Ian Hua / Quadcopter-mbedRTOS

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1 Build

Table of Contents

  1. Introduction
  2. Partslist
  3. Sensors
  4. Frame
  5. Propulsion
  6. Electrical
  7. Radio

Introduction

Quadcopter (X-Mode) using RTOS.

Insert picture of build

Control loop: PI-PI.

D Gain will not be used as data is noisy and caused instability shortly after liftoff.

Partslist

Sensors

  • TiltyQuad
    • InvenSense MPU6050
    • HMC5883L
    • MPL3115A2
    • Onboard voltage divider for voltage sensing

Frame

  • Hobbyking SK450
  • Custom 3D printed motor mounts
  • 5.5mm thickness vibration-absorbing foam

Propulsion

  • 4x Hobbyking Blue 30A ESC, flashed with SimonK firmware
  • 4x Turnigy D2826/950kV motors
  • 2x LH 10x4.5 props
  • 2x RH 10x4.5 props

Electrical

  • 1x Turnigy 1000mAh 20C Lipo (Entire control logic uses 300mA peak)
  • 1x Zippy 5000mAh 30C Lipo
  • 1x Turnigy 5A max Low RF Noise BEC

Radio

  • 1x HC-05 Bluetooth (TiltyQuad IMU)
  • 1x Turnigy 9x v2 9 channel receiver
  • 1x Turnigy 9x v2 9 channel transmitter, flash with OpenTX and running lipo pack
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