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Old May 31, 2012, 06:40 PM
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Luis, how can we get the new tail assembly? or how much will it cost? I need the whole tail assembly including motor mounts.
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Old Jun 01, 2012, 01:33 AM
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Joined Nov 2010
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Hello all,

Sorry for the late reply...

On a good note.. I did make a few more sets today..

So those who email me already.. those will go out tomorrow..

I've been thinking about this and.. I don't feel good about charging people to fix a problem with a frame a cut....

That being said.. if you guys cover shipping.. I will send out the parts..

If you are not having a problem.. as I know the stock tail will works.. then hold off in putting in a request..

Thanks all...
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Old Jun 04, 2012, 12:30 AM
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Singapore
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Hi all,

Can anyone guide me on the wire connections?

I have almost fixed up my hunter frame, Rushduino FC V1.1, Citrus IMU V2.1.

I just did not have any instructions on where and what to connect between the FC, IMU & my receiver.

This is my first quad, so i am a complete noob to connections. I will be buying the male-to-male wires soon.

Do i need to adjust anything on the FC via the MultiWii 2.0 software? or just test hover first and see if i'm ok with it's flight characteristics first?

Warm regards,

Steven Wong
From Sunny Singapore
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Old Jun 04, 2012, 05:43 AM
DiaLFonZo - UAV/Drone
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First you will need to turn your IMU or the complete board 180deg.
The little arrow on the IMU need to point Y to the front.

Then you just wire +5v - GND - SDA - SCL from the IMU to the Board

For the ESC wire you need to remove all +5v (middle red wire on each ESC wire) but one. So the board will be powered from that single +5v

You connect your motors like that
Number close to motors on the picture show you which pin to connect it to.



I have include the full connection diagram which show you where to connect your receiver too.
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Old Jun 04, 2012, 06:26 AM
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Dialfonzo,

Thank you!

I will turn the IMU 180 degrees with Y facing front. Is my FC board correct orientation? Or also turn 180 degrees? My FC board may be correct orientation, correct me if I'm wrong ok :-)

And connect motor ESCs to numbers shown on FC Board -> D3, D10, D9, D11 according to your diagram?

Do I need to do anything to the FC? I assume the software is already preloaded? Just plug n test hover?

Thank you for your patience with me :-)
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Old Jun 04, 2012, 07:18 AM
DiaLFonZo - UAV/Drone
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The board orientation doesn't matter only the sensors IMU.

Yes for the esc pins.

Yes you will need to upload the right firmware in the flight controller.

Did you order a ftdi adaptor?

I am on road for my real job all day.
Will try to help you more tonight.

Or someone else can help faster ..?
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Old Jun 04, 2012, 07:35 AM
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I'm trying to achieve an optimal mixer table. I'm sure we can do better than the current vtail mixer.


I mean, remove the light roll effect when you're yawing. This could be achieved by using front motors to assist yaw too.
Thanks to Walter from mk-fr for pointing me on this direction.

What is the exact angle of the rear motors ? Seems 45 but not sure.

Vertical push of the rear motors is calculated like this:
x is motor angle, y the mixing value for this motor.

vertical push = y.sin(x)

So for booth mixing table ( Y4 & Vtail4 ), this should give:

#ifdef VTAIL4
motor[0] = PIDMIX(+0,+1, -1/2); //REAR_R
motor[1] = PIDMIX(-1, -1, +0.35); //FRONT_R
motor[2] = PIDMIX(+0,+1, +1/2); //REAR_L
motor[3] = PIDMIX(+1, -1, -0.35); //FRONT_L
#endif


#ifdef Y4
motor[0] = PIDMIX(+0,+1, -1); //REAR_R
motor[1] = PIDMIX(-1, -1, +0.7); //FRONT_R
motor[2] = PIDMIX(+0,+1, +1); //REAR_L
motor[3] = PIDMIX(+1, -1, -0.7); //FRONT_L
#endif


I haven't test it yet, but logically, this should gives more stable yaw on its axis.

What do you think ?
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Old Jun 04, 2012, 07:39 AM
DiaLFonZo - UAV/Drone
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Canada, QC
Joined Oct 2007
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Quote:
Originally Posted by Kipkool View Post
I'm trying to achieve an optimal mixer table. I'm sure we can do better than the current vtail mixer.


I mean, remove the light roll effect when you're yawing. This could be achieved by using front motors to assist yaw too.
Thanks to Walter from mk-fr for pointing me on this direction.

What is the exact angle of the rear motors ? Seems 45 but not sure.

Vertical push of the rear motors is calculated like this:
x is motor angle, y the mixing value for this motor.

vertical push = y.sin(x)

So for booth mixing table ( Y4 & Vtail4 ), this should give:

#ifdef VTAIL4
motor[0] = PIDMIX(+0,+1, -1/2); //REAR_R
motor[1] = PIDMIX(-1, -1, +0.35); //FRONT_R
motor[2] = PIDMIX(+0,+1, +1/2); //REAR_L
motor[3] = PIDMIX(+1, -1, -0.35); //FRONT_L
#endif


#ifdef Y4
motor[0] = PIDMIX(+0,+1, -1); //REAR_R
motor[1] = PIDMIX(-1, -1, +0.7); //FRONT_R
motor[2] = PIDMIX(+0,+1, +1); //REAR_L
motor[3] = PIDMIX(+1, -1, -0.7); //FRONT_L
#endif


I haven't test it yet, but logically, this should gives more stable yaw on its axis.

What do you think ?
BLEDI...!!!
That's something for you I think.

