tag:blogger.com,1999:blog-30579291130654299612023-11-16T06:23:25.946-08:00Technology ProjectsA blog for my arduino and microcontroller based electronics and technology projectsAnonymoushttp://www.blogger.com/profile/02737830915049535435noreply@blogger.comBlogger50125tag:blogger.com,1999:blog-3057929113065429961.post-48179620810949153202014-04-30T14:30:00.000-07:002014-04-30T14:30:01.170-07:00Lighting up the tricopter<div class="separator" style="clear: both; text-align: center;">
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEghlZS1cP_hJtc12S8kGwS4N9e3zt7n1tquJO1srW4MJ6XmhQuWhfowEzNTQPR2WNQTvV_ngc5Be5SfC3w70eFwmhLKxQjHu3N12kPPQ5YAPdjk-dh6doQtB5km-Q2VECdD93cVdYbXBvhu/s1600/2014-04-30+20.56.18.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEghlZS1cP_hJtc12S8kGwS4N9e3zt7n1tquJO1srW4MJ6XmhQuWhfowEzNTQPR2WNQTvV_ngc5Be5SfC3w70eFwmhLKxQjHu3N12kPPQ5YAPdjk-dh6doQtB5km-Q2VECdD93cVdYbXBvhu/s1600/2014-04-30+20.56.18.jpg" height="480" width="640" /></a></div>
<br />Anonymoushttp://www.blogger.com/profile/02737830915049535435noreply@blogger.com0tag:blogger.com,1999:blog-3057929113065429961.post-11224914976208120172014-02-16T13:31:00.000-08:002014-02-16T13:31:14.266-08:00Tricopter - first flight FPV FPV flying; well its a bit odd flying 'heads down' into a screen... took some tips from FliteTest and didn't try to switch between the screen and looking up :)<br />
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The video range is a bit suspect... but I have mounted the video Rx about 20cm from the transmitter!<br />
<a href="https://www.youtube.com/watch?v=J8xEyx41RRI"><br /></a>
<a href="https://www.youtube.com/watch?v=J8xEyx41RRI">Linky to youtube video</a>Anonymoushttp://www.blogger.com/profile/02737830915049535435noreply@blogger.com0tag:blogger.com,1999:blog-3057929113065429961.post-43095797331341174052014-02-09T07:16:00.000-08:002014-02-09T07:25:11.613-08:00Tricopter maiden flightFlying the tricopter during calm(er) spells on a gusty Sunday.<br />
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<a href="http://en.wikipedia.org/wiki/PID_controller">PIDs </a>still need some <a href="http://wiki.openpilot.org/display/Doc/Stabilization+Tuning++Multirotor">tuning </a>to get rid of the shakes, but this is surprisingly fly-able for a scratch build wot I made :) I attribute some of this to the <a href="https://github.com/sim-/tgy">SimonK </a>flashed <a href="http://en.wikipedia.org/wiki/Electronic_speed_control">ESCs</a><br />
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<br />Anonymoushttp://www.blogger.com/profile/02737830915049535435noreply@blogger.com0tag:blogger.com,1999:blog-3057929113065429961.post-58442287968993553052014-02-04T13:30:00.001-08:002014-02-04T13:30:04.515-08:00Tricopter - electronics install and first (tethered) flight<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgZxfCxReKqYPr4aYVVFOAfrRpCQ1oiiGPAwaswaAN7zsOtjwKneFfxwtZofplvNH9u3jhuJQ9-m0f7egKqXLuE8AO-lYS4hiAldg0qJicWXtc9MG7uJw59rIGjUyKdkAUYNWPIHMiDVzOy/s1600/2014-02-03+21.49.03.jpg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgZxfCxReKqYPr4aYVVFOAfrRpCQ1oiiGPAwaswaAN7zsOtjwKneFfxwtZofplvNH9u3jhuJQ9-m0f7egKqXLuE8AO-lYS4hiAldg0qJicWXtc9MG7uJw59rIGjUyKdkAUYNWPIHMiDVzOy/s1600/2014-02-03+21.49.03.jpg" height="400" width="300" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">740g flight weight (with 1800maH battery) just add GoPro and video TX :)</td></tr>
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<tr><td class="tr-caption" style="text-align: center;">Complete Tricopter</td></tr>
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First flight (securely tethered to a heavy table)</div>
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<br />Anonymoushttp://www.blogger.com/profile/02737830915049535435noreply@blogger.com0tag:blogger.com,1999:blog-3057929113065429961.post-6212597084214780092014-01-27T13:21:00.001-08:002014-01-27T13:21:39.088-08:00Tricopter design and buildThis project started as an experiment in tilt-yaw steering (based on the excellent <a href="http://rcexplorer.se/">RC Explorer </a><a href="http://rcexplorer.se/projects/2013/01/the-tricopter-v2-6hv-delux/">design</a> from David Windestål). The first frame was made from a leftover quadcopter kit plate and aluminium 1/2 inch box section. It was small, cute, but not flyable!<br />
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEixgDm95Qb71lmIRDLvkYmoiVeXeO4r3XECJwh6ffeG4QtOM3Ir8KYu-anU-w3YjLk3OMVhj4MjwcwlzXO_y83noXCtJvfMhzQLqSFf5GgXRxxjwfwK8SyR8jIhJs4fXxspmrNubbPLi1_D/s1600/2013-11-17+21.21.03.jpg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEixgDm95Qb71lmIRDLvkYmoiVeXeO4r3XECJwh6ffeG4QtOM3Ir8KYu-anU-w3YjLk3OMVhj4MjwcwlzXO_y83noXCtJvfMhzQLqSFf5GgXRxxjwfwK8SyR8jIhJs4fXxspmrNubbPLi1_D/s1600/2013-11-17+21.21.03.jpg" height="300" width="400" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">First attempt proved difficult to tune and fly</td></tr>
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The second iteration is currently in build, using wooden booms and an undertray battery/camera system to damp out <a href="http://en.wikipedia.org/wiki/Rolling_shutter">video 'jello'</a>.<br />
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhSZPYp7Vj8hkTtGvCnOM6EtuVCCBWeMobtr9W3pNI4JtX8GXCtmd-uOe1TxD-o5fYJcskQOa82XpPUI_nHygSj49RwX66TZtT2zFK11Ya0Pv7UGmO0RjMfsJU9xFRacjZyH1zT5VUIXzx4/s1600/2014-01-27+20.55.31.jpg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhSZPYp7Vj8hkTtGvCnOM6EtuVCCBWeMobtr9W3pNI4JtX8GXCtmd-uOe1TxD-o5fYJcskQOa82XpPUI_nHygSj49RwX66TZtT2zFK11Ya0Pv7UGmO0RjMfsJU9xFRacjZyH1zT5VUIXzx4/s1600/2014-01-27+20.55.31.jpg" height="480" width="640" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Tricopter in plan - motors are 300mm from the centre of thrust</td></tr>
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The rear tilt-able prop seemed to create a feedback wobble in the first model, so for this one I'm using a better servo and have mounted the heavy motor in line with the tilt hinge to reduce its moment. This should reduce the amount the tricopter reacts to tilting the rear prop, if I remember some basic mechanics... :o<br />
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All-up-weight with 1800mAH battery and video TX/GoPro is going to be around 900-950g. Dry weight without battery or video system should be around 550g. I'm thinking about drilling a few holes in the wooden booms to reduce weight further :D<br />
