QuadRotor Project, Part 2

Some weeks ago I posted about my quadrotor proyect and showed a video with the Roll controller on a testbench.

Now I'm working with the yaw controller. I build a simple testbench to test the behaviour of the controller. As I said before, I am implementing a digital PID on the arduino MEGA, and I use Labview just to send the commands and visualize the behaviour of the quad.

Here is a small clip of how the yaw controller is working right now. I still have to improve it, but I think I'm getting there. Please feel free to comment or ask any question.

I will add some pics again for those who didnt see my previous post.

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  • They are connected....parallel.........so they drain equally
  • I see you have 2 batteries. Are they each operating the 2 motors independently or is everything connected? I guess what I am asking is the quad setup to ensure that both batteries are drained equally?
  • Sure, you are right. In order to keep the overall thrust constant, one pair increases speed and the other decreases in the same magnitud
  • Well its logical (after i turned on my brain and tried wikipedia :o), but one thing i can't get out of my head: when first or second motor pair changes its rotation speed second should do opposite action, otherwise overall thrust will be reduced or gained respectively. I'm i wrong? I'm just curious.
  • @ palo

    Hi, the yaw movements is caused by the torques generated by the rotation of each motor. The front and rear motors turn in one direction, and the left and right in the opposite direction. So, by controlling the motor speed of one of the pairs respect to the other pair you can make the vehicle turn in one or the other direction
  • Perhaps i'm bit uninformed and the question is too easy but i'll ask:
    How is the yaw control performed? I don't see any motor tilt mechanism...
  • Hi, thanks for the comments.

    I did the extensions because the wire that came with the ESC was a bit short, so I soldered the extension and used some heat shrink on top.

    The weight of the vehicle is about 1Kg.

    Here is the link for my previous post

  • If you're good at soldering, a well-done wire-to-wire splice is probably lower risk than resoldering onto the PCB. I've done both, and unless you want to change the wire gauge, it's probably not worth the risk and extra work of soldering to the ESC pads. IMHO.
  • Looks great. Whats the total weight? Can you provide a link to the previous post? I notice you have soldering extensions on to you're ESC wires. If you are comfortable with SMT soldering, You may want to consider soldering extensions directly to the ESC as its one less joint (actually 12) that could fail.
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