Model UAV: RD13 (Codenamed: Icarus )
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Current Objectives for this Model
Model Components
Air Frame: Daedalus Kinjal Carbon Fiber Quad
Flight Controller: OpenPilot CopterControl
New AeroQuad Mini Flight Controller
Today I built and setup the AeroQuad Mini Shield! This shield uses the Arduino Pro Mini and the SparkFun 6DOF Sensor Board (which uses the solid ITG3200 gyro and the ADXL345 accelerometer). It has a built in battery monitor, exposes the pinouts for a camera stabilization system (D12/D13) and exposes pinouts for analog devices such as IR or ultrasonic distance sensors (AI1-3). This shield also has a stackable design which will allow future expansion (multiple processors, magnetometer/barometer, GPS or OSD). The shield is 63.5mm x 56mm and has a 45mm x 45mm hole spacing. This board is limited to 3s batteries and has no USB for configuration, an FTDI breakout is required.
I installed this into RD3 in an elastic suspension matrix rather than hard mounting, The initial flights were a disaster with the unit violently oscillating immediately when given any throttle. The end result is flipping over.
Building another Kinjal
Well brokedown and bought another kinjal to host the Aeroquad mini FC. But after the build it wont fly. I now think the mini is flawed. I bought another mini to swap it out. I will timelapse the build here. If it also does not fly i will install an ArduPilotMega running AQ firmware.
The Mini wont fly
Ok, even with the help of Honk, one of the AeroQuad Masters over at aeroquad.com, I could not get it to fly, I am starting to think I cant get along with the Mini.
These pids are known to work:
Accel P = 3.1
Accel I = 0.15
Accel D = -0.1
Gyro P = 0.60 (60% of "stock")
Gyro D = -300 (-280)
I am starting to think that Mini orients differently, I will try that today.
It Flies!
Wow, dues to an incorrect FC orientation (it was off by 90 degrees) It was not able to get off the ground, now that it is corrected, It flies on defaults, but needs tuning.
I will try these settings:
Accel P = 3.1
Accel I = 0.15
Accel D = -0.1
Gyro P = 60
Gyro D = -300
It flies better, but not good enough :(
With the pids updated IT flew better but not good enough, so for now its on the shelf, I will go back to working on Otto (RD8).
rd13 Test Flight
Another test flight of RD13 today, it was better with less wind but is still technically not ready for AP as it will not stay in control, there appears to be sensor drift, and I think this issue is mentioned many times on the AeroQuad site where it is affectionately know as "The Leans". This model needs a better antenna bracing solution to keep the two rx antennas at 90 degrees. It also need some kind of landing gear.
RD-13 final Tests with AQ Mini
Another test more crashing, its not my day today. I have decided however, that I have had enough with the mini. I am now dismantling what is left of ARDi and will attempt to graft the brain into this airframe. It just might work, but its a shame to deconstruct the body since it was built balanced. Here goes nothing.
RD13 ARDi Revival = Epic Fail
I have rebuilt RD13 from the ground up trying to use the remains of ARDi, and when it was ready to go, I realized, the only props I have for the Roxxy motors, are 10 inch, since the max prop size for this air-frame is 8 inch, I had to start over. I then removed the MK IC2 ESCs and Robbe Roxxy motors and installed my standard 30 amp ESCs with Hacker Style Motors, I then installed an AfroI2C ESC Converter, the Tokyo Drift Model, and re-installed the MK FC. After painstakingly calibrating and configuring the ESCs to use the Tokyo Drift, It will not fly. I am starting to suspect that my mk FC is damaged, and sure enough upon inspection, the Baro looks damaged. This could mean that the FC is toast. My Next step is to try installing the MK Clone FC in its place and see if it flies then, if it does not, It could mean that the Tokyo Drift is cooked.
