presenting the tricopter or third time is a charm
DESCRIPTION
My presentation slides from https://codebits.eu/intra/s/session/359TRANSCRIPT
Presenting the Tricopter (or Third time is a charm)
Luis Correia (@luisfcorreia)
Presenting the Tricopter
in the beginning there was an idea
Presenting the Tricopter
then a bi-copter was created
Presenting the Tricopter
Presenting the Tricopter
but it didn’t fly
explained in my first talkhttps://codebits.eu/intra/s/session/187
Presenting the Tricopter
the next year, it evolved
Presenting the Tricopter
Presenting the Tricopter
but it didn’t evolve enough to fly
explained in my second talkhttps://codebits.eu/intra/s/session/251
Presenting the Tricopter
drastic measures were taken!
the tricopter was born
Presenting the Tricopter
design is based on David Windestål’stricopter v2.5
http://rcexplorer.se/projects/2011/09/the-tricopter-v2-5/
Presenting the Tricopter
image © 2012 Basílio Vieira
Presenting the Tricopter
The Setup
Presenting the Tricopter
motors paired with correct propeller size,coupled with proper 3S battery
(Hextronic DT700 + APC slowfly 11x4.7 + Turnigy 3S1P 2200mAh)
Presenting the Tricopter
rear motor tilts via a strong metal gear servo, with a ball set linkage
Presenting the Tricopter
integrated flightboard, using same processor and gyro+accel sensor
(atmel atmega 328p + MPU6050)
Presenting the Tricopter
Presenting the Tricopter
FRAME
Presenting the Tricopter
aluminum arms, fiberglass chassis
actually, the “chassis” is a fiberglass PCB from a Cisco empty plane filler
Presenting the Tricopter
all wires go through the aluminum arms,clean and elegant cable routing
Presenting the Tricopter
ELECTRONICS
Presenting the Tricopter
ESC’s are near the motors,powered directly from battery connector
Presenting the Tricopter
DC-DC converter is used to supply +5Vto flightboard, RC remote receiver,
bluetooth module and camera
Presenting the Tricopter
YAW servo is powered by rear ESC,preventing noise on the +5V line
Presenting the Tricopter
LANDING GEAR
Presenting the Tricopter
several attempts were made
Presenting the Tricopter
cardboard “wood”:FAILED
3D printed landing gear:FAILED
my design http://www.thingiverse.com/thing:147475,image from user http://www.thingiverse.com/knightshado
Presenting the Tricopter
Presenting the Tricopter
IKEA GLIS plastic boxSUCCESS!!!
http://www.ikea.com/pt/pt/catalog/products/20047450/
Presenting the Tricopter
choosing a box as a landing gear is awin-win-win solution, lowers the CG,
holds the battery and HD camera
Presenting the Tricopter
(now, take a deep breath)
let’s fly it for a little bit
Presenting the Tricopter
HELPFUL TIPSfor building your own
Presenting the Tricopter
Configuring Electronics
Presenting the Tricopter
Electronic Speed Controllers (ESC’s), always buy them preflashed
with SimonK firmware
Presenting the Tricopter
ESC’s - please do RTFM
ALWAYS!!!
Presenting the Tricopter
ESC’s - configure throttlemin and max range
(don’t argue, DO IT!)
Presenting the Tricopter
ESC’s - check additional parameters
(like LiPo/NiMH battery type)
Presenting the Tricopter
ESC’s - check the motor’s directionclockwise or anti-clockwise
WITHOUT THE FRACKING PROPS ON(use a piece of tape)
Presenting the Tricopter
Flight board
Presenting the Tricopter
choose wisely, don’t buy the cheapest one!ask your friends and do some research!
Presenting the Tricopter
minimum sensors required:gyroscope (flight)
gyro + accelerometer (stable flight)
Presenting the Tricopter
full sensor board includes barometer,compass, GPS, gyro and accel
Presenting the Tricopter
choose a tried and tested flightboard,identify it in MultiWii config.h
Presenting the Tricopter
start with standard PID values,adapt if needed
(don’t fsck it up)
Presenting the Tricopter
RC Remote controller
Presenting the Tricopter
almost anything works, but pleasebuy one with at least 6 channels
Presenting the Tricopter
use channels 5 and 6 forenabling other functions
Presenting the Tricopter
TEST ITS RANGE BEFOREGOING OUT AND FLY
(nothing is worse than losing control)
Presenting the Tricopter
use LiPO battery pack instead of non-rechargeable to power it
Presenting the Tricopter
trim it before going out flying
(you can fine tune it in the air, if needed)
Presenting the Tricopter
Battery
Presenting the Tricopter
I use 3S1P LiPO 2200mAH
(but feel free to choose your own)
Presenting the Tricopter
battery choices depend on a lot of variables,frame weight, expected flight time
Presenting the Tricopter
the elusive “C” rating is important,the more, the better
(but watch out for price hike)
Presenting the Tricopter
“C” rating means sustained peak currenta 2200mAH, 35C battery can supply
77A for a “while”
Presenting the Tricopter
always use battery monitorwith LOUD beeper
(assistants do it, please)
Presenting the Tricopter
to wrap up:
Presenting the Tricopter
research, research, research, research, use simulation software, use tested parts,ask your friends, ask in forums, read wikis
thenfly low and slow, don’t be an asshole
Presenting the Tricopter
let’s fly!
Presenting the Tricopter
and you can ask me
(the end)