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Old Jan 22, 2010, 07:40 AM
Quad Whisperer
Joined Jul 2008
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Your calculation is right. (Other than rounding off of 1024 to 1000, the LSB is 3.64 degrees/second )

However, the noice entering the system, vibrations from the motors, noice from the gyro itself (the internal 30 kHz osc) and ADC noice causes dithering.

This improves sensibility alot, and as you can see on the video it works

I later used a red LED instead of the 2.5V reference, giving 1.8 V and 2.62 degrees/second. This did not improve flight at all. However, it is incorporated into the second version of the controller, coming soon. It will also have pots for gain adjusting, instead of fiddling with the software.

I can, by biasing the ADC with 0.5V, AC coupling it to the gyro and use the internal 1.1V reference, get a sensibility of 1.6 deg/sec. Or even use an amplifier, but then the low part count starts to rise!
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Old Feb 09, 2010, 09:47 AM
Quad Whisperer
Joined Jul 2008
943 Posts
Here is the new controller V2.

-Added 3 potmeters for gain adjusting.
-Lowered the ADC reference to ca. 1.5V for higher resolution.
-Fixed a bug in the float to 16.16 signed binary converter (Assembler functions used during assebly). The bug appeared when using negative gain for gyro reversion. Also tidied up the format to write floats in the source code.
-Uses the complete gyro sub assembly from the HK401B gyro, with capacitors.

Video will follow shortly.
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Old Feb 09, 2010, 10:13 AM
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looking good. Are you planning on selling a kit or some type of tutorial on how to build her up?
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Old Feb 10, 2010, 11:50 AM
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Canada, ON, Toronto
Joined Dec 2007
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The HK401B gyros from HK are $14.
You can get a single axis gyro breakout board (LY530AL) from Sparkfun for $20.
I'm wondering if the extra $6 are worth it for the sparkfun board. Are the specs comparable?
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Old Feb 10, 2010, 06:37 PM
Quad Whisperer
Joined Jul 2008
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Quote:
Originally Posted by jk3n0bi View Post
looking good. Are you planning on selling a kit or some type of tutorial on how to build her up?
Thanks
No kit, but I might make a tutorial. However, it should not be to hard to build it from shematics and the pictures.
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Old Feb 10, 2010, 07:03 PM
Quad Whisperer
Joined Jul 2008
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Quote:
Originally Posted by outsider787 View Post
The HK401B gyros from HK are $14.
You can get a single axis gyro breakout board (LY530AL) from Sparkfun for $20.
I'm wondering if the extra $6 are worth it for the sparkfun board. Are the specs comparable?
It has better specs than the HK401 gyro, no problem using it. By using the 4x output, the sensitivity is 0.44deg/sec which is not bad.
However it needs 3.3V, so a V reg must be added.

But I do not think it will increase the overall performance of the flight controller alone, the framerate must also be increased. Higher framerate might be incorporated in the software in the future.
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Old Feb 10, 2010, 07:51 PM
Quad Whisperer
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Here is a video of my new quadrocopter with this flight controller: http://www.rcgroups.com/forums/showthread.php?t=1191843
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Old Feb 12, 2010, 06:14 AM
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Amazing, kaptein!
There are no accelerometers in controller. Do you feel some gyro drift? (I can’t see it in video).
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Old Feb 12, 2010, 08:18 AM
Quad Whisperer
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My controller is using angular rate damping only (the deriative element of the PID loop), so any drift is canceled out with the trim buttons.
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Old Feb 12, 2010, 10:00 AM
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I wanna build one
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Old Feb 13, 2010, 11:30 AM
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Quote:
Originally Posted by kapteinkuk View Post
Here is the new controller V2.

-Added 3 potmeters for gain adjusting.
-Lowered the ADC reference to ca. 1.5V for higher resolution.
-Fixed a bug in the float to 16.16 signed binary converter (Assembler functions used during assebly). The bug appeared when using negative gain for gyro reversion. Also tidied up the format to write floats in the source code.
-Uses the complete gyro sub assembly from the HK401B gyro, with capacitors.
Hello kapteinkuk

what about
port assignment
after ARDUINO ?

Rx / Tx free for Bootloader ?
PB6 / PB7 for Xtal ?
LED1 ... PB5 ?

. .include "m168def.inc" - no problem



jürgen
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Old Feb 15, 2010, 05:12 AM
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Joined Nov 2006
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Great Job!

I like many others would love to build one of these.
However like many others I would'nt know where to start, esp using my laptop to install your software afterwards.
If you sold a kit with full instructions I would be more than happy to trial it and of course pay you.
I can solder and have some electronic knowledge, but mostly as a signal faultfinder on the railways in the UK.
Oh and I can reflash my Blackberry but not sure if that counts! Lol.
George.
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Old Feb 15, 2010, 05:25 PM
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Quote:
Originally Posted by kamakazikev24 View Post
Great Job!

I like many others would love to build one of these.
However like many others I would'nt know where to start, esp using my laptop to install your software afterwards.
....
by low price, with, PonyProg - http://www.lancos.com/prog.html
- http://www.olimex.com/dev/pdf/avr-pg1b.pdf



jürgen
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Old Feb 17, 2010, 09:42 PM
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VA
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2,658 Posts
kapteinkuk it looks like if I wanted to build the circuit I might have trouble locating an 8 mhz atmega48. Could a 20 mhz be substituted or would I need an external 8 mhz clock?

A second look yielded some 10 mhz as well but I am still curious about the timing.

Well a third look at the pic shows the 20PI to be a 20mhz version so I guess the 8 mhz is derived from dividing the internal osc down. Forgive me the 2313 was the last avr I worked with.
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Old Feb 19, 2010, 12:44 PM
Quad Whisperer
Joined Jul 2008
943 Posts
Quote:
Originally Posted by JUERGEN_ View Post
Hello kapteinkuk

what about
port assignment
after ARDUINO ?

Rx / Tx free for Bootloader ?
PB6 / PB7 for Xtal ?
LED1 ... PB5 ?

. .include "m168def.inc" - no problem



jürgen
Do you mean for using Arduino hardware?
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