Testing a $30 HobbyKing FC in RD13
My $30 Hobbyking KK clone arrived today and within 20 minutes I had it running and nearl lifting off the ground. Since the board is tuned by analog dials, it is a little less high tech, and requires a bit more stop, take apart, adjust, reasembe, the process takes longer. The next step is to tune the quad, the downside is that this board only has plus config unless you upgrade the firmware, and that requires a special programmer, which I do not have
More success with HK FC
While I was not able to fly, I did get very close after resetting the ESCs to factory then starting the config over, I am now able to get it off the ground but is hard to control. I will try tomorrow to fine tune the gyro controls. I expect this will fly much like an AQ 1.8 or a Gaui 330x
RD-13 Gets a real brain - APM1280/AC2
In an attempt to get another AC2 machine in the air, I removed the HK FC from RD-13 and put an APM in it, however sadly, I think the APM is cooked. Time will tell.
RD13 will not fly with APM - APM is cooked
I just finished installing beta 42 into my older apm, and after doing all my configs , when I plug in my lipo in fly mode I get :
Motor ESC chimes (indicating 3s) - one more beep means ready
the APM then inits (A and C are strobing very fast) for about 1 sec, then
A-C-A-C-A-C pause repeat. (this loop is about 1 second long)
It does not do this if I am plugged into USB or in setup mode unless I try and run the IMU test in which case I think it cannot init the gyro? when I do test - imu it goes on forever with init gyro *********, the stars just keep going and it is repeating the LED pattern... Hmmm. According to Jason Short, the APM is probably cooked.
New APM2560 FC for RD13
After the stunning success of Arducopter 2 beta 42 & beta 43 firmware, I am now convinved that for now, there is no substitute. I ordered a brand new APM/Oilpan for RD13, now we wait!
New Oilpan H Enroute for RD13
Well the Ardupilot Mega Oilpan shield that was sent out for repairs has been fixed, free of charge :) - shipping back and forth was almost as much as a new one. Note to self, shipping costs from DIYDrones to my location, not so good.
New APM for RD13
My daughter Kez dropped over to help me install a new APM into Icarus.
RD13 - Icarus - new props and landing gear
Another makeover for Icarus. It started while in the field in eastern alberta at my cousin Kevins place, I had crashed RD8 pretty bad , It was eaten by Charlie Brown's Kite eating tree. Anyhow while I had it torn apart on the bench, I rebuilt RD13.
Today I installed the landing gear from hobby king, required two holes to be drilled , one into each strut. The parts are:
Struts: http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=10159
Skids: http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=10160
They make for an easy 5$ landing gear, not really helpful for bottom mount gopro.
Then there is the new Lipo alarms, I like them better than the ones I have been using, this one is small, loud and works for 1S-4S.
Part:http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=18987
Test flight with a 2200 3S was easy 9 minutes. IT was my first flight using the "Pinch" technique. My hands cramped at halfway in.
RD13 - Another Retrofit for the AQ50
So I changed the props back to 2 blade. this change was to move in favor of performance rather than stability.
Further I have now changed the brain to AQ50D Pro so this frees up an APM.
RD13 upgrade to CopterControl
So I used a Fankenquad CC protector and adapter to make my CC fit in RD13.
You can see it is twisted on the yaw axis by 45 degrees.
RD13 - Icarus gets CC Replacement
After failing to get Icarus flying correctly with a CopterControl bard, I decided to take out the CopterControl and replace it.
At the same time, I rerouted cables, changed standoff positions and oriented the board head on for X mode.
Here you can see the orintation of the baord and the cleanup of the wires.
You can also see here that I removed the skids from the struts (One was broken from the last CC crash during flight testing yesterday)
Model Flight Logs
Newest at the top, oldest at the bottom.
Pid Tuning on Copter Control
test flight around cams shop.
Another indoor test flight with new landing gear, props and lipo alarm. this was my first ever flight using pinch technique.
Quick test of new landing gear.
This was a test flight to determine if RD13 could actually lift a 5000mAh pack, it sure can ;-)
But needs tuning first.
Trying to get the craft to hover
This flight controller was originally meant to control RD-13
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