codebits bi copter
DESCRIPTION
Last year I was fascinated by the "How to build your own Quadrocopter" by Lenz Grimmer and decided that somehow I should try to do a similar thing.This talk is about the way I'm building a bi-copter using lessons learned for last year's talk and also with the errors I've made so far.My journey to getting a flying device running Multiwii is not yet complete.In this talk I will present all the common problems related to the project,- sourcing for the right components- choosing the materials- messing around with software- how not to blow everything upAs of today, the bi-copter itself isn't build yet, but I have almost all things ready to start building it.But I sincerely hope to have it ready for a demo in my talk at Codebits 2011.TRANSCRIPT
How I'm building my bi-copter
with Arduino and Android
Luis Correia
[email protected] @luisfcorreia
http://arduinoPT.info
Contents
• Description
• Elements
• Difficulties
• Construction costs
• Do's and Don't s
• Demo (maybe...)
who am I?
geek v0.46
hardware electronics hacker since the 80's writing code since I got my ZX Spectrum online since there were BBS (80's Internet) linux kernel developer (Ralink rt2x00 wireless driver)
who am I?
first contact with digital technology in 1985 microcontrollers PIC, SX computers
software development
arduino em 2009 android em 2010
Description 1/3
a bi-copter is:multi-rotor helicopter with transversal engines in a tilt-rotor configuration
Features
● Can hover
● Can fly as an airplane
Description 2/3
Two motors provide thurst uses clockwise and anti-clockwise propellers
Two servos tilt the motors from -180 up to +180 degrees
Description 3/3
version 0.1
Components
Schematics
Main part
Arduino PROMINI
Arduino MINI
Parts
Wii Motion Plus(TM) = 3 axis gyroscope • I2C bus• Nunchuck ACC can be daisy-chained • tons of cheap clones• wildcard component
Parts
Servo • weight
• speed
• strength
Parts
Motors (out-runners) Electronic Speed Controllers (ESC) Propellers
WARNING!USEONLYTESTEDCOMBINATIONS!
Elements
Battery • use only Li-Ion or Li-Poly
• best power to weight ratio
• use a proper charger
• WARNING: explosion risk is always present
(while charging or in operation)
Protocols
Traditional remote control systems • use series of pulses for each channel
• almost everything is analog
Operation theory
The control technique is the same, uses five channels • Throttle
• Yaw
• Pitch
• Roll
• Aux1
Elements
My solution: • Android App
• Bluetooth Serial Module
Two stick positions are emulated in software
Operation theory
• Uses a Bluetooth serial module
• A simple protocol is used: "K1J2H3G4F5"
• Each 'packet' is 10 bytes long
K = Throttle J = Pitch H = Roll G = Yaw F = AUX1
Software - Android
Touch based application
Uses an external library for Bluetooth
• Throttle/Yaw is emulated via touch screen • Pitch/Roll with the Orientation sensor.
Software - Android
User Interface
Software - Arduino
Uses MultiWii (http://www.multiwii.com)
first on my branch (MultiWiiBT)
code is now present in mainline
globally, I've added some #ifdef's and some 20 lines of code
The build
Arduino Mini 15.50€ http://ptrobotics.pt
Wii Motion Plus (clone) 6.90€ http://DealeXtreme.com
Bluetooth Module 9.50€ eBay seller
Motors, ESCs and props 13.43€ http://hobbyking.com
Aluminum profile, nuts&bolts 5.40€ Leroy Merlin
Chassis (fiberglass PCB) 2.00€ http://servelec.pt
Assorted electronics bits(wires, pins, jumpers and other stuff)
no value
my junk box
The real construction costs
Arduino Mini 15.50€ PTRoboticsWii Motion Plus 6.90€ DealeXtremeWii Motion Plus 9.90€ WortenWii Motion Plus 9.90€ Worten
Nunchuck clone 2,50€ eBayNunchuck clone 3,20€ eBayNunchuck clone 9,90€ Worten
Bluetooth Module 9.50€ eBayMotor,ESC,Props 13.43€ HobbyKingServos 7.42€ HobbyKingAluminum, nuts & bolts 5.32€ Leroy Merlin
The build (again)
mark my words:
YOU WILL FAIL!
The build (again)
The only question is:
IN HOW MANY WAYS?
The build (again)
But then you'll think:
I have not failed.I've just found 10,000 ways that won't work.
Thomas A. Edison
My errors
● Bi-copter tops the difficulty level
● Is the most unstable 'copter of them all
● Motor, ESC & propellers were NOT well chosen
● Hardware assembly not optimal
My errors
● being overconfident
● doing stuff from scratch
● trying to reinvent the wheel
Thanks
Alexandre Dubus - http://www.MultiWii.com
Rafael Pato - Main Menu & config screen @metalweirdo
Marco Sequeira - battery, li-po charger and moral support
@codebits for the awesome event
and now for somethingcompletely different
MEGA FAIL
The live demo
Helpful links
• Code: http://www.multiwii.com
• RC Parts: http://www.hobbyking.com• Arduino http://inMotion.pt • Arduino http://PTrobotics.com
• Help (WiP) http://arduinoPT.info