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Old Sep 30, 2011, 06:29 AM
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mifau's Avatar
Joined Jan 2004
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New Product
Cyberdrone - The Flight Controller

The History:

Whole thing has begun in 2009. My goal was to create flyable quadrocopter, just for hobby purposes. Of course I could buy RTF copter but it wouldn’t be any fun.
After few months of work I had hardware prototype and almost all software needed to go airborne.
First version of the copter configurator looked like this:
QuadroCopter IMU with Kalman Filter (0 min 59 sec)


Prototype hardware looked like this:
https://picasaweb.google.com/lh/phot...eat=directlink

As you can see it was all manually assembled, but it worked.
After first tests I’ve realized, that there was long way ahead...

First „jumps”.
quadrocopter - galareta2 (0 min 23 sec)

quadrocopter - jumps (1 min 17 sec)


ST gyroscopes, lack of copter experience, no copter to compare with... It wasn't looking too good


A few prototypes later...

Finally, after finding right gyros (thanks to Diem – who was then the first Polish 100% copter addicted specialist), finding right gyro-acc filter algorithms and PID settings copter was as close to my main goals as possible. At least I thought so....

6 m/s wind 2 (1 min 49 sec)

Altitude Hold (windy conditions, PID tests) (1 min 54 sec)


As you can probably suspect (and you are right!) copter wasn't behaving as good as it should.
Yes...it could fly with strong winds, but it had problems with stable hovering.
It was way better that simple opensource projects, but it wasn't flying as good as commercial ones.
So I’ve realized, that there was a lot of work to be done. After another year of changing algorithms and hardware, after testing, flying, (and so on, and so on) I am very proud to present...



The Cyberdrone 2.2


I have reached my goals: very well flying copter, stable in all aspects of flight - hovering, fast flying. Generally speaking - product of two years of work, which finally flies as it was supposed to.


Short specs:
- atmega644p processor
- gyros: idg500/isz500
- acc: lis344alh
- 8 PWM RC inputs or PPM sum signal input (selectable)
- camera stabilization
- i2c ESC support
- customizable mixertable (4-12 motors), with some predefined configurations
- buzzer (5V) and lights output (up to 1A)
- RC power supply filtered output
- 6..25V input voltage
- dimensions: 50x50mm

Copter configurator software (CyberDroneConfigurator - CDC) presentation:
CyberDrone Configurator (4 min 5 sec)

(this is an old version. New one is available to download here: http://cyberdrones.com/copter/index....mid=13&lang=en )

Some recent Jawor (my favourite tester) videos from FPV testing new configurations, and algorithms...
hexa fpv - high and low.mp4 (7 min 5 sec)

Sielsko Wiejsko Czarodziejsko... (2 min 20 sec)


Movies were made using this copter (750g beast):
http://img706.imageshack.us/img706/7439/img6613r.jpg
http://img191.imageshack.us/img191/6404/img0394f.jpg
http://img13.imageshack.us/img13/9870/img0400w.jpg


I'd like to present every new feature and improvement as they will be included in future releases.


One more not so fresh, but interesting information:
In June 2011 Polish team Magma2 (http://www.magma2.pb.edu.pl/) has won 1st prize on University Rover Challenge competition.
Their martian rover was equipped with hexacopter driven by Cyberdrones FC.
It turned out, that using UAV gave great advantage to Magma2 team and let them beat other teams. More information here: http://www.marssociety.org/home/pres...untitledpost-2


Magma2 hexacopter, FPV flying, URC 2011 (12 min 17 sec)
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Last edited by mifau; Nov 22, 2011 at 06:02 AM.
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Old Sep 30, 2011, 09:01 AM
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United States, NM, Clovis
Joined Jul 2006
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Congratulations on your achievement and also to the Magma2 guys.
Spectacular evolution from a not so impressive performance to one as good as any top ones out there.
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Old Sep 30, 2011, 09:15 AM
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Joined Apr 2009
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Hi

I tried ordering some stuff from you but it said that "there is no carrier to that location".I live in Australia and just registered to your site.

Thanks Jamie
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Old Sep 30, 2011, 10:03 AM
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Joined Jan 2004
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Quote:
Originally Posted by andrebandre View Post
Congratulations ...
Thanks a lot
Participation in Magma2 project was a pleasure, and great fun.
I just knew that guys will win
Their hexacopters (there were two) had old firmware versions.
Now I am developing a new one, which new functionalities I would like to present here as soon as they'll appear.