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiRRkI09sQuaE5U5-0ej2TIWdg6KoesVQPfXGw3-FMzAyu9og0Z_9MKAN_kAyndSgB6xuvO4_N5vDAThhtUVb-tNo3cr94VSiiaZms-Oc6hgh7qFIP1C72WXddIuvtMl0LzIoIzi7nuuNK4/s1600/2014-01-27+20.55.49.jpg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiRRkI09sQuaE5U5-0ej2TIWdg6KoesVQPfXGw3-FMzAyu9og0Z_9MKAN_kAyndSgB6xuvO4_N5vDAThhtUVb-tNo3cr94VSiiaZms-Oc6hgh7qFIP1C72WXddIuvtMl0LzIoIzi7nuuNK4/s1600/2014-01-27+20.55.49.jpg" height="480" width="640" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Tail servo assembly. </td></tr>
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiMLgdDoRytX3OWiol5p2IlXrEQRSJoXbvv4wRdgWBtm5IS2_kesOHx-PXb2lNCG3ZcMtlTG2dKlaQwDjVf5ly6I-X8hyyPCc8BGNido0JI3XI8CIPd0fSdbz8FFJzxxX7eaXIPv07Johig/s1600/2014-01-27+20.55.57.jpg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiMLgdDoRytX3OWiol5p2IlXrEQRSJoXbvv4wRdgWBtm5IS2_kesOHx-PXb2lNCG3ZcMtlTG2dKlaQwDjVf5ly6I-X8hyyPCc8BGNido0JI3XI8CIPd0fSdbz8FFJzxxX7eaXIPv07Johig/s1600/2014-01-27+20.55.57.jpg" height="480" width="640" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Flight control board mounted on foamboard and four cubes of vibration damping foam. Hey, it might work!</td></tr>
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<br />Anonymoushttp://www.blogger.com/profile/02737830915049535435noreply@blogger.com0tag:blogger.com,1999:blog-3057929113065429961.post-79870494994172404382014-01-27T12:59:00.000-08:002014-01-27T12:59:16.790-08:00Headcrab flying - with FPV!First test flight with new landing legs, suspended battery/camera tray and FPV system installed.<br />
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It was dark, so testing was limited to the area lit by the back porch floodlight!<br />
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<br />Anonymoushttp://www.blogger.com/profile/02737830915049535435noreply@blogger.com0tag:blogger.com,1999:blog-3057929113065429961.post-71095171159477754722014-01-27T12:29:00.003-08:002014-01-27T12:29:56.194-08:00GPS + baro pressure (height) logging in the Bixler<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhnLD0TsL96WYRJ7bzEfVexEdlBaWJnpVkLkj-QF14flwhP1VsygMVvzCLpHkkE284MIn3TDmQG5JntCrrlmuNPCkbgqCq0O888G_HbSxEYir7T-m-pB6ZXo7p6hCNxlZaUzpzT8vKoM0ku/s1600/flight+tracks.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhnLD0TsL96WYRJ7bzEfVexEdlBaWJnpVkLkj-QF14flwhP1VsygMVvzCLpHkkE284MIn3TDmQG5JntCrrlmuNPCkbgqCq0O888G_HbSxEYir7T-m-pB6ZXo7p6hCNxlZaUzpzT8vKoM0ku/s640/flight+tracks.jpg" height="398" width="640" /></a></div>
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Google Earth view of three flights - heights are logged from barometric pressure, lat lon from GPS<br />
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Platform was the Bixler trainer flown visually (hence lots of unexciting going round in circles!)<br />
<br />Anonymoushttp://www.blogger.com/profile/02737830915049535435noreply@blogger.com0tag:blogger.com,1999:blog-3057929113065429961.post-56796461211532095392014-01-27T12:27:00.002-08:002014-01-27T12:27:50.534-08:00FPV - video tx/rx with DIY circular polarised antenna <table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjRo7MbVftLpgQkni9uzJICp5YgLUKl6uRh8gHOsjFLVfXDLYioDZrB9y3_aQYpE3pWWf69obWTYvmpHq-DFZfBKK4VjZyZZxULOmrNZAd_OwLAoI-sbdmNvSpW3jqcPE6XKkk2drLngzPK/s1600/2014-01-06+20.51.24.jpg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjRo7MbVftLpgQkni9uzJICp5YgLUKl6uRh8gHOsjFLVfXDLYioDZrB9y3_aQYpE3pWWf69obWTYvmpHq-DFZfBKK4VjZyZZxULOmrNZAd_OwLAoI-sbdmNvSpW3jqcPE6XKkk2drLngzPK/s1600/2014-01-06+20.51.24.jpg" height="480" width="640" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Video transmitter using a GoPro camera, 5.8GHz video transmitter and a home made 'clover leaf' circular polarised antenna</td></tr>
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<tr><td class="tr-caption" style="text-align: center;">Video receiver mounted on the radio control transmitter - matched 5.8GHz 'skew planar' circular polarised antenna to improve image reception</td></tr>
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<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhWPAvwFRb7NCr_e0q9c4yAUwE7JRaukdetymsKiJPI3TxWUjL7neoVsYCJnCQzS5BvOgI5zCmOoLncIa7KN0ogyNogV7qd_GAeddxlIbpbPvvr00ERP_zjl2bUqRLB0jAjaZD_8IM0avzu/s1600/2014-01-06+20.56.03.jpg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhWPAvwFRb7NCr_e0q9c4yAUwE7JRaukdetymsKiJPI3TxWUjL7neoVsYCJnCQzS5BvOgI5zCmOoLncIa7KN0ogyNogV7qd_GAeddxlIbpbPvvr00ERP_zjl2bUqRLB0jAjaZD_8IM0avzu/s1600/2014-01-06+20.56.03.jpg" height="480" width="640" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">The video transmitter system mocked-up on my 'headcrab' quadcopter</td></tr>
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<br />Anonymoushttp://www.blogger.com/profile/02737830915049535435noreply@blogger.com0tag:blogger.com,1999:blog-3057929113065429961.post-85540641289278099102013-09-05T10:37:00.005-07:002013-09-05T10:37:52.170-07:00rotary wing to fixed wing...<div class="separator" style="clear: both; text-align: center;">
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Flying the <a href="http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=33029">Bixler advanced trainer</a> over Hampshire, UK with a <a href="http://www.hobbyking.com/hobbyking/Store/uh_viewitem.asp?idproduct=17200">HD wing cam </a>from HobbyKing :)<br />
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<img alt="Bixler v1.1 EPO 1400mm - (ARF) (UK Warehouse)" id="mainpic1" src="http://www.hobbyking.com/hobbyking/store/catalog/mainbix%286%29%283%29.jpg" /><br />
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Although this flight doesn't show it, I added 3-axis stabilisation using <a href="http://www.rcgroups.com/forums/showthread.php?t=1568554">OpenAero</a> and a redundant KK Multicopter control board. After some messing around with the <a href="http://lazyzero.de/en/modellbau/kkmulticopterflashtool">KK flash tool software</a>, I gave up and flashed the board from a command line using <a href="http://www.ladyada.net/learn/avr/avrdude.html">AVRdude</a>Anonymoushttp://www.blogger.com/profile/02737830915049535435noreply@blogger.com0tag:blogger.com,1999:blog-3057929113065429961.post-50050229863132250802013-07-20T13:33:00.001-07:002013-07-20T13:33:05.391-07:00Headcrab quadcopter - Successful PID tuning!So the last outing the 'Headcrab' had showed I had some vibration issues that may have been affecting the gyro performance... On reflection I think that the ESCs were not properly calibrated to the new motors I'd paired them with.<br />
