Monthly Archives: November 2013

Alfa1 test.Preparation

During the last wekend I have been busy,so it was not possible to continue the testing.

By the way now it comes a new post where I describe the code I created for what I called alfa tests, a session of experiments to prepare the final code.

Alfa1 test includes the following functionalities:

  1. manual motor jogging
  2. IMU reading
  3. data logging (motor w,and IMU angles)

The actions I want to take during this test are:

  1. verify the disturbance on  IMU data due to motor vibrations
  2. test different IMU filter values
  3. start the motor and  try to understand which is the hover w  (motor angular speed) according to the current configuration
  4. Start the motor and understand  how a deltaw can influence angle of the quadricopter
  5. mount different weights on the quadcopter arm and see the different  wh (hover w) in order to verify my math model.
  6. measure the actual motor angular speed with my smartphone (just curious abuot the possibility to measure the real w  with a sound spektrum analyzer).

Hope to start tomorrow the alfa1 test, than I will share the  code.

Preparing test session

It’ is now time to move from my desk to the garage to start the second phase of the development.

The targets are:

  • verify the start up procedure of the esc. I want to see if and how  I can start up properly the esc evenif it is already power on. This is useful in case I want to power rpi directly from  one Esc BEC.
  • verify the disturbance in the IMU data due to the motors vibration.Setup in the best way the filter severity
  • verify the control loop and tune the pid parameters for quadcopter rotation
  • develop the user remote control via wifi to control motors and quadcopter position

To do this tests I build up a frame that I hope it can allow me to stay safe.Here the picture of the original design and the final result.

 

Test_Frame

 

I’ve  also finalized the wiring of the system including the IMU and an home-made board for the motors connections.rpi power is still via usb and ethernet connection via wire.

wiring_IMU_MOTORS

So the new motor connection setup is:

  • GPIO 18 (pin 12) >M0
  • GPIO 23 (pin 16) >M1
  • GPIO 24 (pin 18) >M2
  • GPIO 25 (pin 22) >M3