I went to college after the props shattered and I took the Pi with me, to continue my analysis on how I could tune the gains easier.
I am a part of the Micro Air Vehicles (MAV) Club at ASU, and I took my problem as well as my designs to some of the members there. I got some pretty good feedback from them: first of all, the frame was too wide, and so the props were back washing on to the quad, reducing the effectiveness of the motors, and causing further turbulence that the PID was to slow to correct for. Essentially, I was pushing against myself.
After I came home for winter break 2015, i continued my search for a better design. I found a blog called Pistuffing. Some guy was using the Pi to build a Quad, just like me, and although it was a work in progress, His code was a million times more sophisticated than the chicken scratch I had thrown together. Still, I found that I had the right idea, and so I began to look at his Github Repository, and analyze his code. I adopted the files he had created, and started experimenting. It took almost the whole break to understand it, because I started out having no Idea how to even begin, but eventually I got it.
I bought strips of balsa wood, which is light, and new propellers. I once again mounted everything, and began testing, by tying the four corners of the Quad to chairs, so that it would not flip over or shoot up in to the sky. I learned how to debug code using print statements to narrow down the location of the problem.
I found some flaws in the code, which were causing the quad to just go full thrust instantly, or perhaps that is due to my design. It turns out that the latest version is lighter than anticipated, and so it takes less thrust to lift.
That is the point where i am right now. It may work reasonably, and have found a way to test it. I am going back to college now, but will for sure continue to try and get it to fly in the future.
I am a part of the Micro Air Vehicles (MAV) Club at ASU, and I took my problem as well as my designs to some of the members there. I got some pretty good feedback from them: first of all, the frame was too wide, and so the props were back washing on to the quad, reducing the effectiveness of the motors, and causing further turbulence that the PID was to slow to correct for. Essentially, I was pushing against myself.
After I came home for winter break 2015, i continued my search for a better design. I found a blog called Pistuffing. Some guy was using the Pi to build a Quad, just like me, and although it was a work in progress, His code was a million times more sophisticated than the chicken scratch I had thrown together. Still, I found that I had the right idea, and so I began to look at his Github Repository, and analyze his code. I adopted the files he had created, and started experimenting. It took almost the whole break to understand it, because I started out having no Idea how to even begin, but eventually I got it.
I bought strips of balsa wood, which is light, and new propellers. I once again mounted everything, and began testing, by tying the four corners of the Quad to chairs, so that it would not flip over or shoot up in to the sky. I learned how to debug code using print statements to narrow down the location of the problem.
I found some flaws in the code, which were causing the quad to just go full thrust instantly, or perhaps that is due to my design. It turns out that the latest version is lighter than anticipated, and so it takes less thrust to lift.
That is the point where i am right now. It may work reasonably, and have found a way to test it. I am going back to college now, but will for sure continue to try and get it to fly in the future.
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| Quadcopter V.4 |
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