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I wasn't very satisfied with the double sided foam attachment method for the flight controller board, so I made up a stand-off board with some scrap laser-cut plywood and used vibration damping foam to isolate it from the bolts holding the board up. Hopefully this will reduce the gyro interference to a manageable level using low-pass filtering in software. I also calibrated each ESC, just in case.<br />
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Vibration testing didn't look that much better, but I strung the quad' up to test its stability in acro mode and level mode:<br />
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<iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.youtube.com/embed/yvame7QLWbo?feature=player_embedded' frameborder='0'></iframe></div>
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This time the quad' looks rock solid at all power settings... the new Turnigy motors may be a tad overpowered :) I hope the ESCs and batteries can cope with the amps!<br />
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Batteries are on charge now. If I'm feeling brave tomorrow there may be a free-fright test :]<br />
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<br />Anonymoushttp://www.blogger.com/profile/02737830915049535435noreply@blogger.com0tag:blogger.com,1999:blog-3057929113065429961.post-5301059941320845092013-07-17T13:53:00.001-07:002013-07-17T13:53:32.547-07:00Tuning the 'Headcrab' quadcopter - bad vibrationsThe 'Headcrab' quadcopter design now has an underslung battery carrier and vibration-damped camera mounting, thanks to some more laser-cut plywood from <a href="http://www.razorlab.co.uk/">RazorLab</a>. It's ready to fly! Almost!<br />
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But first, I needed to spend some quality time with the <a href="http://en.wikipedia.org/wiki/PID_controller">PID controller </a>built into the <a href="http://www.multiwii.com/">MultiWii </a>code. Basically, if this bit isn't right then the 'copter will be an un-flyable, rogue manhack that will not stop until it has lacerated its maker into mincemeat... or it crashes, or whatever...<br />
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PID tuning is a bit hit and miss (for me) but a nice safe way is to <a href="http://wiki.openpilot.org/display/Doc/Stabilization+Tuning++Multirotor">pop the 'copter on strings </a>that hold it in one place and let it rotate about <i>either</i> the pitch <i>or </i>roll axis. This was working great, but I noticed that the quadcopter needed a constant pitch down input to stay level. As the throttle went up, more pitch down was needed to hold the drift in check. At this point I did the only sensible thing: put the quad away and thought about the problem for a few weeks (don't rush me!).<br />
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<div class="separator" style="clear: both; text-align: center;">
<object width="320" height="266" class="BLOGGER-youtube-video" classid="clsid:D27CDB6E-AE6D-11cf-96B8-444553540000" codebase="http://download.macromedia.com/pub/shockwave/cabs/flash/swflash.cab#version=6,0,40,0" data-thumbnail-src="https://ytimg.googleusercontent.com/vi/wi8JD_b-bsg/0.jpg"><param name="movie" value="https://www.youtube.com/v/wi8JD_b-bsg?version=3&f=user_uploads&c=google-webdrive-0&app=youtube_gdata" /><param name="bgcolor" value="#FFFFFF" /><param name="allowFullScreen" value="true" /><embed width="320" height="266" src="https://www.youtube.com/v/wi8JD_b-bsg?version=3&f=user_uploads&c=google-webdrive-0&app=youtube_gdata" type="application/x-shockwave-flash" allowfullscreen="true"></embed></object></div>
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[Video of the gyro noise at different power settings - sad face]<br />
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I concluded that the likely cause was vibration (despite using foam tape and a big mass on the flight controller to try and damp things down). This is not a good sign. I already had concerns that the <a href="http://matt-electronicsprojects.blogspot.co.uk/2013/06/headcrab-quadcopter-laser-cut.html">lovely body shape </a>I'd created in Sketchup might act like a multi-modal resonator (kinda like how a guitar or violin amplifies vibrations).<br />
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Next stop is some serious damping efforts before I give up and try a different body plate design. I really wish sometimes that I could remember my lectures from university, especially the ones with control laws...Anonymoushttp://www.blogger.com/profile/02737830915049535435noreply@blogger.com0tag:blogger.com,1999:blog-3057929113065429961.post-51568011184171816402013-06-17T13:30:00.001-07:002013-06-17T13:30:18.140-07:00Building the 'headcrab' quadcopterI've recently been busy building the new 'headcrab' quadcopter rather than fixing up the ol' X600 frame... The deployed frame is starting to take shape, with motors and ESCs (four yellow bits with all the wires coming out) mounted and connected up.<br />
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<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhU5G-qBegeGz6HJFGYv_3dci4wagdwN4HIjkD5_xIQIHHAxSWILmChfsirrZPZgXOrY4vLHuyoMvGxt79O3WYPXKSLxT3i82Uf1rJrpszCPqn0aJ1JOd-PmOqlAv3exxb3rhT6ZcifrKKA/s1600/IMAG0566.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhU5G-qBegeGz6HJFGYv_3dci4wagdwN4HIjkD5_xIQIHHAxSWILmChfsirrZPZgXOrY4vLHuyoMvGxt79O3WYPXKSLxT3i82Uf1rJrpszCPqn0aJ1JOd-PmOqlAv3exxb3rhT6ZcifrKKA/s1600/IMAG0566.jpg" height="382" width="640" /></a></div>
