Build KapteinKUKs Simple and Low Part Count Quad, Hex and Tricopter Flight Controller - Page 49 - RC Groups
Apr 26, 2010, 07:27 PM
Quote:
 Originally Posted by jjbunn kapteinkuk, When you wrote the software for your tri and quadcopters, what did you base the algorithms on? Can you recommend a text that describes the operational principles? Clearly your flight software algorithms are excellent, and I would like to reproduce them on an Arduino based controller (yes, I'm aware of the Arduino based AeroQuad design, but I'd like to start from scratch). Many thanks! Julian
They where based on my knowledge on how they works.

some pseoudo code:

Stick input and gyro input are centered around zero, exept collective wich start at zero.

start of mixing

FrontMotor = collective
LeftMotor = collective
RightMotor = collective
BackMotor = collective

RollCommand = RollStick + RollGyro
(Simple dampening, it is in effect only the D part of a PID. The gyro output is a deriative of absolute rotation angle)

LeftMotor = LeftMotor + RollCommand
RightMotor = RightMotor - RollCommand

PitchCommand = PitchStick + PitchGyro

FrontMotor = FrontMotor + PitchCommand
BackMotor = BackMotor - PitchCommand

YawCommand = YawStick + YawGyro

FrontMotor = FrontMotor + YawCommand
BackMotor = BackMotor + YawCommand
LeftMotor = LeftMotor - YawCommand
RightMotor = RightMotor - YawCommand

End of mixing.

Tri:

start of mixing

LeftMotor = collective
RightMotor = collective
BackMotor = collective

RollCommand = (RollStick + RollGyro) * SIN(60)

LeftMotor = LeftMotor + RollCommand
RightMotor = RightMotor - RollCommand

PitchCommand = PitchStick + PitchGyro

BackMotor = BackMotor - PitchCommand
PitchCommand = PitchCommand * COS(60)
LeftMotor = LeftMotor + PitchCommand
RightMotor = RightMotor + PitchCommand

TailServo = YawStick + YawGyro

End of mixing.
Last edited by kapteinkuk; Apr 26, 2010 at 07:35 PM.
Apr 26, 2010, 07:33 PM

-180Hz PWM frequency.
-Same hardware. (V4)
-All gyros can be reversed.

Gyro direction reversing:

1: Set roll gain pot to zero.
2: Turn on flight controller.
3: LED flashes rapidly 10 times.
4: Move the stick for the gyro you want to reverse.
6: Turn off flight controller.
7: If there is more gyros to be reversed, goto step 2, else set roll gain pot back.

Gyro reversing is useful if you want to mount the gyro in a way that reverses its output, eg. mounting the yaw gyro upside down, or when using other gyros with reverse output.

### Files

 Apr 26, 2010, 10:08 PM Lazy RCer thank you for your detailed answer I mean "T style" like this. from Vicacopter. But your control loop based on 120 degrees. can applicapable T style for your binary hex file? I'm very awaiting your hands-off stabilize video
Apr 27, 2010, 01:35 AM
Registered User
Quote:
 Originally Posted by kapteinkuk They where based on my knowledge on how they works. some pseoudo code: (snip) End of mixing.
Superb ... thanks so much!
Apr 27, 2010, 02:21 AM
Registered User
VTOL RC AVATAR SCORPION Prototype model

 VTOL RC AVATAR SCORPION Prototype model (2 min 36 sec)

please watch the above line .. amazing stable with 2 motors and 2 sevos ..

i think this would be very easy for master kapteinkuk.. may be he can pipe line this project too..
Apr 27, 2010, 05:00 AM
xxxxxxxxxxxxx
Quote:
 Originally Posted by kapteinkuk Here is Quadcontroller V4.1 . . .

now missing is a BMA180

jürgen
Apr 27, 2010, 09:41 AM
Registered User
Hello!

I've been learning Eagle and have drawn a schemetic for a small (38x31mm), single-cell, double layer, ISP pinned V4 board (modified from Thanh's work).

I've also laid out the board and connected everything (mainly for practice as it'll probably have to be all rerouted with the corrections). However please could someone check the connections, schematics, practicality of it before I go any further (buy the components, etch the board).

I've put replaced the large pots with the following ones for which I had to draw a component in Eagle :

http://uk.rs-online.com/web/search/s...duct&R=177-223

I got quite confused about the connections so if someone could check it that would be awesome.

The 5v step schematic I have lifted from here :

http://www.sparkfun.com/commerce/pro...oducts_id=8999

As the power is derived from the single cell battery I've assumed the only connections needed to the motors from the controller board is the signal wire? Also the power for the rx comes straight from out of the step-up circuit, before the filter. Is this correct?

I've put the gyros on the back of the board as this seems to be how kapteinkuk and Thran had mounted their HK401 boards. I haven't designed the z-axis gyro board yet but it should be small with only the gyro and a cap on it.

The board is really untidy (names and values everywhere) as I haven't learnt how to resize and place them properly, but I just need things checking before I go any further.

There are 12 vias I'll have to drill and pin by hand but thats part of the fun I guess

### Files

 Apr 27, 2010, 09:47 AM Registered User Nice work Ben! Look forward to hearing how your prototype works out.
 Apr 27, 2010, 10:33 AM Registered User For anyone who was interested in the whole gyro resonant frequency thing, the ST 5xx series is 4.1khz.
 Apr 27, 2010, 10:59 AM Brushless I am a complete noob when it comes to this stuff but would like to build one of these awesome boards for my tricopter - Is there a step by step to building one that I have overlooked in this thread somewhere? Anyone going to sell them at one point? Thanks guys! Mike
Apr 27, 2010, 12:19 PM
Registered User
Quote:
 Originally Posted by doorhead thank you for your detailed answer I mean "T style" like this. from Vicacopter. But your control loop based on 120 degrees. can applicapable T style for your binary hex file? I'm very awaiting your hands-off stabilize video
Physically this is a T style but still a Y in practice . X will be same as H
 Apr 27, 2010, 01:54 PM Registered User Could somebody clarify what types of propellers are suitable for this design - do two of them need to be pushers, or can they all be standard? I think I may be missing something fundamental here, but am confused why the AeroQuad needs two pushers and two pullers and yet Kaptain's design apparently does not? Thanks!
Apr 27, 2010, 03:09 PM
Quote:
 Originally Posted by jjbunn Could somebody clarify what types of propellers are suitable for this design - do two of them need to be pushers, or can they all be standard? I think I may be missing something fundamental here, but am confused why the AeroQuad needs two pushers and two pullers and yet Kaptain's design apparently does not? Thanks!
Hi

The original design needs 2 cw rotating props and 2 ccw, however on his latest mini quad the front and rear motors are tilted to the right. All props are the same and rotate in the same direction.

Cheers
Frank
Apr 27, 2010, 03:18 PM
That tree again!!!!
Quote:
 Originally Posted by cdi3d ...Anyone going to sell them at one point? Thanks guys! Mike
I've thought about offering complete built boards. It's going to be sometime before things can be sorted out. Cost, license, part choice, testing my board design, etc.

Kaptein is so nice that he gives the code and design away for free and doesn't mind if someone offers a kit. Some kind of comission should go his way if I do sell the board.
Apr 27, 2010, 08:02 PM
Registered User
Quote:
 Originally Posted by frank48 Hi The original design needs 2 cw rotating props and 2 ccw, however on his latest mini quad the front and rear motors are tilted to the right. All props are the same and rotate in the same direction. Cheers Frank
Thanks, Frank - on the original design, are the CCW props pusher types or not?