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It was a long time since I last posted a build-video here on the forum. Just finished a video of one of my earlier projects.
This is of a one handed transmitter that controls a quadcopter.
All the code and schematics are linked in the video description.
I hope you enjoy it!
Best regards,
Josef
Yes, I use a MPU6050, that is an IMU with both accelerometer and gyro.
I use data from both the accelerometer and gyro in the filter to get less noise and better accuracy in the angle-estimates.
The x, and y-angle are calculated by using the component of the gravitational force in each direction (this is measured by the accelerometer). That comes down to the expression:
x_angle=atan(x_component/sqrt(y_component^2+z_component^2))...
Yes, I use PID-control.
I set the terms as:
Px = (wanted_x_angle-current_x_angle)*kp
Ix = Ix + (wanted_x_angle-current_x_angle)*dt*ki
Dx = x_angle_rate*kd
I do this for the x,y and z-angle.
Thank you, all the anwsers to your questions can be found in the video + description.
But to give som quick anwsers:
Weight: 1054g
Motor kv rating: 1200
Prop diam: 10"
Battery capacity (total): 7400mAh @3s
Hi, I've built a home made Arduino Quadcopter and made a video log of the build. The fligt time is about 30 minutes and the motor-to-motor size is about 152".
Enjoy!
https://www.youtube.com/watch?v=xUMeya-8dFQ
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