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Here's the quad folded<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgUEiJCSyEbLgwMd4cwV6SP9JgThfwWizutEIHLVLM7FsOc4F9zHpQHe7vilUzPnVjsbtlW6_R-4tHorwX-eCqdw_-oNTYLAoJvDE3GYXPF5CbNf7OVzym7BnuDxeGJFiQibVDnh0GqFYhj/s1600/IMAG0563.jpg" imageanchor="1" style="clear: left; float: left; margin-bottom: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgUEiJCSyEbLgwMd4cwV6SP9JgThfwWizutEIHLVLM7FsOc4F9zHpQHe7vilUzPnVjsbtlW6_R-4tHorwX-eCqdw_-oNTYLAoJvDE3GYXPF5CbNf7OVzym7BnuDxeGJFiQibVDnh0GqFYhj/s1600/IMAG0563.jpg" height="382" width="640" /></a><br />
The flight controller board will have a separate mounting plate that will be vibration-isolated from the main board. In addition, I've ordered another laser-cutting run to make a battery/camera mounting plate to hang underneath the quad, again using an anti-vibration mounting.<br />
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If this thing flies well and if anyone is interested, I'll put up the build steps and links to the laser cutting plans... but only if I see some comments from all three of you! :D<br />
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Anonymoushttp://www.blogger.com/profile/02737830915049535435noreply@blogger.com2tag:blogger.com,1999:blog-3057929113065429961.post-39072297828615516862013-06-06T12:50:00.000-07:002013-06-06T12:50:07.579-07:00'Headcrab' quadcopter laser cut<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj1Xvpr_JNIvOC9rWgOAY0YHWOpD1X3dePuFI37FGbbMwq7evCfb51kQJECyLS-xCyZqq8DVmIN6vUzLVAZyyWAlsdZ1I5ZSTIy50g5iRnS-8SS6zFDN1rKzkr_EwcYNHCb_3D2WH8k-kP6/s1600/IMAG0537.jpg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="382" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj1Xvpr_JNIvOC9rWgOAY0YHWOpD1X3dePuFI37FGbbMwq7evCfb51kQJECyLS-xCyZqq8DVmIN6vUzLVAZyyWAlsdZ1I5ZSTIy50g5iRnS-8SS6zFDN1rKzkr_EwcYNHCb_3D2WH8k-kP6/s640/IMAG0537.jpg" width="640" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Beer is a necessary component</td></tr>
</tbody></table>
<br />
<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjORsijf4bRBftG6XjEUTUcALe3k9iVuOv4s31q9zVqpvykIBtEaqIjtrlDq-6uOC-fga1lCiezE3rTLLMjOCntxiJ1r3YaBc-WNDpQuQQvgJJRh_yWcNr_O9dgrZDggwi3OamClE5PWl1y/s1600/IMAG0538.jpg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="382" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjORsijf4bRBftG6XjEUTUcALe3k9iVuOv4s31q9zVqpvykIBtEaqIjtrlDq-6uOC-fga1lCiezE3rTLLMjOCntxiJ1r3YaBc-WNDpQuQQvgJJRh_yWcNr_O9dgrZDggwi3OamClE5PWl1y/s640/IMAG0538.jpg" width="640" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Control board mount on the centre of gravity</td></tr>
</tbody></table>
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<table align="center" cellpadding="0" cellspacing="0" class="tr-caption-container" style="margin-left: auto; margin-right: auto; text-align: center;"><tbody>
<tr><td style="text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhU7oOurv1bVGvgmXaWz0TO7P5KUncG16F_KcO_86GtoaIfb4te0Z2DjiDpqUz8t5cKP04nsodREiCZk7g-gw6QUmtUCTWZOrN1qbt70_JWGPMpjcgllBy9wZIgU1x8re7ETdriuQAPl0Lg/s1600/IMAG0539.jpg" imageanchor="1" style="margin-left: auto; margin-right: auto;"><img border="0" height="382" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhU7oOurv1bVGvgmXaWz0TO7P5KUncG16F_KcO_86GtoaIfb4te0Z2DjiDpqUz8t5cKP04nsodREiCZk7g-gw6QUmtUCTWZOrN1qbt70_JWGPMpjcgllBy9wZIgU1x8re7ETdriuQAPl0Lg/s640/IMAG0539.jpg" width="640" /></a></td></tr>
<tr><td class="tr-caption" style="text-align: center;">Folded up - the quad stays in the unfolded position with friction - no more carrying a ratchet and a hex wrench!</td><td class="tr-caption" style="text-align: center;"><br /></td><td class="tr-caption" style="text-align: center;"><br /></td><td class="tr-caption" style="text-align: center;"><br /></td><td class="tr-caption" style="text-align: center;"><br /></td></tr>
</tbody></table>
Anonymoushttp://www.blogger.com/profile/02737830915049535435noreply@blogger.com0tag:blogger.com,1999:blog-3057929113065429961.post-54142509822068159612013-05-28T12:11:00.001-07:002013-05-28T12:11:57.631-07:00Quadcopter flying in Devon<iframe allowfullscreen="" frameborder="0" height="270" src="//www.youtube.com/embed/psYuvOebwPU" width="480"></iframe>Anonymoushttp://www.blogger.com/profile/02737830915049535435noreply@blogger.com0tag:blogger.com,1999:blog-3057929113065429961.post-3647596451283724152013-05-27T10:26:00.000-07:002013-05-28T11:33:59.252-07:00Quadcopter crash - Deja vu, againAnother random crash from my X600 quadcopter... Same as before, the quad oscillated nearly 90 degrees each way on an axis and lost height rapidly. Cutting power to save it from wrecking a motor, I heard a 'thunk' as it dropped onto a grassy slope out of my view. The quad suffered from another broken prop and a busted up aluminium arm where the wire landing gear broke out from its hole in the arm. I'm starting to wonder if the new avionics bay has an intermittent faulty connection.<br />
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Before the crash I did risk <a href="http://www.youtube.com/watch?v=psYuvOebwPU">shooting some footage </a>with my Wife's point-and-shoot camera mounted on the tripod thread on top of the quad... its nothing like this, but it does show that as a camera platform the quad isn't bad when a decent camera is fitted (R.I.P. Veho Muvi and its jelly vision)<br />
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New props ordered from Ebay - I might try out some wooden arms to replace the aluminium section arms, as a prototype for my <a href="http://matt-electronicsprojects.blogspot.co.uk/2013/05/quadcopter-redesign-headcrab.html">scratch-build quad</a><br />
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Oh, and last time I weighed the X600 quadcopter with battery it came in at 1.2kg... a bit on the porky side...<br />
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<br />Anonymoushttp://www.blogger.com/profile/02737830915049535435noreply@blogger.com0tag:blogger.com,1999:blog-3057929113065429961.post-66683983873555502672013-05-20T13:56:00.001-07:002013-05-20T13:56:37.736-07:00Quadcopter redesign - the headcrabAfter auguring in the 'copter, snapping a motor mount and losing my Veho Muvi camera in the bracken, grass and heather of Hampshire heathland, I decided to try designing my own quad frame...<br />
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[subsequent AAIB investigations showed that although pilot error was suggested by onlookers (my boy) the crash was most likely due to a wiring failure on a soldered bullet connector to one of the motors... with one phase gone the motor stopped working and the quad flipped]<br />