Quote:
Originally Posted by jamied View Post
"there is no carrier to that location"
Jamie...Sorry for that.
We're working on this one...
You will recieve an email soon...and then you will be able to place an order.
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Old Sep 30, 2011, 01:44 PM
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I own one of the first produced FC boards and it is worth mentioning that after many crashes (it was my first contact with multirotors) it still flies great even in harsh wind. Of course Cyberdrone 2.2 outperforms it but for my needs it's more than enough and I have lots of fun flying it.

Some recent video made during quite windy conditions - note smoke from the train. No gimball, no software stabilization - just camera taped directly to quad's frame and still it is watchable

Jesień na Żuławach 2011 (1 min 51 sec)
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Old Sep 30, 2011, 03:32 PM
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Verid...you still fly that old v1.0 prototype FC!
Now I'm proud

You should try to upgrade to that 2.0.2 firmware version.
I just added better FC 1.x compatibility routines, and it should work as a charm for your FC.

Please drop me a line at PW if you would like to try.
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Old Sep 30, 2011, 04:48 PM
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subscribed!
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Old Sep 30, 2011, 05:09 PM
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Will you be able to set higher refresh rate for pwm ESC?
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Old Sep 30, 2011, 05:23 PM
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Originally Posted by NaterPin View Post
Will you be able to set higher refresh rate for pwm ESC?
dont think so....
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Old Sep 30, 2011, 05:34 PM
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Quote:
Originally Posted by NaterPin View Post
Will you be able to set higher refresh rate for pwm ESC?
Higher than 400Hz?
I didn't need to go as high .... but can do wihout any problems I think (if only ESC can manage that)

FC has i2c output, so I'm using i2c->pwm 400Hz converters: http://cyberdrones.com/copter/index....mid=15&lang=en (new version hasn't got any switches - just automatic calibration)

EDIT:
Camera PWM output(s) has 50Hz PWM only and it will be hard to achieve higher rate.... But camera servos can also be driven by i2c (and converters).
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Old Sep 30, 2011, 05:36 PM
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related to timecop? it resembles hoverfly slash Afro ctrl
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Old Sep 30, 2011, 05:45 PM
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Quote:
Originally Posted by Quad_Addict View Post
related to timecop? it resembles hoverfly slash Afro ctrl
Don't know anything about...

This is my own project.
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Old Sep 30, 2011, 11:37 PM
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mifau, good work, also good pcb quality as well.
what are your thoughts on switching to a more capable processor (such as stm32f2/f4) to get more cpu cycles for your math as well as more/better I/O for pwm in/out, etc?
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Old Oct 01, 2011, 01:30 PM
Hex
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Watch out, Chinese clone maker will have this copy soon,they got into there hand.

Better to sandpaper the chips serial no.'s and embed with security features. Or your 2 years of hard work will ended up,just like mushrooms you can see it anywhere selling by Chinese clone manufacturers.
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Old Oct 03, 2011, 05:33 AM
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Quote:
Originally Posted by timecop View Post
mifau, good work, also good pcb quality as well.
Thank you very much
I made a lot of prototypes, so PCB is quite polished


Quote:
Originally Posted by timecop View Post
what are your thoughts on switching to a more capable processor (such as stm32f2/f4) to get more cpu cycles for your math as well as more/better I/O for pwm in/out, etc?
My favourite, and I think well suitable is STM32F105 @ 72MHz.
It could give me over 10 PWM outputs, so I could get rid of i2c->pwm.
Onboard USB socket is also great think.
But.... I cannot leave my users behind, and just change to another, incopmatibile processor.
Processing power is sufficient on Atmega (I'm using pure C+asm routines), as 10 bit ADC resolution.
These PWM outputs, and USB are only profits for the moment - at least from the users point of view.
So... ofcourse this is a right way to change to ARM, but in the future (sooner or later).



Quote:
Originally Posted by Hex View Post
Watch out, Chinese clone maker will have this copy soon,they got into there hand.

Better to sandpaper the chips serial no.'s and embed with security features. Or your 2 years of hard work will ended up,just like mushrooms you can see it anywhere selling by Chinese clone manufacturers.
This is always a difficult subject.
The simplest way is just : "If you want to have a good quality, reliability and support...do not buy clones", "want to support european/american producers? do not buy Chineese stuff", "don't want to have a cancer? don't buy Chineese garlic", and so on, and so on...
This is almost politics which I'm not keen of... so lets leave it



Returning to main subject....
Lately I'm working on Z axis accelerometr integration.
It should compensate unintended heigh changes while hovering.
Hovering should be then much easier to achieve.
First tests are promising.
Movie soon
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