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Dec 27, 2010, 04:10 AM
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Ardupirates Hexacopter Build Log

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Here it is !!! The ArduPirates Project.
Pretty stoked about it and can`t wait to get my Copters in the air!!

First there is planed a Hexa which I will use for FPV and Filming.

The second one will be a quad for testing new Functions and what is possible with the Board.

ArduPirates Hexacopter Build Log

Here is my Build Log about my new Hexacopter on Arducopter Base with Ardupirates Code, that I build for Camera flights and FPV.
Motor to Motor distance will be 54 cm which is the smallest possible distance for 10" Props.


Ardupirates Homepage

DIY Drones

kinderkram`s Arducopter Build Log

Ardupirates Facebook Group

Arducopter Homepage

Ardupirates Vimeo Group

German Fourm Link

ArduCopter Platform Feature List

* 6 Degree of Freedom IMU stabilized control
* Gyro stabilized flight mode enabling acrobatics (loops and barrel rolls)
* GPS for position hold
* Magnetometer for heading determination
* Barometer for altitude hold
* IR sensor integration for obstacle avoidance
* Sonar sensor for automated takeoff and landing capability
* Automated waypoint navigation
* Motor control using low cost standard PWM Electronics Speed Controllers (ESC's) later I2C
* On board flight telemetery data storage
* Mounted camera stabilization capability
* Wireless command & telemetry for long distance communication
* Capability to fly in "+", "x", quad, hexa and octo configurations
* Battery level detection
* User configurable LED flight pattern
* Capability to use any R/C receiver
* ArduCopter Configuration and Ground Control Software
* Realtime graphs of flight data
* GUI for configuration of PID and other flight parameters
* On Screen Display (OSD) integration
* Waypoint programming using Google Maps
* Mixertable view to auto configure "+", "x", quad, hexa and octo configurations

Parts I use for the Hexacopter:

Adrupilot Mega Flightcontrol
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Ardupilot IMU Shield Sensor Board
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Triple Axis Magnetometer
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MediaTek GPS
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KDA 20-22L Motors
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25A ESC Hobbyking programmable
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10x4.5 Props
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Build Log:


The first thing i made was constructing the Frame Parts for my Hexa which will be milled the next few day`s

Here a screenshot from Solid Works:

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CNC Stuff is done !!

Today I build the frame and mounted the Motors and ESC.

Here a few pictures:

small Parts out of CNC

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Landing Gear:
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Arms with LED:
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Main Frame assembled:
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Landing Gear mounted:
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Lipo mount:
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ESC and Motors mounted and connected:
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28.12.2010 second update:

Ok the Frame is ready for the Brain!!
Now i habe to wait for the Rest of my components.
I hope custom Inspections here in Germany work fast now.
Package arrived on Monday in Germany.

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28.12.2010 third update:

Camera Mount is ready.
looks fine and no vibrations on the camera I hope.

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" Brain " arrived and is build in the Copter
Now I have to upload the Software and make all calibrations.

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31.12.2010 Pirateship AIRBORN

Today i could make a few Testflights in Stabel and Acro Mode
Seems like all is working brilliant!!

See the Pictures and Video below.

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Description: Hexa Air

ArduPirates Hexacopter First Flights (2 min 12 sec)

Very cold wet weather causes Ice on the Propellers ^^

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Description: Ice

How to connect the ESCīs to the FC:

Flightcontroller before Version 1.4:

APM_RC.OutputCh(0, LeftCWMotor); // Left Motor CW
APM_RC.OutputCh(1, LeftCCWMotor); // Left Motor CCW
APM_RC.OutputCh(2, RightCWMotor); // Right Motor CW
APM_RC.OutputCh(3, RightCCWMotor); // Right Motor CCW
APM_RC.OutputCh(6, FrontCWMotor); // Front Motor CW
APM_RC.OutputCh(7, BackCCWMotor); // Back Motor CCW

Flightcontroller from Version 1.4:

APM_RC.OutputCh(1, LeftCWMotor); // Left Motor CW
APM_RC.OutputCh(2, LeftCCWMotor); // Left Motor CCW
APM_RC.OutputCh(3, RightCWMotor); // Right Motor CW
APM_RC.OutputCh(4, RightCCWMotor); // Right Motor CCW
APM_RC.OutputCh(7, FrontCWMotor); // Front Motor CW
APM_RC.OutputCh(8, BackCCWMotor); // Back Motor CCW

The 2 Pins between the ESCīs are for Cameramount!!