For the angle it's 40deg from horizontal.
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Old Jun 04, 2012, 07:50 AM
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Ok so for 40, here is it for you Bledi, you'll probably test before me. Too much work this week:


#ifdef VTAIL4
motor[0] = PIDMIX(+0,+1, -1/2); //REAR_R
motor[1] = PIDMIX(-1, -1, +0.32); //FRONT_R
motor[2] = PIDMIX(+0,+1, +1/2); //REAR_L
motor[3] = PIDMIX(+1, -1, -0.32); //FRONT_L
#endif


#ifdef Y4
motor[0] = PIDMIX(+0,+1, -1); //REAR_R
motor[1] = PIDMIX(-1, -1, +0.64); //FRONT_R
motor[2] = PIDMIX(+0,+1, +1); //REAR_L
motor[3] = PIDMIX(+1, -1, -0.64); //FRONT_L
#endif
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Old Jun 04, 2012, 08:09 AM
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what you do is just add some roll on yaw actions.
it's just a mix you can dothe same with your TX.
In multiwii defaut mixing are without "flying help"
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Old Jun 04, 2012, 08:17 AM
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France, IdF, Paris
Joined Jun 2011
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mixing is the basis of multicopter stabilisation

Rules of multicopter mixing table:

- increase gaz should not add tilt.
- yawing should not give roll
- rolling should not give yaw.



On the same way i should try to do the same for roll axis. This should end with a quadX type mixer, with some slight different values because of the 40 angle.
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Old Jun 04, 2012, 10:40 AM
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Singapore
Joined Nov 2004
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Quote:
Originally Posted by Dialfonzo View Post
The board orientation doesn't matter only the sensors IMU.

Yes for the esc pins.

Yes you will need to upload the right firmware in the flight controller.

Did you order a ftdi adaptor?

I am on road for my real job all day.
Will try to help you more tonight.

Or someone else can help faster ..?
I have done everything as u mentioned. I am left with uploading the firmware on my FC. I have also downloaded the Arduino 1.0.1 for Windows. I have selected Arduino Pro Mini (5v, 16 MHz) w / ATmega328. Clicked "upload" n found error in uploading. I'm stuck to here... USB Com3 is correct.

I have also downloaded the MultiWii 2.0 and installed successfully.

My Rushduino FC is the USB version. Not FTDI version.
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Old Jun 04, 2012, 05:43 PM
DiaLFonZo - UAV/Drone
Dialfonzo's Avatar
Canada, QC
Joined Oct 2007
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Quote:
Originally Posted by Steven Wong View Post
I have done everything as u mentioned. I am left with uploading the firmware on my FC. I have also downloaded the Arduino 1.0.1 for Windows. I have selected Arduino Pro Mini (5v, 16 MHz) w / ATmega328. Clicked "upload" n found error in uploading. I'm stuck to here... USB Com3 is correct.

I have also downloaded the MultiWii 2.0 and installed successfully.

My Rushduino FC is the USB version. Not FTDI version.
There is nothing to be "installed" with Multiwii2.0
You just download the code and open the MultiWii_2_0.ino

Then you need to "define" some things in config.h tab.
to define you remove the two "//" before the line

- The setup you are using (Quad .. etc)
- The IMU you are using

Code:
#define CITRUSv2_1      // CITRUS from qcrc.ca
You may need to remplace the code in def.h since the code is wrong for that IMU

Code:
#if defined(CITRUSv2_1)
#define ITG3200
#define ADXL345
#define BMP085
#define HMC5883
#define ACC_ORIENTATION(X, Y, Z) {accADC[ROLL] = -X; accADC[PITCH] = -Y; accADC[YAW] = Z;}
#define GYRO_ORIENTATION(X, Y, Z) {gyroADC[ROLL] = Y; gyroADC[PITCH] = -X; gyroADC[YAW] = -Z;}
#define MAG_ORIENTATION(X, Y, Z)  {magADC[ROLL]  =  X; magADC[PITCH]  =  Y; magADC[YAW]  = -Z;}
#define ITG3200_ADDRESS 0XD0
#undef INTERNAL_I2C_PULLUPS
#endif
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Old Jun 04, 2012, 10:17 PM
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Singapore
Joined Nov 2004
397 Posts
Quote:
Originally Posted by Dialfonzo View Post
There is nothing to be "installed" with Multiwii2.0
You just download the code and open the MultiWii_2_0.ino

Then you need to "define" some things in config.h tab.
to define you remove the two "//" before the line

- The setup you are using (Quad .. etc)
- The IMU you are using

Code:
#define CITRUSv2_1      // CITRUS from qcrc.ca
You may need to remplace the code in def.h since the code is wrong for that IMU

Code:
#if defined(CITRUSv2_1)
#define ITG3200
#define ADXL345
#define BMP085
#define HMC5883
#define ACC_ORIENTATION(X, Y, Z) {accADC[ROLL] = -X; accADC[PITCH] = -Y; accADC[YAW] = Z;}
#define GYRO_ORIENTATION(X, Y, Z) {gyroADC[ROLL] = Y; gyroADC[PITCH] = -X; gyroADC[YAW] = -Z;}
#define MAG_ORIENTATION(X, Y, Z)  {magADC[ROLL]  =  X; magADC[PITCH]  =  Y; magADC[YAW]  = -Z;}
#define ITG3200_ADDRESS 0XD0
#undef INTERNAL_I2C_PULLUPS
#endif
I am changing from QuadX to Y4 and included the
Code:
#define CITRUSv2_1      // CITRUS from qcrc.ca
in the config.h tab.

This last bit of IMU code, do i add this to the bottom of the def.h tab? or remove the original first and paste this one in to replace it?
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Old Jun 04, 2012, 11:07 PM
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Joined Nov 2010
743 Posts
Just replace it..

Looks like the difference is in the MAG
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