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Jun 22, 2009, 01:32 PM
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triple bingo


So the oscillations were the sonar clock drift & nothing sinister with 3DOF IMU's. The LISY300AL is indeed more stable than the IDG300. It's not an ADXRS613, mind U.

2 days of hard sonar debugging & she's triple bingo again with the tiny board. Working around clock jitter by checking the ground station & rebooting if it's out of limits, just like we do with the battery, gyros, radios, landing gear, servo, ESC's, propellers, & rubber bands.

PICOC isn't reliable enough to run in a thread. Got PICOC running in a fork instead of a thread & flying a few successful missions from takeoff to landing. Equilibrium tilt for 3DOF IMU's would be nice. U also need takeoff & landing ground station status.

Horizontal range seems to be +/-2m at 8m of altitude. Vertical range is 6-12m. Not sure it would be any better indoors with a micro copter.

Got 8 minutes out of the 4Ah & 7m30s out of the oldest 3.3Ah, so there's a minor improvement from the tiny boards.

HOME MADE ESC NOTES

The schematic for a home made ESC is here.

http://mikrokopter.de/ucwiki/en/BL-Ctrl_V1_1

Home made ESC's would be nice. Doubt we can get them any smaller than the Castle 9. Combining the ESC's & computer on 1 board may pay off with the indoor copter.

They would allow collecting RPM & current data, which no ESC can do. RPM knowledge would eliminate the hacks for different batteries.

Designing an ESC seems to be pretty simple. Power 1 of 3 circuits at a time with a P & N mosfet. Wait for open circuit voltage on the next circuit to rise above the average voltage. Switch to the next circuit. Shut down if current exceeds a limit.
Last edited by Jack Crossfire; Jun 22, 2009 at 01:52 PM.
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