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.
- 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
- wifi router
- 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)