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Posted by Xlib17 | May 11, 2014 @ 05:04 PM | 2,282 Views
During last flight, my Bumblebee flipped in the air and was recovered with one of motor mounts broken. My first thought was that it flipped because of wind and my lack of pilot skills (which is true btw).
However, later, when motor mount was replaced, it one of motors did not spin. After initial debug it turned out that one of PWM control channels (D3) has failed - always driving 4.5V. This was confirmed later with logic analyser .


Solution (not test in flight yet) - remap failed channel to another one, since board is supporting up to 8 channels.
Code:
In AP_Motors_Class.h:

//#define APM1_MOTOR_TO_CHANNEL_MAP CH_1,CH_2,CH_3,CH_4,CH_7,CH_8,CH_10,CH_11
#define APM1_MOTOR_TO_CHANNEL_MAP CH_1,CH_2,CH_3,CH_7,CH_2,CH_8,CH_10,CH_11

Posted by Xlib17 | Mar 26, 2014 @ 10:19 AM | 1,597 Views
After decision to build a quad and checking option, the choice was to go with Bumblebee ST550 frame and set of customized electronics.
Since hobbyking's set already contained motors, all I had to do is to choose ECS and controller board.
So the overall set consist of:
* Turnigy AE-25A Brushless ESC
* Hobby King Quadcopter Power Distribution Board
* Individual HXT 3.5mm connector for motor/ESC (12pc) - need 2 sets, because "12pc" means "6 male + 6 female", and power distribution board have all connectors female - all 8 of them.
* Multiwii and Megapirate AIO Flight Controller w/FTDI (ATmega 2560) V2.0 - chosen because of ardupilot compatibility; turned out to be very good idea.
* Additional props - since I was going to learn to fly for a first time, I figured out that I probably going to break few things. Turned out to be true ...
* HK-T6A remote which is 1) quite cheap and 2) sufficient for beginner needs.

I didn't added GPS at first step, only because of added cost;