Li-on batt endurance test
I did some endurance test today on V2, after repeated flight it looks like with my current spec the actual autonomous flight time was 80~82 minutes average before the motor rpm slows down to almost stall speed at 8.64km/h. That is around close to 8 minutes gap from previous 72 minutes record at 52.1km last week. Looks like 55~58km distance is a realistic estimate to push but i'm not going to pushing my luck. I'll just stick to my old 52.1km distance until i do some improvement on the overall build.

Photos:

I've setup a HKPilot Micro from Hobbyking and now regret not having gone for your setup with the mini APM in the first place. Here's why.

1. The number one reason is types of connectors. I have lots of these little connectors and leads that are all super delicate and if I need to make my own, it's a real pain. Like everybody else, I have nice servo crimpers etc and can make my own servo leads with ease so making a perfect loom would be muuuuuch easier. As it is, I have wires going all over the place and it's yuck. I don't trust my connections as well as you obviously do yours!

2. It's expensive compared to the APM mini pro. I just bought a new mini-pro on Ali Express for $32 with free shipping. The HK Pilot micro is about $53 plus shipping charges.

3. It didn't come with a case. The APM mini pro comes with a case. It's nice to have if you want one and I did pay a lot for the whole master set.

4. The HK Pilot OSD seems to require a reset every time you turn it on to display the OSD data. This is not being so critical of the HK Pilot as I'm sure you could use any OSD with it, but it would be the first choice for many because it already has the right type of leads and connectors on it. It's also expensive compared to the OSD Ican3d uses.

These are the main reasons why I won't be buying another HK Pilot micro and I thank you for showing me a lower cost, more reliable setup to use in future.

Here go....http://www.ebay.com/itm/APM-PRO-New-...8AAOSwI-BWQPrS

less then 20 bux

Originally Posted by webeng

I've setup a HKPilot Micro from Hobbyking and now regret not having gone for your setup with the mini APM in the first place. Here's why.

1. The number one reason is types of connectors. I have lots of these little connectors and leads that are all super delicate and if I need to make my own, it's a real pain. Like everybody else, I have nice servo crimpers etc and can make my own servo leads with ease so making a perfect loom would be muuuuuch easier. As it is, I have wires going all over the place and it's yuck. I don't trust my connections as well as you obviously do yours!

2. It's expensive compared to the APM mini pro. I just bought a new mini-pro on Ali Express for $32 with free shipping. The HK Pilot micro is about $53 plus shipping charges.

3. It didn't come with a case. The APM mini pro comes with a case. It's nice to have if you want one and I did pay a lot for the whole master set.

4. The HK Pilot OSD seems to require a reset every time you turn it on to display the OSD data. This is not being so critical of the HK Pilot as I'm sure you could use any OSD with it, but it would be the first choice for many because it already has the right type of leads and connectors on it. It's also expensive compared to the OSD Ican3d uses.

These are the main reasons why I won't be buying another HK Pilot micro and I thank you for showing me a lower cost, more reliable setup to use in future.

I feel you webeng because happened same with my first V1 build because i'm using a 3.1 APM (which i bought second hand) with lousy small plastic plug that loosen overtime. You can still use back your newly bought APM and properly rewire everything. Need to have huge patience to do all that. Just don't waste your available resources. Every mistake is part of learning which leads to further improvement. Without my V1 there won't be a successful V2 Z-84.

Btw caseless APM save weight. One my V2 build there no OSD inside because i prefer to transmit the data obert the air via telemetry to my phone. Its easier to monitor, phone do the talking about voltage and stuff plus you can control using your phone or game joystick rather on traditional radio control. MinimOSD module usually generate more heat, amps and cause more problem during bootup which is why i removed from several of my models.

Originally Posted by magic_marty

Here go....http://www.ebay.com/itm/APM-PRO-New-...8AAOSwI-BWQPrS

less then 20 bux

Wow! nice finding! ultra cheap APM. That is almost paying a radio receiver module. I think the Z-84 build is going to be super cheap!

Here's the list of parameters used by UAV WING WING Z-84 (Version 2) build. All the parameters are based on Arduplane V3.4 firmware. Some lines of parameter have been removed because parameters setting such as compass, acc and gyro sensors are very much based on "locality" factor setting which you need to do calibrate it by yourself. So copy the below parameter manually.