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The redesign was taking some time to finalise (ooh, what about a <i>tricopter?</i>), so I cobbled the X600 back together without the fibre board motor mounts, instead bolting and zip-tying the 'plus' shaped motor adapters that came with the kit onto the arms.<br />
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Meanwhile, the current design looks like this:<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj-nRNNH74Ykbxyw2IDSH1eKkXBEt8FY14AF8qDS4by8N_qaiFEnInI4uUdVbHPUvdQSKqw5DPe5MWjwxAKFWtemFdFgo4NXKNouwPrASp1leBQAwcE79eFRNgUX6ha5sd6FAdhvdG8bmcH/s1600/Baseplate_04.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj-nRNNH74Ykbxyw2IDSH1eKkXBEt8FY14AF8qDS4by8N_qaiFEnInI4uUdVbHPUvdQSKqw5DPe5MWjwxAKFWtemFdFgo4NXKNouwPrASp1leBQAwcE79eFRNgUX6ha5sd6FAdhvdG8bmcH/s1600/Baseplate_04.jpg" height="334" width="640" /></a></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhpYeWXJdEtV_OzRUGTzmX3mmHnx9lnbaMzor7r7weMbiwLby4pTgJiyBrA83o0IXXQ-4qlFYnUcYMgDKBqxzIllOQIkYKEO3gFT0toqhHgxjNa-c_Y1-cMkwbUTqkSsTjPFJIk42y1d2Rg/s1600/Baseplate_04_1.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhpYeWXJdEtV_OzRUGTzmX3mmHnx9lnbaMzor7r7weMbiwLby4pTgJiyBrA83o0IXXQ-4qlFYnUcYMgDKBqxzIllOQIkYKEO3gFT0toqhHgxjNa-c_Y1-cMkwbUTqkSsTjPFJIk42y1d2Rg/s1600/Baseplate_04_1.jpg" height="334" width="640" /></a></div>
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The aim is to have all the arms fold backwards (like an octopus?) to improve transportability. The arms will be held in place by friction by adjusting the pivot and stopper bolts so the top/bottom plates grip each arm with enough force to hold it still in flight, but still be able to fold up for transport (or a crash!)<br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhXXlyD8OUgzylLej1pb2ITzrXhtADKgh6lC6XqenTK6zZcUkluYrBTAhErpKJvTVSBYvSw3scq-VcQ0TE0FKd_6WzfzeJRS39JBCnvg2VKZfVioZJODx-XLkRCRcRNOnDEExdvKiKQK8PJ/s1600/Baseplate_04_folded.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhXXlyD8OUgzylLej1pb2ITzrXhtADKgh6lC6XqenTK6zZcUkluYrBTAhErpKJvTVSBYvSw3scq-VcQ0TE0FKd_6WzfzeJRS39JBCnvg2VKZfVioZJODx-XLkRCRcRNOnDEExdvKiKQK8PJ/s1600/Baseplate_04_folded.jpg" height="334" width="640" /></a></div>
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The offset body/CG design also allows for an underslung battery tray that can double as a vibration damped camera mount.<br />
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Materials will likely be wood (I've some hardwood 1/2 inch sticks) and laser-cut plywood for the body plates and landing gear. <a href="http://www.razorlab.co.uk/">Razorlab </a>(UK <a href="http://www.ponoko.com/">Ponoko </a>franchise) will be my source for cutting.<br />
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<br />Anonymoushttp://www.blogger.com/profile/02737830915049535435noreply@blogger.com0tag:blogger.com,1999:blog-3057929113065429961.post-55345826849731644862013-05-02T13:05:00.002-07:002013-05-02T13:05:53.810-07:00MORE videos from a quadcopter<div class="separator" style="clear: both; text-align: center;">
<iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.youtube.com/embed/qoZOAIClrVs?feature=player_embedded' frameborder='0'></iframe></div>
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Soon to appear - write up on the modification to the avionics bay and attempt to damp out some of the vibrations that are coming from the prop/motor shaft :(<br />
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<br />Anonymoushttp://www.blogger.com/profile/02737830915049535435noreply@blogger.com1tag:blogger.com,1999:blog-3057929113065429961.post-91535083900276469212013-04-22T13:26:00.004-07:002013-04-22T13:26:58.793-07:00More quadcopter videosA quick post to link to the latest video from my quadcopter<br />
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<iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.youtube.com/embed/5cZVQS2SRwM?feature=player_embedded' frameborder='0'></iframe></div>
<br />Anonymoushttp://www.blogger.com/profile/02737830915049535435noreply@blogger.com1tag:blogger.com,1999:blog-3057929113065429961.post-24785299188877477662013-03-31T11:48:00.001-07:002013-03-31T11:48:41.254-07:00First flight with new PID parametersHovering the Quad' was OK, but it still seemed to be unstable if a gust hit it or too much control was put in. This suggested the P term in the PID tuning was too large, causing oscillations if the difference between the commanded stick input and the measured attitude of the 'copter was too large. So I used the quadcopter on <a href="http://wiki.openpilot.org/display/Doc/Stabilization+Tuning++Multirotor">strings method </a>to tune out P and I for pitch and roll (and had a stab at the yaw values). The results seemed good, so I found a nice large field in Devon, grabbed three battery packs and went flying...<br />
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<iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.youtube.com/embed/W6NIJVTQ-LE?feature=player_embedded' frameborder='0'></iframe></div>
PID values used were (low pass filter on the MPU-6050 set to 42Hz):<br />
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Roll and pitch: P=1.2 I=0.008 D=3<br />
Yaw: P=2.5 I=0.016 D=0<br />
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Next step is to calibrate the auto-level!<br />
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Oh, and the crash at the end resulted in a snapped prop, and an excuse to buy lurid green and orange props :)<br />
<br />Anonymoushttp://www.blogger.com/profile/02737830915049535435noreply@blogger.com0tag:blogger.com,1999:blog-3057929113065429961.post-43091196240922128892013-03-20T13:53:00.000-07:002013-03-20T13:53:21.950-07:00Quadcopter PID tuning and in-flight footageNow that my quadcopter has its low-pass filter set on the accelerometer, I can fly again! This time I've put on a wee video camera from <a href="http://www.veho-world.com/main/shop_detail.aspx?article=44">Veho </a>to capture the quads-eye-view of the flight.<br />
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<iframe allowfullscreen='allowfullscreen' webkitallowfullscreen='webkitallowfullscreen' mozallowfullscreen='mozallowfullscreen' width='320' height='266' src='https://www.youtube.com/embed/RhtHCildqCk?feature=player_embedded' frameborder='0'></iframe></div>
