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

 

 

 

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