|Sep 30, 2011, 06:29 AM|
Cyberdrone - The Flight Controller
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:
Prototype hardware looked like this:
As you can see it was all manually assembled, but it worked.
After first tests I’ve realized, that there was long way ahead...
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....
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.
- 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:
(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...
Movies were made using this copter (750g beast):
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
|Sep 30, 2011, 09:01 AM|
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.
|Sep 30, 2011, 09:15 AM|
Joined Apr 2009
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.
|Sep 30, 2011, 10:03 AM|
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.
We're working on this one...
You will recieve an email soon...and then you will be able to place an order.
|Sep 30, 2011, 01:44 PM|
Joined Jan 2009
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
|Sep 30, 2011, 03:32 PM|
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.
|Sep 30, 2011, 05:34 PM|
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)
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).
|Sep 30, 2011, 05:45 PM|
|Sep 30, 2011, 11:37 PM|
Joined Dec 2010
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?
|Oct 01, 2011, 01:30 PM|
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.
|Oct 03, 2011, 05:33 AM|
I made a lot of prototypes, so PCB is quite polished
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).
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.