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Thread: Ken/Cluso99/ W9GFO/JasonD's QuadCopter Build Log (updated info ELEV-8 + availability)

  1. #1

    Default Ken/Cluso99/ W9GFO/JasonD's QuadCopter Build Log (updated info ELEV-8 + availability)

    Hey all,

    Getting a little too deep in the business world lately - spreadsheets, pricing, production and meetings. Found out I was starting to loose my compass and that it wasn't too rewarding so I decided to throw some time towards building a QuadCopter. This thread will be my "build log". Must say that my whole attitude shifted to a very positive one after I started drawing some parts. Then I asked Matt to laser-cut some parts and he readily cooperated (thanks Matt!). Meanwhile my older son and I started making cables and drilling out some 5/8" diameter 0.035" wall aluminum rod. He was really enthusiastic and kept us up late working in the shop.

    Don't expect too much from me in this thread, technically or content-wise. My first responsibility is towards the daily business of Parallax. And I'm also using the plug-and-configure-and-play Propeller-based Hoverfly board. There probably won't be much in the way of Propeller code here since I just want to fly a GoPro camera around. If I get comfortable with the mechanical side this could change and I'll step into a Propeller-based DIY system, but not until I see that my mechanics are air-worthy.

    I'll keep a parts list on this thread (second post). Aside from that I'll do my best to make a weekly update. Everybody is welcome to post whatever they want in this thread - I welcome any input along the way. I know that Jason and many others around here like Cluso are way ahead of me and I'm interested in learning.

    Some design choices have been made after research on the RC Groups discussion forum. They've got a super set of threads on QuadCopters.

    The photos below show where I am today.

    Thanks,

    Ken Gracey





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    Ken Gracey | Parallax Inc.| Direct
    : (916) 625-3010 | www.parallax.com

    Follow me on Twitter




  2. #2

    Default Re: Ken's QuadCopter Build Log (don't expect much!)

    UPDATE 2-1-2012: THESE RESOURCES ARE OUTDATED- USE THE PRODUCT WEB PAGE FOR DRAWINGS, BILL OF MATERIALS AND TECHNICAL INFORMATION

    I've posted a draft XLS Bill of Materials below (as a zip since the forums prohibit XLS), updated August 14, 2011.

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    Last edited by Ken Gracey; 02-06-2012 at 06:08 PM.

    Ken Gracey | Parallax Inc.| Direct
    : (916) 625-3010 | www.parallax.com

    Follow me on Twitter




  3. #3
    $WMc%'s Avatar
    Location
    South of haven central, Fl. USA
    Posts
    1,813

    Default Re: Ken's QuadCopter Build Log (don't expect much!)

    Controlling this via WiFi would really be cool.
    __Walt McDonald__


    It's not rocket-surgery
    I see why we don't have any water,All of the pipes are full of wires!
    E=WMc2
    Now with WiFi
    Not in the Spin Bunch
    import RPi.GPIO as GPIO

    ABB M202 certified
    ABB M211 certified

  4. #4

    Default Re: Ken's QuadCopter Build Log (don't expect much!)

    When will the Quickstart proto boards as shown be avaiable?

  5. #5

    Default Re: Ken's QuadCopter Build Log (don't expect much!)

    Wow! That is incredibly inspirational. I'm feeling a huge tug to buy a HoverFly board. What an outstanding product!

    Thanks for documenting the build, Ken.

  6. #6

    Default Re: Ken's QuadCopter Build Log (don't expect much!)

    Dont expect much,from you?LOL

  7. #7

    Default Re: Ken's QuadCopter Build Log (don't expect much!)

    The more I think about this, the better this sounds. A couple years ago I bought some inexpensive carbon fiber arrows from C.A.L. Ranch. I removed the fletching and the tips. Seems to me that criss-crossing two shafts would be the start of a quadcopter frame. Meanwhile, I never could resist the allure of cheap HobbyKing outrunners, which led to a sizable collection of them. A 2.4 GHz spread-spectrum transmitter and two diversity receivers are sitting in a box about 3' away. Seems like we're just one HoverFly board short of a critical mass. The words "moral imperative" keep flitting across my mind.

    It's all Ken's fault.

  8. #8

    Default Re: Ken's QuadCopter Build Log (don't expect much!)

    Quote Originally Posted by K2 View Post
    It's all Ken's fault.
    Your money will mostly go to HobbyKing this time, but we'll be here if you need us

    Can't wait to get home tonight to get this QuadCopter built up. Will stop at the HobbyTown store first to pick up a few more connectors and R/C helicopter landing gear.

    Would be glad to have you on board, K2. That's what I'm hoping for!

    Ken Gracey

    Ken Gracey | Parallax Inc.| Direct
    : (916) 625-3010 | www.parallax.com

    Follow me on Twitter




  9. #9

    Default Re: Ken's QuadCopter Build Log (don't expect much!)