*Note:
1. Assume you use the same hardware a setup as V2 build
2. Different radio transmitter mode/setup requires different radio channel calibration range/PWM signal and flight mode.
3. This parameter optimal for Wing Wing Z-84 with full flying weight between 390gram~410gram. Different weight, CG, motor combo power, or different servo performance/throw requires extra tuning.

================================================== ======
Firmware: ARDUPLANE v3.4 only
================================================== ======
ACRO_LOCKING,0
ACRO_PITCH_RATE,180
ACRO_ROLL_RATE,180
AHRS_COMP_BETA,0.1
AHRS_GPS_GAIN,1
AHRS_GPS_MINSATS,6
AHRS_GPS_USE,1
AHRS_ORIENTATION,0
AHRS_RP_P,0.2
AHRS_TRIM_X,-0.02656116
AHRS_TRIM_Y,-0.0274512
AHRS_TRIM_Z,0
AHRS_WIND_MAX,0
AHRS_YAW_P,0.2
ALT_CTRL_ALG,0
ALT_HOLD_FBWCM,0
ALT_HOLD_RTL,8000
ALT_MIX,1
ALT_OFFSET,0
ARMING_CHECK,0
ARMING_REQUIRE,0
ARMING_RUDDER,0
ARSPD_AUTOCAL,0
ARSPD_ENABLE,0
ARSPD_FBW_MAX,19
ARSPD_FBW_MIN,10
ARSPD_OFFSET,890.8737
ARSPD_PIN,0
ARSPD_RATIO,1.9936
ARSPD_SKIP_CAL,0
ARSPD_TUBE_ORDER,2
ARSPD_USE,0
AUTO_FBW_STEER,0
AUTOTUNE_LEVEL,6
BATT_AMP_OFFSET,0
BATT_AMP_PERVOLT,18.0018
BATT_CAPACITY,3500
BATT_CURR_PIN,12
BATT_MONITOR,4
BATT_VOLT_MULT,10.1
BATT_VOLT_PIN,13
BATT2_AMP_OFFSET,0
BATT2_AMP_PERVOL,17
BATT2_CAPACITY,3300
BATT2_CURR_PIN,12
BATT2_MONITOR,0
BATT2_VOLT_MULT,10.1
BATT2_VOLT_PIN,13
BRD_SERIAL_NUM,0
CAM_DURATION,10
CAM_SERVO_OFF,1100
CAM_SERVO_ON,1300
CAM_TRIGG_DIST,0
CAM_TRIGG_TYPE,0

####### COMPAS PARAM REMOVED #########

ELEVON_CH1_REV,0
ELEVON_CH2_REV,0
ELEVON_MIXING,0
ELEVON_OUTPUT,3
ELEVON_REVERSE,1
FBWA_TDRAG_CHAN,0
FBWB_CLIMB_RATE,2
FBWB_ELEV_REV,0
FENCE_ACTION,0
FENCE_AUTOENABLE,0
FENCE_CHANNEL,0
FENCE_MAXALT,0
FENCE_MINALT,0
FENCE_RET_RALLY,0
FENCE_RETALT,0
FENCE_TOTAL,0
FLAP_1_PERCNT,0
FLAP_1_SPEED,0
FLAP_2_PERCNT,0
FLAP_2_SPEED,0
FLAP_IN_CHANNEL,0
FLAP_SLEWRATE,75
FLAPERON_OUTPUT,0
FLTMODE_CH,6
FLTMODE1,11
FLTMODE2,2
FLTMODE3,10
FLTMODE4,12
FLTMODE5,5
FLTMODE6,0
FORMAT_VERSION,13
FS_BATT_MAH,0
FS_BATT_VOLTAGE,8.1
FS_GCS_ENABL,0
FS_LONG_ACTN,0
FS_LONG_TIMEOUT,5
FS_SHORT_ACTN,0
FS_SHORT_TIMEOUT,1.5
GCS_PID_MASK,0
GLIDE_SLOPE_MIN,15
GLIDE_SLOPE_THR,5
GND_ABS_PRESS,50397.33
GND_ALT_OFFSET,0
GND_TEMP,35.2931
GPS_GNSS_MODE,0
GPS_MIN_ELEV,-100
GPS_NAVFILTER,8
GPS_SBAS_MODE,2
GPS_TYPE,1
GROUND_STEER_ALT,0
GROUND_STEER_DPS,90
HIL_ERR_LIMIT,5
HIL_SERVOS,0
INITIAL_MODE,0

