Do you have an Ardupilot Mega and shield and want some fun for little money? check this tiny quad... my last drone in family...
Some specs:
- Size : 26.5cm (10.4 inches) from motor to motor
- Motors : 18-11 200kv 10 gram motors
- Props : 4x2.5 (standard CCW props)
- ESCs : Turnigy 6A
- Battery : 3S610 (or 3S800)
- Sonar : Maxbotics LV-EZ0 [optional]
The nice part about this frame is that it use standard kite parts, so it´s very easy to construct and it´s perfect for some radical tests.
Itried to find a bit different design that also make the quad less simmetrical (it´s very easy to loss the orientation with a quad) and I wanted to do as small as posible to flight indoors...
At this size and weight it´s very safe and robust also. The props use prop savers and this help a lot in crashes...
I am not very good writing... so I took a lot of photos during the build phase and I created a build log: https://docs.google.com/document/d/1fIZL-Ca2fx2RPhBQLzoOdqdCuikXRKePwKbxDlJWiss/edit?hl=es
This code supports a sonar for altitude hold and also has a battery alarm (2 alarms).
Thisquad works with ArduCopter code, but because how main board is mounted, actual code doesn´t work. This is the code that I used with this quad :
http://code.google.com/p/arducopter/source/browse/#svn/branches/Arducopter_indoor
(as zip format: Arducopter_indoor.zip )
note that this will be integrated on main Arducopter code. Now is temporarily in a branch.
ThePID gains are different than in standard ArduCopter, so you need to Initialize EEPROM on Configurator or put this ones manually:
-Stable mode: P : 4.8 ; I : 0.12 ; P_rate (D in configurator) : 0.4 ; Yaw : (4.5 ,0.15 ,2.8 )
-Acrobatic mode : P : 0.75 ; I : 0.1 ; D : 0 ; Yaw : (2.4 ,0.2 ,0 )
OK, but was all so perfect like in the video? I don´t believe that...
Yes, you are right, but fortunately this design is very crash resistance... and this part is also fun...
After all this battles I only needed a few drops of ciano in the crash with the lamppost :-)
What´s the real size?
On center, standard arducopter frame, on left, old ArduIMU quadcopter part III, on right-top this project.
And what about the automatic aerobatics on video?
I am starting to test a new function to do automatic aerobatics (Automatic Aerobatic Procedure). The idea is that you enable this function with a switch in the Tx to make an automatic predefined aerobatic and then automatically recover to a stable mode.
Thisis actually a proof of concept but works very nice. One limit here is the maximun rate of the gyros, in our case 500deg/s. If we exceed this, the IMU get confused...
An interesting point to note is that the IMU doesn´t loose the orientation in this hard movements...
Thestory is that I have never feel too much confidence doing flips manually with quads. Then I start thinking that with an automatic code we can get a precise timing and controled movement so maybe this could help to do better aerobatics. I started testing this function outdoor, on an open field but I was improving the code and got more tightly maneuvers, so tight, that I ended up doing flips with a quad inside my room!!!
Here is the code I was testing : (AAP function: AAP.txt )
I implemented this functionality as a state machine where there are three kind of states:
- fixed commands for a limited period of time. (example : Apply a throttle command)
- fixed commands until we reach some IMU state (example : roll until we reach a certain angle)
- And a mix between this categories and a control (example : Throttle command + stable mode on roll, pitch, yaw)
There are many things to test and improve here but the basic concept works very nice...
If I can get a bit of help from a friend, I will probably made a carbon fuselage for this prototype...
Enjoy this “Science & Fun” mix...
Jose Julio.
Arducopter Team
Comments
where did you get the center connector? I can't find it anywhere
Do you think 4 motors would carry 350g fine?
I am using turnigy plush 6 amp for motors from the 10 gram, 16 gram and the 24 gram hextronix motors.
It weighs 400 grams without lipo. The pictured Y6 weighs 580 grams with 2200 3s lipo.
What esc?
Hi Steven,
thanks for the info.
How much does your Y6 weight?
Here is a Y6 with hextronic 16g motors. I built it a year over a year ago and its still flying today. I have 8 inch props with 2s lipo on them but they work better with 6-7 inch props and 3s lipos.
Did you flash the esc?
Would the hextronic 16grams work? I.e. Anyone had experience with them?
Will the 10grams be fine to hold 300grams?
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