by estebanflyer on September 25, 2011 at 1:09pm

Aydin, the motors are Eflite Power 25, 870kv

I will post the PID's setting soon, I am at work now, working very very hard, you will be surprised at the values!! they are really low.

Comment by Jeff E on September 25, 2011 at 1:23pm

thats very smooth....are the batteries strap underneath each motor?

Comment by I.S. on September 25, 2011 at 2:11pm

It looks like batts are at the edge of arms. Why that? maybe to avoid Pwr distro board (I mean each batt, supplys one motor-esc?)

Is it not better to keep weight at the CoG?

Why are u using higher pitch props? instead of the typical lower ones 4.5 or so?

Congratulations for your big, nice flying quad.

Comment by ionut on September 25, 2011 at 2:38pm

What Rx transmitter are you using? 

Comment by Michael Oborne on September 25, 2011 at 5:13pm

what pids did you end up with?

Comment by estebanflyer on September 25, 2011 at 9:39pm



Jeff E: Yes, the batteries are strapped underneath each motor.


I.S.: Each battery supplies each motor, with no PDB. I used to 'fly' with 2 batteries and a PBD, but the flight time was too short. Also it felt like I couldn't tune up the PID values enough in order to hover stably because it was too easy for the motors to change the copter's attitude, making it wooble. The batteries, at 400 g each, add inertia to the system, and the autonomy rises to around 8 and a half minutes.

I also felt I needed to lower the RPM's on the props. I was running 12 X 6's, RPM's were high and the wobbling was snappy. 14 X 7's 3 blades are the maximum the motors can take and lowered the RPM's greatly.


ionut: I am using a Futaba 6EX 2.4 ghz. I installed a pot and created a digital in-radio mix in the tx to get 4 flight modes.


Michael Oborne:

PID's are as follow:


STAB ROLL= 2.2                   STAB PITCH= 2.2

STAB ROLL I= 0.001             STAB PITCH I= 0

RATE ROLL P= 0.073           RATE PITCH= 0.073

RATE ROLL I= 0                    RATE PITCH= 0.001


I will be tweaking them up in the next couple of days, let me know if you want updates on the values.

Cheers everyone!


Comment by Jeff E on September 25, 2011 at 10:29pm

I thought so, scary landing gear :)


Interesting PI values, we have basically similar results but mine is a fraction of the size and weight but I have a gopro mounted in front almost aligned to the props and a battery sticking at the backside. Now I found my logic is pretty close on how thing work (still clueless).

Hope to see more vids, with that smoothness its looking to be a good AP platform, just concerned about the weight penalty.


Good job thanks for sharing

Comment by estebanflyer on September 25, 2011 at 10:40pm


I'm not landing on the batteries of course, I have this metal rods as legs instead. they are shouting to be replaced by some kind of carbon fiber rod.

So you have similar values? This quad is flying at 4 kilos and a half... how can the values be similar? I'm confused.

I have seen your video of the gopro on the nose and a battery on the tail. Is your balance ok?


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