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My Ardumega Arduimu quadrotor

Posted by endrew on April 2, 2010 at 2:30pm

https://www.youtube.com/watch?v=MdQxBZTAv4Y

Its based on Arduimu - flat version.
Everything works at 50hz.
I used SPI to communicate between the CPUs.
Stabilization is simple gyros(drift corrected) feedback loop.
However when I tried adding proportional component to the stabilization (using the euler angels from the IMU) Icouldn't get reed of the oscilations... I gess its becouse of the delays...

any suggestions/comments will be appreciated!
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Comments

  • endrew April 4, 2010 at 1:07am
    Yes it is. initially I thought it was a bad idea - to heavy and elastic. but now after I've seen the kind of punishment it can endure - well, it's great for learning!
  • Earl April 3, 2010 at 9:32pm
    WOW !! is that a carbon fiber platform ??
    Earl
  • endrew April 3, 2010 at 3:52am
    and another one:

  • endrew April 3, 2010 at 3:51am
    Mean

    while here are some pictures
  • endrew April 3, 2010 at 3:44am
    For the IMU I used the software I got here - arduimuv2_dcm_v10 for which i added the SPI interface.
    for the ardumega I wrote a very simple code which basicaly implement a mixer for the ESC.
    I'll post the code and pictures a little later on when the results will be better. right now I'm not happy with the performance. It is very unstable and hard to fly. And it doesn't use a proportional feedback, only differential.

    Any ideas of how I can make it more stable will help!!
  • Rana April 3, 2010 at 3:31am
    Its great Endrew !, pl. put more writeup and code too in this blog.
  • Earl April 2, 2010 at 9:52pm
    Looks good !
    What software are you using ?
    Earl
  • 3D Robotics
    Chris Anderson April 2, 2010 at 3:01pm
    Looks cool! Can you edit the post to embed that video? Just copy the embed code and paste it into the HTML tab, at the top of the post.
This reply was deleted.