Quad Rotor control with mbed

Here is a video of it flying while being held down /media/uploads/Ryan/img_0735.mov

List of Parts

Q450 Glass Fiber Quadcopter Frame 450mm - Integrated PCB Version
HobbyKing ECO6 50W 5A Balancer/Charger w/ accessories
Turnigy dlux 20A SBEC Brushless Speed Controller w/Data Logging (2s4s)
Turnigy 3300mAh 3S 30C Lipo Pack "I changed this to a 2,200mAh 4S battery"
NTM Prop Drive Series 28-26A 1200kv / 250w

Specs

Stable flight is some where around 0.00139ms pulseWidth and it pulls 14.7amps so 2,200/1000/14.7*60= about 8.97 of flight time.

Files at this revision

API Documentation at this revision

Revision 0:fe6280c7a52f, committed 2012-08-17

Comitter:: Ryan
Date:: Fri Aug 17 14:18:42 2012 +0000
Commit message:: Finished

Changed in this revision

main.cpp	Show annotated file Show diff for this revision Revisions of this file
mbed.bld	Show annotated file Show diff for this revision Revisions of this file

diff -r 000000000000 -r fe6280c7a52f main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Aug 17 14:18:42 2012 +0000
@@ -0,0 +1,66 @@
+#include "mbed.h"
+#include "stdio.h"
+#include "stdlib.h"
+#include "string"
+AnalogIn Volts(p20);
+PwmOut BLDCM1(p21);
+PwmOut BLDCM2(p22);
+PwmOut BLDCM3(p23);
+PwmOut BLDCM4(p24);
+Serial pc(USBTX, USBRX);
+
+//red right p21
+//blue right p22
+//white left p23
+//red left p24
+
+// -----------> Make SURE!! each ESC is grounded on mbeds ground!!!!!!!!!! <------------
+
+
+float val;
+
+int main() {
+    val =0.001;
+    // Most ESC take standard servo commands so that is a 50hz signal and listens between 1ms and 3ms pulsewidth
+    BLDCM1.period_ms(20);
+    BLDCM2.period_ms(20);
+    BLDCM3.period_ms(20);
+    BLDCM4.period_ms(20);
+    ////////////////////////////////
+    while (1) {
+
+
+        //Initailize motors
+
+       if(pc.readable()){    
+       switch (pc.getc()) {
+            case 'u':
+                val += 0.00005;
+                break;
+            case 'd':
+                val -= 0.00005;
+                break;
+            case 'w':
+                val += 0.00001;
+                break;
+            case 'x':
+                val -= 0.00001;
+                break;
+            case 's':
+                val = 0.001;
+                break;
+            case 'm':
+                val = 0.0018;
+                break;
+        }
+        }
+           
+        BLDCM1.pulsewidth(val);
+        BLDCM2.pulsewidth(val);
+        BLDCM3.pulsewidth(val);
+        BLDCM4.pulsewidth(val);
+        wait(0.25);
+        pc.printf("Volts (%f) Pulsewidth (%f) RPM (%f) \n",(((val*1000)*12)),(val),(((val*1000)*1200)));
+
+    }
+}
\ No newline at end of file

diff -r 000000000000 -r fe6280c7a52f mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Fri Aug 17 14:18:42 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/737756e0b479
\ No newline at end of file