Still need to do some PID tuning as the quad reacts a bit too much to large disturbances, but its now controllable in a hover :)<br />
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<br />Anonymoushttp://www.blogger.com/profile/02737830915049535435noreply@blogger.com0tag:blogger.com,1999:blog-3057929113065429961.post-60494951293107946422013-03-18T15:24:00.000-07:002013-03-18T15:24:03.155-07:00MultiWii quadcopter - re-flashing the board with new codeSo its March and in the UK this means we get glorious sunny skies and 20 degrees C temperatures... oh, wait... that was March 2012. This year we've mostly had snow, wind, fog and rain. All of which are counter-productive to quadcopter testing and flying.<br />
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This would be frustrating enough if I hadn't tried to re-flash the flight control board with new MultiWii software that then made the 'copter as unstable as an elephant riding a unicycle on a bouncy castle in an earthquake...<br />
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After lots of staring at code and running tests on my ECU, transmitter and motors, I noted that the accelerometer data lines on the multiwii config software were dancing all over the place. Remembering the bit of code in <a href="http://code.google.com/p/multiwii/source/browse/trunk/MultiWii/config.h?spec=svn1272&r=1272">config.h</a>:<br />
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<br />
<div class="MsoNormal">
<span style="font-family: "Courier New"; font-size: 9.0pt; line-height: 115%; mso-bidi-font-size: 11.0pt;"><span style="mso-spacerun: yes;"> </span>/* MPU6050 Low pass filter setting. In
case you cannot eliminate all vibrations to the Gyro, you can try</span></div>
<div class="MsoNormal">
<span style="font-family: "Courier New"; font-size: 9.0pt; line-height: 115%; mso-bidi-font-size: 11.0pt;"><span style="mso-spacerun: yes;"> </span>to decrease the LPF frequency, only
one step per try. As soon as twitching gone, stick with that setting.</span></div>
<div class="MsoNormal">
<span style="font-family: "Courier New"; font-size: 9.0pt; line-height: 115%; mso-bidi-font-size: 11.0pt;"><span style="mso-spacerun: yes;"> </span>It will not help on feedback wobbles,
so change only when copter is randomly twiching and all dampening and</span></div>
<div class="MsoNormal">
<span style="font-family: "Courier New"; font-size: 9.0pt; line-height: 115%; mso-bidi-font-size: 11.0pt;"><span style="mso-spacerun: yes;"> </span>balancing options ran out. Uncomment
only one option!</span></div>
<div class="MsoNormal">
<span style="font-family: "Courier New"; font-size: 9.0pt; line-height: 115%; mso-bidi-font-size: 11.0pt;"><span style="mso-spacerun: yes;"> </span>IMPORTANT! Change low pass filter
setting changes PID behaviour, so retune your PID's after changing LPF.*/</span></div>
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<span style="font-family: "Courier New"; font-size: 9.0pt; line-height: 115%; mso-bidi-font-size: 11.0pt;"><span style="mso-spacerun: yes;"> </span>//#define MPU6050_LPF_256HZ<span style="mso-spacerun: yes;"> </span>// This is the default setting, no need to
uncomment, just for reference</span></div>
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<span style="font-family: "Courier New"; font-size: 9.0pt; line-height: 115%; mso-bidi-font-size: 11.0pt;"><span style="mso-spacerun: yes;"> </span>//#define MPU6050_LPF_188HZ</span></div>
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<span style="font-family: "Courier New"; font-size: 9.0pt; line-height: 115%; mso-bidi-font-size: 11.0pt;"><span style="mso-spacerun: yes;"> </span>//#define MPU6050_LPF_98HZ</span></div>
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<span style="font-family: "Courier New"; font-size: 9.0pt; line-height: 115%; mso-bidi-font-size: 11.0pt;"><span style="mso-spacerun: yes;"> </span>//#define MPU6050_LPF_42HZ</span></div>
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<span style="font-family: "Courier New"; font-size: 9.0pt; line-height: 115%; mso-bidi-font-size: 11.0pt;"><span style="mso-spacerun: yes;"> </span>//#define MPU6050_LPF_20HZ</span></div>
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<span style="font-family: "Courier New"; font-size: 9.0pt; line-height: 115%; mso-bidi-font-size: 11.0pt;"><span style="mso-spacerun: yes;"> </span>//#define MPU6050_LPF_10HZ</span></div>
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<span style="font-family: "Courier New"; font-size: 9.0pt; line-height: 115%; mso-bidi-font-size: 11.0pt;"><span style="mso-spacerun: yes;"> </span>//#define MPU6050_LPF_5HZ<span style="mso-spacerun: yes;"> </span>// Use this only in extreme cases,
rather change motors and/or props</span></div>
<br />
<br />
I tried going through the low-pass filters until the wobbles seemed to be manageable using the 98Hz filter. I also balanced the motors, as these seemed to be creating much noise and vibration. I also added another layer of rubber grommets onto the flight controls mounting board. The results can be seen below on a kitchen table tethered flight:<br />
<br />
<div class="separator" style="clear: both; text-align: center;">
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Roll on Spring! Next step is to get outside and do some hardcore PID tuning :)<br />
<br />
<br />
<br />
<br />Anonymoushttp://www.blogger.com/profile/02737830915049535435noreply@blogger.com0tag:blogger.com,1999:blog-3057929113065429961.post-18060764550246385872013-01-26T10:30:00.003-08:002013-01-26T10:30:57.704-08:00Quadcopter's new brainA new flight controller for my quadcopter arrived yesterday - a <a href="http://www.goodluckbuy.com/mwc-multiwii-se-standard-edition-4-axis-flight-control-board-quadx-w-ftdi-basic-breakout-.html" target="_blank">MultiWii 'Standard Edition'</a> board. Now its half the size of the <a href="http://www.kkmulticopter.com/" target="_blank">KK Multicopter </a>board that came with my <a href="http://www.rc-fever.com/csl-x600-v3-quadcopter-aircraft-combo-kit-not-assembled.html" target="_blank">X600 kit</a>, but after a bit of bodging with a carton from <a href="http://proto-pic.co.uk/" target="_blank">Proto-Pic</a>, I came up with an avionics bay...<br />
