Copter

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Build a Tri or Quadcopter

Some notes from a presentation at Maker Faire:

  • Software from AeroQuad. Runs on Arduino/Arduino Mega
  • Hobby King in Hong Kong is cheap.
  • Some people use round carbonfiber/fiberglass heli tail booms, but round bars are trouble - it's hard to keep things aligned/square. Motors can rotate around the bar. Use square aluminum towel rail instead.
  • He used helicopter landing skids
  • HK motors can be unreliable - seizing or disintegrating
  • He used a 5 Ah LiPo
  • 7 channel RC system is best, 6 is ok, minimum 4 channel
  • You will break props.


Tri vs Quad

Tricopter reduces motor, prop, ESC costs by ~1/4. Increases thrust vector calculation complexity slightly?


Parts substitutions

What should you know if you want to deviate from the parts list in the tutorial?

IMU

http://aeroquad.com/showthread.php?79-Which-IMU-should-I-buy&highlight=sparkfun+razor

http://aeroquad.com/showthread.php?198-Another-Newbie-asking-questions.&highlight=sparkfun+razor
"go with the recommended sensors if you want a quad that will be up flying within a few weeks"

SparkFun's 6DOF Razor is not recommended.

Tuning

Analysis-based tuning (eg Ziegler & Nichols) is not recommended: http://aeroquad.com/showthread.php?359-Stable-flight-logic.../page6&highlight=ziegler+nichols