Discussion Quaduino-Part2 (Arduino QuadCopters)

[RCvertt]

This is a continuation of the Quaduino thread. (This thread is dedicated to quad copters that use an Arduino micro controller.)

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Working Quaduinos-
1) AeroQuad by Mikro (*Download contains complete code. Well documented)
Highlights-
1)RX channel order independent.
2)Configurator for easy PID adjustments and other features.
3)Optional shield available.

2)Quaduino-ng by Paulrene (*Available in an "as is" download. Download contains partial code. You still need to find a compatible ServoDecode and SoftwareServo library I think?)
Highlights-
1)Stable, RX channel order dependent using single PPM pulse train from hacked receiver.
2)Uses mainly, quick int calculations.

3)Caspiquad by dcaspi (*Working version)
Highlights-
1)Stabilization is based on roll/pitch estimation using accelerometer and gyro inputs.

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Posts in this thread-
Technical Quaduino-
*1) brij-Interrupt based ADC sampling -> Roy-CodeSuggestion -> brij-ADC sampling/ISR triggered -> brij-Fix/ADC Trigger -> Roy- Interrupt/Timing? -> brij-ISR timing
*2) sat-analogWrite resolution -> Mikro-256 incriments -> sat-duty cycle? -> dcaspi-Reduce PWM frequency? -> sat- Bad intermediary PWM -> sat-1KHz hitching? -> sat-hitching122Hz, No hitching 488Hz -> sat-488Hz in 0-2ms -> sat- Timers PWM setting?
*3) NegativeShift vs PositiveShift -> rich-2.4g=No shift.
*4) Roy- Correct Terminology
*5) Roy- Aerobatics Complimentary filter
*6) brij- Constant loop rate - Roy- Busy wait loops, not good - dcaspi- Poll the Arduino millis() function
*7) kal- Accelerometers not usefull -> Roy- Z axis usefull. -> sat- ACC resets gyros to zero -> kal- Force vectors cancel each other. -> otl- Earth Frame of reference. -> jes- Document refering to 0-4g -> otl- Math explaination too simplistic -> Roy- Inflight v.s Stationary readings -> Roy- Forces illustration -> Cor- Accel literature -> jes- Accel Spike info good enough -> Roy- Thrust always in Z axis -> Mikro- Data collected
*8) Roy- What D does in PID -> don- What PID is -> RoyLB- More mass needs more P
*9) bblack- LQR controller and Kalman

Sensor Suggestions-
1) Fred- Invensense 3axis accel
2) sat- Wii Motion Plus - uphiearl-Wii 6DOF -> uphiearl-12c/Arduino code -> JimnAz- Device ID's conflict -> uphiearl- Devices in Parallel -> kaldak- Enabeling takes time -> RCvertt- Earls 9 steps
3) felik- New 5 DOF IMU -> voice- auto zero pin use

Arduino IDE Compatible Boards-
1) Roy- xduino not pin compatible
2) Pso- Maple prototype

General Quaduino-
1) QuadroController II code
2) brij-CustomPCB -> PCB
3) sat-saturnine quad code -> sat-View channels/Arm motors/Channel order -> sat-Raw channel values
4) ber- NonArduino quad - ber- Motor mounts - ber- Flight video - ber- PWM at 250hz - ber- Quad Code
5) brij- Pushpak Quad, Custom PCB using Arduino IDE
6) Parallax propeller QuadCopter-


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AeroQuad Info-

AeroQuad Tutorials
1) Basic AeroQuad Tutorials (Need to update configurator tutorial) -> RCv- Ignore Red items in configurator

AeroQuad General
1) Mikro-Sensor Orientation
2) Mikro-AnalogWrite vs ServoTimer2 -> dcaspi-Hardware not interrupts -> rich-carrier shifts -> rich- 2.4ghz=No shift
3) Mikro-Aref resistor -> dcaspi-1.2K=3.25v AREF -> bob-2.2k=3.14v AREF -> rich- Resistor degrades accuracy
4) felik- 2000 keeps quad in stable mode

PID Info
1) Mikro-Configurator settings
2) feli- PID Frame weight
3) don- Quad Settings

Video
1) Mikro-Shield/Flight video -> Mikro- Camera stabilization test -> Mikro- X config
2) RCv- First flight - RCv- Spectrum Futaba configurator
3) kar-Spectrum flight - kar- Video and pictures

AeroQuad Shield
1) Mikro- Shield image -

Futaba Set Up
1) RCv- Ground receiver pins

Frame Construction
1) Fred- Clear frame - Fred- acrylic -> fred- Cutting frame
2) RCv- Wood frame - RCv- Carbon Wood

Experimental Designs
1) RCv- QTD (Quad Tilt Duino) -> RCv- Props under wing more efficient -> RoyLB- Rate limit code

Post last updated to thread page- (46)

[kaldak]

Ok, old thread is all closed down. Hope this one goes just as long!

