Design, Build, Test, Iterate

Posts Tagged ‘video’

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 […]

More flight videos

Ever since I achieved stable flight, I have gone outside for flight testing almost every day for the past week. Check out some videos after the break.

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 […]

A better alternative to position PID for multirotor control

Some systems can be controlled with a simple P controller, where a given offset is translated directly to some actuator output. Other systems, like the flight orientation control of micro aerial vehicles (MAVs), may require a damping term on the position to prevent a divergent oscillation of the vehicle’s angular position. However, the D controller […]

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 […]

Kiwi drive videos

Just a few videos of my kiwi drive robot.

Finally, flight!

My tricopter flies! Of course, I mean that very loosely, that it was airborne. Tuning the controller so the craft is actually controllable, however, is a task yet unfinished. In hindsight, my gains were much too low for free flight. Ground effect was therefore much more pronounced, and it took me a few tries before […]

Tricopter: gyro damping and PID control (fail)

I’ve been working on stabilization code for the tricopter using direction cosine matrices but haven’t yet gotten too far because the DCM updates too slowly. I must be doing something wrong. For now, I’ve got basic damping (basically D control) using low-pass-filtered gyro outputs and some PID control that needs adjustment. Actually that’s a misnomer […]