    You have put the bug back in my ear it says "build quad" I thought I got ride of it. Back to the Doctor.

    I purchased an airframe at this years AMA show. But I know my programing skills are not quite up to snuff. So I keep busy learning, more and more everyday. I've read some on Algorithims and Kalman filters. I know what needs to be done but to bring it all together is another story.

    When I am done with my current project I planed on building another robot. But maybe I'll dive in to the Quad. Have to wait and see what the Doctor says.

    I'll be following this thread for sure. Have fun Ken.

    Ron
    I like Pizza.

  10. #10

    Default Re: Ken's QuadCopter Build Log (don't expect much!)

    Ken,
    You guys should sell a "frame" kit with all the laser cut parts and aluminum pieces and hardware. Then people like me could put the parts we got from HobbyKing on there and either buy a HoverFly board or make out own (what I'm doing).
    My main problem with my quadrotor thing is that my frame is terrible.

    Roy

  11. #11

    Default Re: Ken's QuadCopter Build Log (don't expect much!)

    With all of the motors, ESCs, and LiPo battery, wiring is truly a challenge with a quadcopter. In fact, after laying it out and attempting to sandwich it all together I've decided to revise my drawings and go back to the laser cutter. The improvements will add really wide cutouts for wiring and very easy replacement of ESCs and motors. The booms will be moved away from the center another 1/2" and all open up the wiring superhighway in the middle of the chassis. 20-30 16 AWG wire really starts to take up some space. I'd prefer to have more space to work so the body can be taken apart and put back together more quickly.



    No problem wiring up the booms, however. The 5/8" diameter aluminum tubing seems ideal so far - it provides plenty of space for wiring and it's easy to put screws through it without hitting wires.



    Ken Gracey
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    Ken Gracey | Parallax Inc.| Direct
    : (916) 625-3010 | www.parallax.com

    Follow me on Twitter




  12. #12

    Default Re: Ken's QuadCopter Build Log (don't expect much!)

    Very nice. Very professional. You've raised the bar on appearance. I was going to tape black wiring to the black arrow shafts with black tape. After looking at your pictures, I think I'll run the wires inside like you did.

  13. #13
    Cluso99's Avatar
    Location
    Sydney/Brisbane Australia or 'sailing on the high seas'
    Posts
    9,983

    Default Re: Ken's QuadCopter Build Log (don't expect much!)

    Great work Ken. Now you are ahead of me. Damn!!
    I know what you mean about finding the time

    Your frame looks fantastic. It would be great for Parallax to sell this in a kit form.

    I hope you do not mind. Here is what I have, and planning, to use.

    From Hobbyking I have...
    Motors CF2822 (qty 5, 1 is spare)
    ESC HK-20A (qty 4)
    LiPo Battery Zippy 1600mAh 3S1P 11.2V (qty 2)
    LiPo Charger Turnigy 5011
    G.T.Power Battery Meter

    I also have...
    Radio Spektrum DX6i 2.4GHz

    Electronics...
    PCBs ordered (and parts)
    * Cluso's BaseBlade1 (Propeller)
    * Cluso's IoBlade4 (Servo headers)
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    These pcbs are the same size and will either plug together horizontally or stack vertically. They are each 30x45mm and will fit a Hammond 1551G 35x50x20mm box.
    http://forums.parallax.com/forumdisp...ge3&order=desc

    BaseBlade1: Has a Propeller, 64KB eeprom, 3v3 regulator, xtal (socketed for overclocking, typically 104MHz using 6.5MHz xtal) and an optional transistor reset circuit for using a cheap USB-TTL propplug equivalent. An I2C interface is available to connect to the Wii Motion Plus (3 axis gyro) and Wii Nunchuck (3 axis accelerometer), or to an expansion pcb having the gyro, accelerometer, compass, pressure and temperature ICs. Although I have the parts for this, the Wii solution maybe the cheaper option. A propplug or equiv is required for programming.

    IoBlade4: Has 16 Servo 3pin headers (for connection to the Radio and to the motor ESCs). All have separate series protection resistors to the prop and separate 5V links (because usually the ESCs have their own 5V and this needs to be isolated). There is also a servo header for power. Only 12 of the servo headers are connected directly to the BaseBlade1. The other 4 have a header for cabling an extra 4 prop pins (if required). The 12 are defined as: N, E, S, W (drives QuadCopter ESCs), NE, SE, SW, NW (drives 4 more ESCs for Hex or Octa Copter configuration, or for motor control of a camera, etc), and Throttle, Aileron, Elevator and Rudder (from the Radio). The extra connections are labelled Ch5, Ch6, Sp1 & Sp2.
    This pcb has a 14pin header designed to plug into the BaseBlade1 with 5V, Gnd, P0...P11 (or P16-27). The 5V has a link on the pcb and provision for a bulk capacitor. This should be able to fit onto any propeller pcb with a minimum of fuss.