####### ACC/GYRO PARAM REMOVED #########

INVERTEDFLT_CH,0
KFF_RDDRMIX,0
KFF_THR2PTCH,0
LAND_DISARMDELAY,20
LAND_FLAP_PERCNT,0
LAND_FLARE_ALT,3
LAND_FLARE_SEC,2
LAND_PITCH_CD,0
LEVEL_ROLL_LIMIT,5
LIM_PITCH_MAX,2500
LIM_PITCH_MIN,-3000
LIM_ROLL_CD,4500
LOG_BITMASK,0
MAG_ENABLE,1
MIN_GNDSPD_CM,0
MIS_RESTART,0
MIS_TOTAL,13
MIXING_GAIN,0.5
NAV_CONTROLLER,1
NAVL1_DAMPING,0.75
NAVL1_PERIOD,18
PTCH2SRV_D,0.04309839
PTCH2SRV_FF,0
PTCH2SRV_I,0.04335644
PTCH2SRV_IMAX,3000
PTCH2SRV_P,0.5746452
PTCH2SRV_RLL,1
PTCH2SRV_RMAX_DN,75
PTCH2SRV_RMAX_UP,75
PTCH2SRV_TCONST,0.45
RALLY_INCL_HOME,0
RALLY_LIMIT_KM,5
RALLY_TOTAL,0
RC1_DZ,30
RC1_MAX,1917
RC1_MIN,1067
RC1_REV,-1
RC1_TRIM,1495
RC10_DZ,0
RC10_FUNCTION,0
RC10_MAX,1900
RC10_MIN,1100
RC10_REV,1
RC10_TRIM,1500
RC11_DZ,0
RC11_FUNCTION,0
RC11_MAX,1900
RC11_MIN,1100
RC11_REV,1
RC11_TRIM,1500
RC2_DZ,30
RC2_MAX,1919
RC2_MIN,1070
RC2_REV,-1
RC2_TRIM,1504
RC3_DZ,30
RC3_MAX,1919
RC3_MIN,1069
RC3_REV,1
RC3_TRIM,1069
RC4_DZ,30
RC4_MAX,1919
RC4_MIN,1070
RC4_REV,1
RC4_TRIM,1491
RC5_DZ,0
RC5_FUNCTION,0
RC5_MAX,1919
RC5_MIN,1068
RC5_REV,1
RC5_TRIM,1071
RC6_DZ,0
RC6_FUNCTION,0
RC6_MAX,1834
RC6_MIN,1070
RC6_REV,1
RC6_TRIM,1834
RC7_DZ,0
RC7_FUNCTION,0
RC7_MAX,1497
RC7_MIN,1488
RC7_REV,1
RC7_TRIM,1497
RC8_DZ,0
RC8_FUNCTION,0
RC8_MAX,1497
RC8_MIN,1488
RC8_REV,1
RC8_TRIM,1497
RCMAP_PITCH,2
RCMAP_ROLL,1
RCMAP_THROTTLE,3
RCMAP_YAW,4
RELAY_DEFAULT,0
RELAY_PIN,13
RELAY_PIN2,-1
RELAY_PIN3,-1
RELAY_PIN4,-1
RLL2SRV_D,0.05059387
RLL2SRV_FF,0
RLL2SRV_I,0.063927
RLL2SRV_IMAX,3000
RLL2SRV_P,0.6745849
RLL2SRV_RMAX,75
RLL2SRV_TCONST,0.45
RNGFND_LANDING,0
RSSI_PIN,-1
RSSI_RANGE,5
RST_MISSION_CH,0
RST_SWITCH_CH,0
RTL_AUTOLAND,0
