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PIC32Flight Control & dsESC4

Posted by Jeroen van de Mortel on February 17, 2013 at 1:30am

Quadrocopter%202013.jpg?width=200

 

Hereby my project, I wanted to build a quadrocopter to learn more about system control and brushless motor and because it is cool. To target also was to make it without as little wires as possible and that is why I made a stacked PCB setup. Made two PCB's one flightcontroller with a lot of possibilities to expand in the future (for instance two PIC32 and also place for MPU-9150).  And one PCB with 4 ESC's integrated and battery current measurement, still have to do a lot things (first thing is altitude control). For me it is just a learning experience (programming is not my strongest point). Hope you like it.

 

Flightcontroller with PIC32

  • 400Hz angle and speed control
  • 2S to 5S
  • MPU-6050
  • HMC5883L
  • MS5611
  • GPS
  • SD
  • Spektrum
  • Telemetry (Wi.232, will be replaced by RFM22 in the future)
  • PC control (Labview)
  • Servo outputs
  • The possibilty to make bode plots of the quad (looks like this)

dsESC4

  • dsPIC33FJ
  • 12A per ESC without cooling, (has to be tested more with thermal camera)
  • 2S to 5S
  • Current limiting
  • Closeloop RPM
  • Battery current sensor
  • I2C
  • SPI
  • UART

Todo:

  • Altitude control
  • GPS position control
  • Making it autonomously
  • Vision control
  • Camera gimbal
  • ....

 

Quadrocopter%202013%20(1).jpg?width=600

 

Quadrocopter%202013%20(2).jpg?width=600

 

Quadrocopter%202013%20(6).jpg?width=600

 

Quadrocopter%202013%20(3).jpg?width=600

Quadrocopter%202013%20(4).jpg?width=600

 

Quadrocopter%202013%20(5).jpg?width=600

 

 

 

 

Tags: diy, esc, labview, pic32, quadrocopter, spektrum, dspic
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Comments

  • Jeroen van de Mortel February 18, 2013 at 11:32am

    Ah oke i didn't know that, it is indeed a very fast computational filter. I'm not that good in mathmatics to fully understand the UKF filters. The autoquad also needs an extended calibration.

    But what would be the benefit of the UKF over de descent filter ?

  • Jeroen van de Mortel February 18, 2013 at 5:26am

    I used a the kalman filter from Sebastian Madgwick (based on Mahony).

    http://www.x-io.co.uk/

  • Michele February 18, 2013 at 5:23am

    What did you use to compensate gyro drift?

  • Jeroen van de Mortel February 18, 2013 at 12:31am

    Autoquad uses current sensing to limit the current, that is the same I do.

    The website of scolton is very nice, but he uses 2/3 phase current measurement which is needed for FOC, I only measure the bus current.

     

    That UltraESC is very nice

  • Jeroen van de Mortel February 17, 2013 at 12:50pm

    Yes the motors er driven by six step block commutation, I think you need current sensors for FOC or DTC.

  • Jeroen van de Mortel February 17, 2013 at 10:34am

    @Julio Cesar Escudero

    Schematic

     

    @Mohcine

    I programmed myself but got inspiration of some papers. I sample the BEMF during the On and Off time of the PWM. Normally there is a foam undeneath the IMU but left it out of the photo.

  • Jeroen van de Mortel February 17, 2013 at 7:52am

    @Michele

    I used a the kalman from Sebastian Madgwick (based on Mahony).

     

    @Muhammad Al-Rawi

    Thank you

     

  • Muhammad Al-Rawi February 17, 2013 at 7:45am

    Now that is truly DIY. Very well done. Looks awesome.

  • Michele February 17, 2013 at 7:36am

    What did you use for stabilize? DMP (native fusion MPU-6050) ,  kalman or DCM ?

This reply was deleted.