Finally I've managed to have some time and do a little flight to test the Arducopter v2.1 firmware.

Here is my quad and some specs I hope you find them usefull somehow :

Weight (with camera on board) : 1700gr

Weight (without camera) : 1500gr

Battery : Turnigy 5000mAh 3S / 30-40C

Motors : 4 x EMAX GT 2812-11 930KV (about $15 each from plus2city - behaving very well so far)

ESCs : 4 x AE 30Amp  (about $12 from hobbywing, behaving surprisinglly well so far)

APM 2560 + oilpan + Ardcuopter 2.1 firmware

12x4.5 propellers (not the best ones, this are a little soft, I'm waiting for some stiffer ones)

I got about 10m flight time with the camera


PID Rate Roll (and Pitch) adjusted to 0.075 (default was 0.145 but I got to much oscillations. The in flight PID adjustment using ch6 it's no doubt a super add on. I had never touched the PIDs before, but now I really needed since the quad was oscillating too much, especially on descents).

PID Stabilize Roll (and Pitch) adjusted to 4.550 (default was 4.5)

This 2 Videos, are from the same flight.

First one, videocamera from the ground (most of the time you don't see the quad, since I had no cameraman :) , but if you look closely towards the end, you will have a great chance to watch my belly eheheh)


Second video from camera on board. I left the time stamp so you can check the battery duration. Conditions were almost perfect. No wind at all, about 13ºC.



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Comment by Jonathan M on January 4, 2012 at 9:13pm

Very nice.  You are close to the weight, prop dimensions I am using. I am glad to see you got it very stable!

What camera were you using for the 2nd video and where did you end up mounting it?

Comment by Rui Manuel Cravo Marques on January 5, 2012 at 2:38am

Hello. I used an Extreme HD camera like this : and I secured it underneath the battery with a velcro strap. If you look closely you can see the camera and a piece of foam on it, since the quad landed on the camera :) this was just a temp solution for a test flight. I'm considering to put a camera gimbal on the quad now.


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