Construction quadropter

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Quadropter / Quadropter / QuadTrollPter

we intend to build a home-made quadropter with video streaming feature for remote control and HD video recording for processing after the shot strike


Sommaire

Hardware

Je viens d'acheter ce materiel sur le site http://www.rctimer.com

2212-15 930KV Outrunner Brushless Motor (x4) $43.96
ESC 30A Prgrammable ESC 30A Brushless Motor Speed Controller (x4) $43.96
CFN1045 1 Pair Carbon Reinforced 10x4.5" Counter Rotating Propellers (x4) $15.96
KK-5.5 KKmulticontroller V5.5 Controller Board (x1) [1] $19.99
11.1V 2200mAh 15C 2Set 11.1V 2200mAh 15C Lipo Battery Black-B (x2) $44.98

Air Control

The aim is to do servo-controlling (of angular speed). Servo-controlling for the n00bs: [2]

Control the propeller in order to enable air control. ATMEGA168P based mainboard. (same chip as on Arduino but needs an external ISP programmer)

With components side up, it seems "gyro reverse" must be enabled (later, see doc #missing link# for the asian named guy code)

Firmwares

Build KapteinKUKs Simple and Low Part Count Quad, Hex and Tricopter Flight Controller http://www.rcgroups.com/forums/showthread.php?t=1143569 http://www.rcgroups.com/forums/showthread.php?t=1143569&page=232#post15729361

Memory management

It seems that the flash of a uC cannot be modified by the running program while the eeprom can. So, flash should contain the program, eeprom should contain preferences.

Compilation and flashing toolchain

Tested on Ubuntu & ArchLinux, doc is done for Ubuntu

Install required tools: sudo apt-get install flex byacc bison gcc avrdude avr-libc gcc-avr libusb-1.0-0 libusb-1.0-0-dev libc6-dev

Compiling

avr-gcc -mmcu=atmega168p -O1 -I/usr/lib/avr/include/avr/ XXcontrol.c

Converting .out -> .hex

avr-objcopy -O ihex a.out out.hex

Flashing

Connect ISP programmer "usbtiny" to the computer and kk blackboard. Run test to check connectivity with the board:

sudo avrdude -c usbtiny -p m168

avrdude: AVR device initialized and ready to accept instructions

Reading | ################################################## | 100% 0.01s

avrdude: Device signature = 0x1e940b avrdude: Expected signature for ATMEGA168 is 1E 94

Double check chip, or use -F to override this check.

avrdude done. Thank you.

If this works, it should be able to flash programs using:

sudo avrdude -c usbtiny -p m168p -U flash:w:code.hex:i

Some platforms do not know the 168PA, neither 168P, but they know 168 -> use 168 profile and -F option to force ignoring signature checking:

sudo avrdude -F -c usbtiny -p m168p -U flash:w:code.hex:i

(checked using a hello world)

Pots tuning

It seems the Minsoo Kim code is running only a proportionnal P corrector as the doc talks about "gains". So the 3 pots control the gain for each direction (see labels on the board) with Minsoo Kim firmware.

[ http://www.kkmulticopter.com/downloads/resources/KKXXKR%20Settings%20Manual.pdf]

KapteinKuK PID firmware seems using the pots for setting P,I and D.

Video Stream

Here we discuss how to enable the following set-up : One camera for remote control feedback with cheap resolution and one camera for HD recording.

Video aquisition

Simpler / cheaper solution: (no drift, using IR horizon)


Remote Control

Documentation


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