Today I finaly got my new x-quad setup with arducopter firmware flying. It still needs some pid tuning, but flying well and feels stable and controllable.
So what's this x-quad configuration all about? The current setup is:
- Razor9Dof IMU (raw data output firmware over serial port)
- Seeduino Mega 1280 (arduino compatible)
- DIYDrons Arducopter firmware V2.5.3 (with some custom made changes and imu driver)
- 4Channel Analog FM RC controller
- Lantronix B/G wifi module
So I'm flying the x-quad with a standard RC (40mhz fm) controller. The wifi module provides real time telemetry from the quad and sends it to my laptop where I have the DIYDrons APM Planner software running. Next step is to do some PID tuning and try it outside.
*** UPDATE 28 MAI 13
I did some PID tuning and tested the quad outside. Flying manual with rc controller in stabelize mode.
Now we are ready to integrate the sparkfun sup500f gps and test the arducopter gps functions (loiter, rtl, ...) in the mission planner.
Finaly I got most components working for this project. The arducopter firmware is ported to my seeeduino mega board and is connect to all my other exothic hardware. Now I'm ready to go for some PID tuning on the testbench.
In the movie you can see the these components
- Seeeduino mega 1280 (loaded with arducopter firmware version 2.5.3, with my personal changes)
- Razor 9dof imu (loaded with my own firmware, raw sensor data output)
- Lantronix B/G wifi module
- voltage regulation board to power the wifi module.
The gps is not mounted because I have no signal inside. I currently have only 2 ESC available. These 2 are my spare parts, the other one's are mounted on my Mini-H-Quad. So currently I'm only driving 2 motors. In the video you will see some basics tests, PID tuning will be for next time.
My project is progressing very slowly. But here it is. Proof of concept. My multicopter can fly.
As you can see, it still needs some PID tuning. And I really need to learn how to fly and land this thing. I got the impression that there is some latency on my control input/uplink. The copter responds to my controls but I feel that I don't really have it under control.
Equipment quadcopter:
- Alu Quad + frame 60cm square tube 15x15x1.5mm (~ 53cm from motor center to oposit motor center)
- 4 x Motors AX-2210N 1000kv from hobbyking
- 4 x EPP 1045 props from lipoly (2xcw & 2xccw)
- 4 x Blueseries ECS 12 amp from hobbyking
- 4 x homemade vibration reduction motor mount (see previous blog)
- Seeeduino Mega v1.1 board (arduino compatible)
- Razor 9DOF IMU from sparkfun
- LantroniX Matchport wifi module
- Turnigy 3000mAh 3S 20C Lipo Pack from hobbyking
total weight: ~ 1200 grams
Equipment groundstation:
- wifi router
- laptop
- usb gamepad
The Seeeduino Mega board has my own custom code (written in arduino). Ok, I did not reinvent fire. I read a lot on the internet. I took the basics and made my own program that controls the quad. The 9DOF imu is equiped with a modified version of the AHRS firmware. Note that it is not the version I upload in one of my previous blogposts. The version I currently use will be uploaded later.
The lantronix B/G wifi module translates wireless ip based UDP/TCP packets to serial uart. I can send commands from my laptop via UDP to the quad copter. The usb gamepad is used to control/fly the quadcopter. The copter sends its data from sensors/batt status/motorspeed/... via the wifi module in realtime back to my laptop. The program on the laptop that controls all this is written in VB.Net (2003)
This is my first post on this blog. On this blog I will post all info about my current project: Building a homemade wifi controlled quadrocopter with gps autonavigation and onboard wifi IP camera. I hope this will work :)
