Design, Build, Test, Iterate

Posts Tagged ‘test’

How to crash gracefully as components melt off your electronics in midair

Actually, I don’t really know how other than to build a tricopter as awesome as mine. Earlier last month, I flew my tricopter up to about 80 feet above the ground to test its range as well as controllability. Due to a shortage of my usual propellers, I had been flying with an oversized tail […]

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 […]

Custom firmware for multirotor ESCs

Multirotor flight control requires an update frequency on the order of hundreds of cycles per second. Most ESCs sold for RC plane use are capable of reading a PPM input at frequencies of up to 400 Hz, but they do not translate the PPM input to motor speed output at the same rate. tl;dr: Flash […]

Tricopter single-axis PID control and integral windup

I changed how I set motor values (among other things) and invalidated my old PID gains. I figured out some new ones. Here’s a video of the current PID control behavior:

Tricopter: single-axis test rig and some notes on balance

I thought it would be useful to have a way to test control of a single axis of the tricopter in a safely constrained manner, so I built a rig to do so: The rig is made of scrap aluminum I found in the room bolted to a cutting board that is clamped to the […]

Test rig ideas for autonomous flying vehicles

The OSU Aerial Team uses a rectangular aluminum frame to constrain the movement of our bicopter while we develop our flight controller. While this works, it is a very unnatural way to limit the movements of a flying vehicle. The cage limits 3D motion such that almost any flight stability test goes awry because the […]

Tricopter: Now in Five Broken Pieces

Curse my impatience. I got wired control pretty much working, so I went ahead and hooked up my XBees (wireless link) for testing. I had my hand on the chassis just in case, but I guess I didn’t apply enough pressure—it went full throttle on its own (I had barely touched the joystick) and flew […]