    Mechanics...
    Aluminium tubing for arms

    I have some twin propellers in a few sizes (7"-10"), but no counter rotating ones yet. I have been in two minds about this since counter-rotating (push) are harder to find, but easier to use.
    My Prop boards: CpuBlade, TriBlade, RamBlade, www.clusos.com
    Prop Tools (Index)
    Emulators (Index) ZiCog (Z80)
    Prop OS (also see Sphinx, PropDos, PropCmd)

  14. #14

    Default Re: Ken's QuadCopter Build Log (don't expect much!)

    Quote Originally Posted by Roy Eltham View Post
    My main problem with my quadrotor thing is that my frame is terrible.
    The fine folks at Hoverfly strapped four motors to a FedEx box and flew it around the office. You could improve their design by using basswood sticks to extend the motors well past the edge of the box. The box made a very handy place to stick all the electronics.

    @Ken - Not to worry about me spending money elsewhere. I'm taking kapteinkul's AVR code and adapting it to the Propeller.

    @ Cluso - What a brilliant choice of motors.
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  15. #15

    Default Re: Ken's QuadCopter Build Log (don't expect much!)

    Running the wires thru the frame will help somewhat with crash protection issues... Not that yer gonna crash,
    it's just that I heard somewhere, "what goes up, must come down"..

    Murphy's law plus gravity, equals a dent on the hood of your car, or your neighbor's car,(depending on your current karma status of course.)

    Looks like a really fun project, four spinning blades, plenty of horse power, and tethered only by radio waves thru the air... this is gonna be cool.

    -Tommy

  16. #16
    $WMc%'s Avatar
    Location
    South of haven central, Fl. USA
    Posts
    1,813

    Default Re: Ken's QuadCopter Build Log (don't expect much!)

    I sure wished Murphy would have been into writing debuggers instead of laws of probability.
    '
    I hope Ken has a garage too.
    '
    I have 40 acres and finding the cows can be a chore.( I have a lot of tress too)
    '
    This project along with a small wireless camera would be perfect for checking on the cows!
    '
    I'll wait on the out come of this project before I proceed.( I don't have a high$$$ laser cutter )
    '
    '
    Heres a camera option Ken.
    '
    This camera is very small & light and it has a good range. Color/audio too.Runs on 8 voltsDC or a 9volt Batt.
    I use this on My BOE-Hog mower.
    '
    link for the mini cams 2.4GHz $39.95
    http://www.raidentech.com/24ghzmiwicoc.html
    Last edited by $WMc%; 07-30-2011 at 08:26 PM.
    __Walt McDonald__


    It's not rocket-surgery
    I see why we don't have any water,All of the pipes are full of wires!
    E=WMc2
    Now with WiFi
    Not in the Spin Bunch
    import RPi.GPIO as GPIO

    ABB M202 certified
    ABB M211 certified

  17. #17

    Default Re: Ken's QuadCopter Build Log (don't expect much!)

    Glad to see you playing Ken!
    Whit+

    "I love to work on problems that are hard, because I love to learn." - Sebastian Thrun

  18. #18

    Default Re: Ken's QuadCopter Build Log (prelimnary BOM posted)

    Hey there,

    Thanks for sharing. Cluso99 - got the e-mail and "yes, that would be great!".

    Since I started this project last week I assembled a full system but found out that my material was black opaque acrylic, not delrin. The shop guys had peeled off the paper so the two materials looked very similar. When I started to assemble the chassis parts were cracking and that was my first clue, with the second being a lack of flexibility. This morning Matt cut me a new set of parts from delrin and everything is much better.

    I took the opportunity to make a new drawing and take some serious weight reduction gains by opening up a bunch of the chassis. This had the additional benefit of making the wiring really easy - there's plenty of room to organize wires the way I want them, quickly, and to replace an ESC or motor with less than 10 minutes of headache.

    Tonight I'm staying late at Parallax to set up the radio and Hoverfly board. I think I'm within 3-4 hours of a bench test and initial configuration.

    Will be sure to do nothing too exciting without a video camera nearby!

    Ken Gracey





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    Ken Gracey | Parallax Inc.| Direct
    : (916) 625-3010 | www.parallax.com

    Follow me on Twitter




  19. #19

    Default Re: Ken's QuadCopter Build Log (prelimnary BOM posted)

    Looking good, Ken, can't wait to see the video of a flight.

  20. #20

    Default Re: Ken's QuadCopter Build Log (prelimnary BOM posted)

    Quote Originally Posted by Ken Gracey
    ... found out that my material was black opaque acrylic ... When I started to assemble the chassis parts were cracking ...
    I'm glad I'm not the only one with that problem!

    That thing's really coming together nicely, Ken. How did you determine how long to make the rotor arms? Is the QC less twitchy to control, the longer they are?

    -Phil

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