Design, Build, Test, Iterate

Tricopter controlled flight!

Or, the best one-line bug fix ever.

For two months, I had been thinking I was running my flight controller at 166 Hz while actually running it at a measly 31 Hz. I don’t want to go into detail about how that happened, but I have fixed the problem, and now it works. I am mad and happy. As one friend suggested after my realization, I should perform a sanity check on my code every once in a while so this does not happen again.

Check out the flight videos after the break.

Flight in the Covell Hall hallway.

UPDATE 5/15/12: Higher quality video with sound:

It is useful to note that I have my maximum angular displacement set to 30 degrees, so the control is not as fine as it could be (thus the jerkiness). The cell phone camera used to take the video was in underwater mode (blue filter), which is why the video is tinted orange.

Onboard video:

My endorphin levels have never been so high in months.



4 Comments

  1. [...] UPDATE 5/17/12: I found out a few days ago that I had been running my controllers at a measly 31 Hz instead of the 166 Hz I had assumed I was, for reasons I do not want to bother going into. Anyway, the videos above show that the controller work even at that low of an update rate. It is much more responsive at 166 Hz (or higher!). The result? Flight. [...]

  2. Michael says:

    I’d recommend to your friend in Red to not stay so close to the blades. Not sure if he’s trying to be a badass by just standing there… but seriously, back up. Those blades will shred your skin in an instant… and usually 5-6 times.

    Careful. and awesome job so far!

    • Soo-Hyun says:

      We definitely could’ve been more careful—I’ve had my fair share of cuts from those blades, and they’re not even APC blades. I think the excitement was too great at the time for safety to be a concern for us. :)

  3. [...] UPDATE 5/17/12: I found out a few days ago that I had been running my controllers at a measly 31 Hz instead of the 166 Hz I had assumed I was, for reasons I do not want to bother going into. Anyway, the videos above show that the controllers work even at that low of an update rate. It is much more responsive at 166 Hz (or higher!). The result? Flight. [...]

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