<br />
Unfortunately the FTDI (USB to serial) board didn't arrive with the MultiWii, so out came <a href="http://arduino.cc/en/Main/arduinoBoardUno" target="_blank">ol' faithful </a>(without the ATMEGA chip) to let me connect the flight controller to my PC.<br />
<br />
<a href="http://www.multiwii.com/wiki/index.php?title=MultiWii_GUI" target="_blank">MultiWii has a GUI </a>for checking the board is working and setting up the <a href="http://en.wikipedia.org/wiki/PID_controller" target="_blank">PID </a>and receiver systems. This is incredibly useful as it lets you see what the control inputs are, the sensor values and the motor outputs. I didn't play around with the pre-loaded PID values, but I did set my <a href="http://www.spektrumrc.com/Products/Default.aspx?ProdID=SPM6600" target="_blank">radio transmitter </a>end-stops so that the flight controller can detect full deflection or min/max throttle. There is a <a href="http://www.multiwii.com/wiki/index.php?title=PID" target="_blank">multiwii guide here</a> that covers PIDs. Example guides on Tx/Rx tuning etc are <a href="http://www.rcgroups.com/forums/showthread.php?t=1348268" target="_blank">here </a>and <a href="http://www.multiwiicopter.com/pages/multiwiicopter-wiki" target="_blank">here</a>.<br />
<br />
First flight with the new board was in a gently gusting south-easterly wind. I'd set an AUX channel on the transmitter to enable ACC/BARO/MAG hold (basically to stabilise pitch, roll, heading and altitude!) and flew with it ON almost exclusively. The quadcopter is much easier to handle and recover when a gust pushes it out of position. I even had a go at a few fast flybys... Not quite up to this standard though:<br />
<br />
<div class="separator" style="clear: both; text-align: center;">
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<br />Anonymoushttp://www.blogger.com/profile/02737830915049535435noreply@blogger.com0tag:blogger.com,1999:blog-3057929113065429961.post-61572875652098597372013-01-21T14:00:00.001-08:002013-01-21T14:00:14.594-08:00Quadcopter control systemI had an MPU-6050 6-axis accelerometer/gyro and an Arduino Pro-Mini, so I thought I'd have a go at breadboarding a flight control system based on open-source software/hardware<br />
<br />
The open source options I looked at were:<br />
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<a href="http://www.arducopter.co.uk/" target="_blank">Arducopter</a></div>
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<img border="0" src="http://www.arducopter.co.uk/uploads/6/7/0/2/6702064/1616304.png?531" height="47" width="320" /></div>
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<a href="http://aeroquad.com/content.php" target="_blank">AeroQuad</a></div>
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<a href="http://aeroquad.com/attachment.php?attachmentid=7832&d=1354473263&stc=1" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://aeroquad.com/attachment.php?attachmentid=7832&d=1354473263&stc=1" height="80" width="320" /></a></div>
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<a href="http://www.multiwii.com/" target="_blank">MultiWii</a></div>
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<a href="http://www.multiwii.com/wp-content/uploads/2011/01/Sirius_pics-e1313868552198.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://www.multiwii.com/wp-content/uploads/2011/01/Sirius_pics-e1313868552198.jpg" height="176" width="320" /></a></div>
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<a href="http://www.varesano.net/projects/hardware/FreeIMU" target="_blank">FreeIMU</a></div>
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<a href="http://www.varesano.net/files/imagecache/500width/FreeIMU_picture.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://www.varesano.net/files/imagecache/500width/FreeIMU_picture.JPG" height="103" width="200" /></a></div>
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Although FreeIMU isn't technically a flight control system, it provides a sound basis for coding one, as <a href="http://youtu.be/yPsyy-2jZpA" target="_blank">many have done</a>! <br />
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After much code gazing, I2C pin swapping and re-flashing of the Arduino mini with<a href="http://matt-electronicsprojects.blogspot.co.uk/2012/10/triple-axis-accelerometer-and-gyro-mpu.html" target="_blank"> known-to-work-code</a>, eventually I gave up trying to get the MPU-6050 to work as it didn't want to talk with the MultiWii code. Instead I bought a <a href="http://www.goodluckbuy.com/mwc-multiwii-se-standard-edition-4-axis-flight-control-board-quadx-w-ftdi-basic-breakout-.html" target="_blank">multiWii-based board</a>, but its really just an ATMEGA328P (like in the Arduino Uno) with a bunch of sensors on board plus handy pin headers for wiring up the receiver and motors... a snip at under £30 (The<a href="https://www.sparkfun.com/products/11028" target="_blank"> MPU-6050 breakout board </a>is £30 on its own...) - I hope it works!<br />
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<a href="http://www.goodluckbuy.com/images/detailed_images/sku_78001_2.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="http://www.goodluckbuy.com/images/detailed_images/sku_78001_2.jpg" height="320" width="320" /></a></div>
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Anonymoushttp://www.blogger.com/profile/02737830915049535435noreply@blogger.com0tag:blogger.com,1999:blog-3057929113065429961.post-86936447190316918712013-01-05T07:41:00.001-08:002013-01-06T12:03:47.225-08:00Quadcopter first flightWith expectations of at least breaking a prop and probably bending an arm, I took to the skies today with my <a href="http://www.rc-fever.com/csl-x600-v3-quadcopter-aircraft-combo-kit-not-assembled.html" target="_blank">X600 quadcopter</a>...<br />
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<a href="http://cdn.rc-fever.com/image/cache/0/66/3d/569fe1210d2b9de489ad074b8468.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="240" src="http://cdn.rc-fever.com/image/cache/0/66/3d/569fe1210d2b9de489ad074b8468.jpg" width="320" /></a></div>