RUDDER_ONLY,0
SCALING_SPEED,15
SCHED_DEBUG,0
SERIAL0_BAUD,115
SERIAL1_BAUD,57
SERIAL1_PROTOCOL,1
SERIAL2_BAUD,57
SERIAL2_PROTOCOL,1
SERIAL3_BAUD,38
SERIAL3_PROTOCOL,5
SERIAL4_BAUD,38
SERIAL4_PROTOCOL,5
SKIP_GYRO_CAL,0
SR0_EXT_STAT,2
SR0_EXTRA1,6
SR0_EXTRA2,6
SR0_EXTRA3,2
SR0_PARAMS,10
SR0_POSITION,2
SR0_RAW_CTRL,2
SR0_RAW_SENS,2
SR0_RC_CHAN,2
SR1_EXT_STAT,2
SR1_EXTRA1,5
SR1_EXTRA2,2
SR1_EXTRA3,3
SR1_PARAMS,10
SR1_POSITION,2
SR1_RAW_CTRL,2
SR1_RAW_SENS,2
SR1_RC_CHAN,5
STAB_PITCH_DOWN,2
STALL_PREVENTION,1
STEER2SRV_D,0.005
STEER2SRV_FF,0
STEER2SRV_I,0.2
STEER2SRV_IMAX,1500
STEER2SRV_MINSPD,1
STEER2SRV_P,1.8
STEER2SRV_TCONST,0.75
STICK_MIXING,1
SYS_NUM_RESETS,48
SYSID_MYGCS,255
SYSID_SW_TYPE,0
SYSID_THISMAV,1
TECS_CLMB_MAX,5
TECS_HGT_OMEGA,3
TECS_INTEG_GAIN,0.1
TECS_LAND_ARSPD,-1
TECS_LAND_DAMP,0.5
TECS_LAND_PMAX,10
TECS_LAND_SINK,0.25
TECS_LAND_SPDWGT,1
TECS_LAND_TCONST,2
TECS_LAND_THR,-1
TECS_PITCH_MAX,0
TECS_PITCH_MIN,0
TECS_PTCH_DAMP,0
TECS_RLL2THR,10
TECS_SINK_MAX,5
TECS_SINK_MIN,2
TECS_SPD_OMEGA,2
TECS_SPDWEIGHT,1
TECS_THR_DAMP,0.5
TECS_TIME_CONST,5
TECS_VERT_ACC,7
TELEM_DELAY,0
THR_FAILSAFE,0
THR_FS_VALUE,950
THR_MAX,68
THR_MIN,0
THR_PASS_STAB,0
THR_SLEWRATE,100
THR_SUPP_MAN,0
THROTTLE_NUDGE,1
TKOFF_FLAP_PCNT,0
TKOFF_ROTATE_SPD,0
TKOFF_TDRAG_ELEV,0
TKOFF_TDRAG_SPD1,0
TKOFF_THR_DELAY,2
TKOFF_THR_MAX,0
TKOFF_THR_MINACC,0
TKOFF_THR_MINSPD,0
TKOFF_THR_SLEW,0
TRIM_ARSPD_CM,1400
TRIM_AUTO,0
TRIM_PITCH_CD,0
TRIM_RC_AT_START,1
TRIM_THROTTLE,57
VTAIL_OUTPUT,0
WP_LOITER_RAD,60
WP_MAX_RADIUS,0
WP_RADIUS,90
YAW2SRV_DAMP,0
YAW2SRV_IMAX,1500
YAW2SRV_INT,0
YAW2SRV_RLL,1
YAW2SRV_SLIP,0
================================================== ======

