Let's Make Robots!

Quadcopter


Finally got around to starting the write up for my quadcopter :)

bought most of the parts from hobbyking:
the frame:

http://www.hobbyking.com/hobbyking/store/__22781__Turnigy_Talon_Quadcopter_V2_0_Carbon_Fiber_Frame_550mm.html


The motors:

 http://www.hobbyking.com/hobbyking/store/__26961__Turnigy_Multistar_4830_480Kv_22Pole_Multi_Rotor_Outrunner.html

 

The ESC's:

http://www.hobbyking.com/hobbyking/store/__13429__HobbyKing_30A_BlueSeries_Brushless_Speed_Controller.html

 

Camera tx/rx:

http://www.hobbyking.com/hobbyking/store/__15295__Boscam_5_8Ghz_200mw_FPV_Wireless_AV_Tx_Rx_Set.html

 

Cameras:

http://www.hobbyking.com/hobbyking/store/__11977__1_3_inch_SONY_CCD_Video_Camera_PAL_.html

 

 

Decided to make my own electronics. A small 4 layer board for the quadcopter, with accelerometer, gyroscope, compass, GPS, pwm drivers etc. I also made a board with a small LCD touchscreen attached for use in the controller. This also has GPS, accelerometer, and compass.

The Quadcopter uses the same ARM chips I have used before,

 

 

 

The quadcopter has dual front cameras, I was vaugely thinking to make a program to use the oculus rift for 3D fpv, but i'm not sure I will ever get around to it :) I was also thinking I could include the head tracking feature of the rift to move the cameras :)

 

The controller:



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Interesting project, cool to see you made a zigbee controller for it.  I'm curious if you're going to run something like FreeRTOS on the STM32 (I'm assuming STM3420 is a typo).

Hope to find out more about it :)

Some things I hope to see (in case you're interested):

  • current state of the project
  • software architecture and code (ideally via online repository)
  • what tools/IDE you're using for development (I'v mostly used CooCox w/ an STlink-v2 for JTAG)
  • and of course a video of it tearing around

 

yes, that was a typo on the chip type :) I'm planning to add more later, but a bit swamped at the moment with uni work :(

the chip isn't running an operating system. Im using something called BIDE for development, its a fairly simple code development environment.

I am still in the process of writing the code to keep it stable, so it hasnt flown properly yet...

Im using the XBEE as a serial link, and at the moment just sending 5 bytes, 1 header, and 4 data, but this can be expanded as necessary. At the moment, its only sending the position of each gimbal, but with time will probably want to add sensitivity, gps position, and control state etc.

That is a single large antenna, I have totaly based that aspect upon guesswork, as I havent had space to test it out yet. 9dB antennas get a fair way with the XBee modules, so I expect that antenna should give a fairly decent range (its 19dB)

I havent looked into 3D cameras too much, but I guessed it would be easiest to give them the same spacing as my eyes, but I will have a read up and a bit of a play about on it :)

Cool, I wasn't able to dig up much on bIDE but I recomment getting an STlink JTAG debugger for $25 (at least thats what they used to cost) and getting up and running with hardware debugging, its bliss to have once you're debugging a large project.

the BIDE is something that is being developed by BEAM ltd. ARMsys is pretty much all the c++ classes for the STM3240, and Bide is the editor they have made.

The armsys and the pcb I have built already supports debugging over usb-serial to a PC, so does all i need already :)