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The first flight was in a steady breeze on a local football pitch (soft muddy grass to cushion landings!) I fitted the props and tightened the bolts on the folding arms, plugged in the battery and took a deep breath as I armed the quadcopter from the transmitter.<br />
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From flying IR indoor helicopters I knew that a half-hearted throttle input would tip the machine, so I ran up the motors to idle, checked everything looked OK, then gave it some beans. The quad sprang up and <i>almost</i> hovered. I tried to correct for the wind drift and brought it down again in a controlled flop. Success! Nothing broken!<br />
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The next 30 minutes I got to grips with the controls. First impressions are that these machines need you to fly all four axis simultaneously. My experience with fixed wing aircraft wasn't much use as the quad could go in any direction equally fast. The immediate problem I had was I couldn't always tell which way was forward... pulling back on the stick to slow down may result in the quad going faster or sideslipping.<br />
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Next step will be to put something (lights? ball-and-string?) to show which way is 'forward' on the quad. Ultimately I'd like to implement and <a href="http://code.google.com/p/arducopter/" target="_blank">accelerometer based system </a>to stabilise the quad and possibly do some control mixing to make it fly more like an aeroplane.Anonymoushttp://www.blogger.com/profile/02737830915049535435noreply@blogger.com0tag:blogger.com,1999:blog-3057929113065429961.post-63445766250215752522012-12-31T06:29:00.002-08:002013-01-01T10:39:22.412-08:00Quadcopter radio setup<br />
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My <a href="http://www.spektrumrc.com/Products/Default.aspx?ProdID=SPM6600" target="_blank">Spektrum DX6i receiver </a>arrived this morning, which means I can test the quadcopter electronics :)<br />
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<img height="307" id="il_fi" src="http://torquemodels.com/ekmps/shops/torquemodels/images/spektrum-dx6i-tx-only--243-p.jpg" style="padding-bottom: 8px; padding-right: 8px; padding-top: 8px;" width="320" /><br />
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After some of the usual trial, error and Googling, I found the following process worked for getting my <a href="http://www.rc-fever.com/csl-x600-v3-quadcopter-aircraft-combo-kit-not-assembled.html" target="_blank">X600 quadcopter kit </a>up and running:<br />
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<img alt="X600-V3-COPTER-COMBO" height="200" src="http://cdn.rc-fever.com/image/cache/0/c8/e8/5d1348fb096213c0755c9b881941.jpg" width="200" /><br />
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<span style="font-size: large;"><b> [SAFETY NOTE - do not put the propellors on!]</b></span><br />
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1. 'Bind' the RC transmitter and receiver (For Spektrum this requires a 'bind plug' that shorts the bind signal pin to its ground pin). Follow the bind instructions for your radio kit<br />
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2. Connect each ESC in turn directly to the receiver's throttle channel. Then <a href="http://www.kkmulticopter.com/index.php?option=com_content&view=article&id=120:multicopter-trouble-shooting-by-bob-titus&catid=36:kkmulticoper-basics-faq&Itemid=41" target="_blank">follow section 2 of this guide:</a><br />
- disconnect all ESCs from the board (only servo cables)<br />
- connect ESCs one after the other directly to RX's throttle channel in order to proceed for calibration<br />
- turn TX on<br />
- move stick to full throttle<br />
- Power the ESC<br />
- wait for initialization beeps + 2 beeps<br />
- after 2 beeps, move throttle stick to minimum<br />
- wait for beeps (generaly 3 + 1 or 1 + 1)<br />
- Unpower ESC and disconnect<br />
- Repeat until all 4 are calibrated and you're done<br />
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Here's the <a href="http://www.dys.hk/Download/HW25A30A.pdf" target="_blank">ESC manual </a>- there are a lot of poorly Englishised manuals in internet land :( <br />
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3. Re-connect the KK multicopter board to the right ESCs (<a href="http://www.kkmulticopter.com/downloads/resources/KKmulticontroller%20v.5.5.pdf" target="_blank">as in this guide</a>)<br />
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4. Power up the quadcopter and 'arm' the KK multicopter board by holding the throttle/rudder stick down and right until the IMU board light comes on again - <a href="http://www.kkmulticopter.com/downloads/resources/KKmulticontroller%20v.5.5.pdf" target="_blank">see chapter on 'Setting up the KKmulticontroller' of this guide</a><br />
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5. Go through the checks in the rest of the KKMulticontroller guide, testing that:<br />
<ul>
<li>The throttle works</li>
<li>The pitch/roll/yaw commands are mapped correctly to elevator/aileron/rudder controls</li>
<li>The gyros work in the correct way (if you tip the quadcopter then the arm that is being dropped should rev up to stop the tipping motion - detecting yaw correction can be done similarly by twisting the quadcopter and noting if the front/back motors speed up or slow down.</li>
</ul>
UPDATE<br />
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Having wired up my quad in a 'plus' configuration (as advertised) I found that one of the arms didn't react properly. I also noticed that on dropping one arm two motors would speed up. This suggested that the KK multicontroller had an 'X' configuration loaded. To fix I had two options;<br />
<ol>
<li>Dig out an Arduino and flash it with the AVR ISP so I could compile and re-flash the KK multicopter ATMEGA168 with the quadcopter 'plus' config, or...</li>
<li>Rebuild the 'copter in 'X' configuration.</li>
</ol>
I went with option 2 as less risky and simpler :) The new 'X' config seems to work in the correct way<br />
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<ul>
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Anonymoushttp://www.blogger.com/profile/02737830915049535435noreply@blogger.com0