What is very important is that you have to disconnect your ESC`s for programming the Board with USB Power!!
Only let ESC`s plugged if you have connected Flight Battery!!

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Last edited by Norf; Feb 05, 2011 at 11:38 AM.
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Dec 27, 2010, 05:27 AM
CeNeCe PRO rules!
DaniSaez's Avatar
Nice start Norf!! keep it up!!

btw, can you post more pics of the frame??

Happy Landings,

Dec 27, 2010, 05:34 AM
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Norf's Avatar
Hi Dani,

Pictures will come soon Iīm gonna mill the parts today!!

Check for updates in a few hours!

Regards Norbert
Dec 27, 2010, 05:35 AM
Jakub J's Avatar

Can you write when you bought all electronic parts, please?
- Adrupilot Mega Flightcontrol
- Ardupilot IMU Shield Sensor Board
- Triple Axis Magnetometer
- MediaTek GPS

Are you going to use air presure sensor and ultrasonic sensor?

Dec 27, 2010, 06:12 AM
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Norf's Avatar
He Jakub,

I added the links by the pictures of the components.

Regards Norbert
Dec 27, 2010, 06:54 AM
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kinderkram's Avatar

Man, you're moving so damn fast!

Looks like a competitor of my build log.

@ Jukub: the barometer is part of the oilpan (IMU/sensor board). So he'll surely use it for altitude hold. Sonars aren't an issue for Norf since he'll be flying his pirate ship high up in the sky!
Dec 27, 2010, 06:59 AM
Jakub J's Avatar
Originally Posted by kinderkram
Looks like a competitor of my build log.

@ Jukub: the barometer is part of the oilpan (IMU/sensor board). So he'll surely use it for altitude hold.
Yes, I read about this later

Sonars aren't an issue for Norf since he'll be flying his pirate ship high up in the sky!
It's time to go shopping
Unfortunately GPS is out of stock

Dec 27, 2010, 07:08 AM
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kinderkram's Avatar
Originally Posted by Jakub J
It's time to go shopping
Unfortunately GPS is out of stock

You can preorder it here:
Dec 28, 2010, 02:40 AM
Jakub J's Avatar
Originally Posted by kinderkram
GPS is on stock now - I have just bought all parts

Dec 28, 2010, 05:27 AM
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Norf's Avatar
UPDATE 28.12.2010:

- Frame assembled
- Motors / ESC mounted

regards Norbert


Second update added!
Last edited by Norf; Dec 28, 2010 at 08:23 AM.
Dec 28, 2010, 11:08 AM
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Norf's Avatar
Hi again,

last Update for today.

Camera Mount is ready.

Now I hope the Brain arrives fast

Regards Norbert
Dec 28, 2010, 12:37 PM
Registered User
lohnieh's Avatar
Originally Posted by Norf
Hi again,

last Update for today.

Camera Mount is ready.

Now I hope the Brain arrives fast

Regards Norbert
That is very interesting. I like your frame. What do you need to make the frame out of CNC? I mean what equipment is involved? What are the cost involved? Did you do this for fun or are you planning to manufacture frames?
Dec 28, 2010, 01:20 PM
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Norf's Avatar

The CNC machine is from my friend Robin.
I can make a few Frames for some Pilots but manufacture frames are not plannes yet.

If interested PM me

Regards Norbert
Dec 29, 2010, 04:38 AM
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Norf's Avatar

the next few day`s i will make another 3 Setīs of Frame and Landing Gear.

Only the FR4 ( Glassfieber ) Parts.

If you are interested in one Set PM me.

Regards Norbert
Dec 30, 2010, 09:25 AM
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Norf's Avatar

Today the Brain arrives.
Itīs already build on the copter now check Pictures in Build Log above.

Regards Norbert

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