[Mikro]

Originally Posted by kaldak

Ok, old thread is all closed down. Hope this one goes just as long!

BTW Kaldak, thanks for starting the first one... it gave us a place where a bunch of us had similar ideas and really start hashing it out!

[bob.titus]

Originally Posted by Mikro

To slow down the code, just put a delay() statement inside the main loop. Maybe try delay(10); first?

where exactly do you put the code?

[don_cocinero]

Just a quick note to say that I appreciate immensely the dedication, patience and kindness you have all shown in helping us less enlightened aficionados.
The development of this project continues to provide me (and I am sure many others) with loads of fun. If we destroy a few bits in the process...well no one ever made an omelette without breaking a few eggs . To me the journey to a working quad IS the excitement! Chances are I'll turn to something else once I have a reliable working quad. I cannot thank you guys enough for all the learning you have facilitated.

I raise my glass to the new thread.
Don

[bob.titus]

I have tried Aeroquad v1.2 with servotimer2 and as far as I'm concerned :
- no more cracking sounds
- engine bursts are still very present as you can see on the screen captures

Next step is inputing delay as soon as I find how to

SORRY : Aeroquad v1.1

[feliksayk]

AeroQuad 1.2? Miko, you've updated it once more?

[bob.titus]

Originally Posted by feliksayk

AeroQuad 1.2? Miko, you've updated it once more?

woops!!!! I meant Aeroquad v1.1
That's what happens when you take your dreams for reality

[feliksayk]

Originally Posted by bob.titus

woops!!!! I meant Aeroquad v1.1
That's what happens when you take your dreams for reality

So Bob, you're saying it's working better now? The new AeroQuad v1.0.1 ?

I just noticed you are still using some of those experimental values, the windup guard and level limit. Maybe they are interfering with the Acrobatic mode code.

[bob.titus]

Originally Posted by feliksayk

So Bob, you're saying it's working better now? The new AeroQuad v1.0.1 ?

No, I mean : it's working better now with Aeroquad v1.1, I insist!
Can somebody explain how come v1.0.1 got upload AFTER v1.1???

[feliksayk]

Originally Posted by bob.titus

No, I mean : it's working better now with Aeroquad v1.1, I insist!
Can somebody explain how come v1.0.1 got upload AFTER v1.1???

I would say it's either a typographical error or the old v1.0 got a little tweak in it and so now is v1.0.1.

[bob.titus]

Originally Posted by RCvertt

I put the Quad on the road, and armed the motors... they started to spin gently, and within a second, without me touching the throttle, suddenly went full throttle!!!!
....
Sorry to hear about the slice and dice flight you had At least you have possibly discovered one issue with the code, since changing the values may have affected the full throttle issue.

I'm assuming you didn't write down all of the values you put into the quad for both of these flights so we can reproduce your results? If so, would you mind taking a camcorder along with you so we can at least watch what is going on? I don't want to see you get cut up but I would have liked to see it go into the power lines if it's going to happen anyways.

You assume wrong
Here it is (eventhough the only doubt I have is regarding transmitter value that might have been 0,15 in both cases):

[bob.titus]

Originally Posted by feliksayk

I would say it's either a typographical error or the old v1.0 got a little tweak in it and so now is v1.0.1.

well then, could somebody explain the main differences betwwen v1.1 and v1.0.1?

[bob.titus]

Originally Posted by feliksayk

So Bob, you're saying it's working better now? The new AeroQuad v1.0.1 ?

I just noticed you are still using some of those experimental values, the windup guard and level limit. Maybe they are interfering with the Acrobatic mode code.

well again, could somebody then synthetize what should be and what should not be used for values?

[bob.titus]

I have managed to use Aeroquad Configurator with my french version of WinXP. It was so easy, I'm ashamed I did not think of it right away!
All I had to do was changing the localization of my user in windows control panel
Well it works fine now, and it's MUCH easier to setup the bird this way than constantly swapping between serial monitor and AeroConfig, having to disconnect and reconnect each of them constantly!

I have posted a (very boring) video on Youtube that shows the throttle issue viewed fom the configurator.
- I am using "X" config and "Servotimer2", and never move the sticks other than for arming/disarming purpose (only once I move the throttle a bit)
- the battery is not connected, only the USB is (and it does not change anything to the results if it is)
- you will notice that "mode" channel is toggling as well between min and max, and what is strange is that I initially had an issue with mode causing the serial to freeze...

Hope this helps:

Aeroquad throttle Issue (4 min 1 sec)