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.
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.
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