Nice work Ican. I haven't started on my Z-84 yet but when I do, I won't be trying for such long distance. I'll be using mine for longish (40 minute flights) of FPV with aerobatics etc and also some longish distances (maybe 10 Km's) with long range receiver and OSD. After that, I may go for a long range machine like yours. I know that you're mostly going for long range and may not want to do this, but just in case you want to maintain a long range control link throughout your entire flight, why not consider Flip Flaps, 1 Watt long range setup. Thanks for the printout of all the settings for the APM, they should come in real handy when I get around to setting up my Wing Wing. I'll probably use a slightly bigger motor, OSD, video transmitter and I've already got my Li Ion batts on their way.... I'll be setting up 4S, should be great.

On another note, since your running uncased everything and sometimes run into wet weather, you might find this Flitetest vid on waterproofing interesting.

So, I paid $41 AUD for my APM and afterwards saw that I can get it for about $20 AUD off ebay. So I'm a bit ripped off but way ahead on a HK Pilot.

I tried to make a similar battery pack with 3 18650's in series a few months ago and I couldn't get the solder to stick to the positive or negative tabs. I'd like to know the secret.

I have a battery holder for 3 of these cells but it negates the benefit of the Lithium Ion batteries.

Originally Posted by webeng

Nice work Ican. I haven't started on my Z-84 yet but when I do, I won't be trying for such long distance. I'll be using mine for longish (40 minute flights) of FPV with aerobatics etc and also some longish distances (maybe 10 Km's) with long range receiver and OSD. After that, I may go for a long range machine like yours. I know that you're mostly going for long range and may not want to do this, but just in case you want to maintain a long range control link throughout your entire flight, why not consider Flip Flaps, 1 Watt long range setup. Thanks for the printout of all the settings for the APM, they should come in real handy when I get around to setting up my Wing Wing. I'll probably use a slightly bigger motor, OSD, video transmitter and I've already got my Li Ion batts on their way.... I'll be setting up 4S, should be great.

On another note, since your running uncased everything and sometimes run into wet weather, you might find this Flitetest vid on waterproofing interesting.

So, I paid $41 AUD for my APM and afterwards saw that I can get it for about $20 AUD off ebay. So I'm a bit ripped off but way ahead on a HK Pilot.

Thanks for the waterproofing links. Btw not planning to control via long range radio, i just wanna sit down relax and wait for the plane to return with great footage. I think with 4S assume you're on Li-on that also will have longish flight time due to smaller amp consume to rotate the prop RPM.

Originally Posted by djwenger

I tried to make a similar battery pack with 3 18650's in series a few months ago and I couldn't get the solder to stick to the positive or negative tabs. I'd like to know the secret.

I have a battery holder for 3 of these cells but it negates the benefit of the Lithium Ion batteries.

You'll need to scrap those positive/negative terminal tabs with rought sand paper to remove the outer coating, those rough surface will enables the solder leads to grip well. Try it.

Originally Posted by magic_marty

Here go....http://www.ebay.com/itm/APM-PRO-New-...8AAOSwI-BWQPrS

less then 20 bux

Sweet, but, received this an hour after placing my order:

Dear xxx xxxx,

Thanks for purchasing from us. However, we regret to inform you that when we were preparing to ship the order to you, we found that the last few pieces in stock are damaged and not suitable for sale. After contacting our supplier urgently, they informed us that the item is unexpectedly discontinued and it will not be available again in the near future. Therefore, we have to cancel this order. Please let us know if this will be ok with you.

We will issue you a full refund to your PayPal account once we get your reply. We apologize again for any inconvenience caused to you.

----------------------------------------------------------------------
14017361 1 18.32
APM PRO New Mini APM Flight Control Opensource for Quad Octa Multicopter
----------------------------------------------------------------------

Sincerely,
Audrey Luo

Well they need to pull the listing cause they still have them listed for sale...Whats up with that

Its time to ditch the plane radio and go for gamepad + smartphone integration for more efficiency and cheaper cost build of my V3/V4 UAV Z-84build. I did test it on V2 this morning and it works great flying with FBWA (fly by wire A) mode.

Photos:

Impressive build and awesome results. What efficiency can you get out of this little plane?
Flying my Skyfun with a 4s2p li-ion around 1.27Wh/km

I never thought the words long range would be used with this little plane. Well done

Originally Posted by ican3d

The V1 build was plastic, but the V2 build is Metal Gear because that day i went to find servo at hobby king for plastic type but the reliable ones are was backordered. Whats left was turnigy Metal Gear (Turnigy™ TGY-50090M Analog Servo MG 1.6kg / 0.08sec / 9g)..good news is that this particular servo have excellent return "Centering" performance with match nicely with APM's stabilization without overkill high amp Digital servo and it did play nice with my 433 radio data telemetry unlike TOwer- Pro MG servo which cause interference and jittering.
I have mix feeling about using 5g servo (HXT500) because with such a long flight over 1 hours and constant stabilization signal from APM its more likely to overheating those poor little coreless brushed servo. HXT900 is much beefier but spike high amp with small push.

Just a thought, but maybe you could save some some servo current and heat by dialling down the rates mechanically (easier than changing PIDS perhaps) so that throughout the flight, there is less stress on the servos, after all, you don't need high rates when all your doing is long distance. Not sure how much of a factor the servo current is compared to the motor, but if you keep optimising, your range will surely go up.