Presenting the tricopter or third time is a charm
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Presenting the Tricopter (or Third time is a charm)
Luis Correia (@luisfcorreia)
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Presenting the Tricopter
in the beginning there was an idea
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Presenting the Tricopter
then a bi-copter was created
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Presenting the Tricopter
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Presenting the Tricopter
but it didn’t fly
explained in my first talkhttps://codebits.eu/intra/s/session/187
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Presenting the Tricopter
the next year, it evolved
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Presenting the Tricopter
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Presenting the Tricopter
but it didn’t evolve enough to fly
explained in my second talkhttps://codebits.eu/intra/s/session/251
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Presenting the Tricopter
drastic measures were taken!
the tricopter was born
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Presenting the Tricopter
design is based on David Windestål’stricopter v2.5
http://rcexplorer.se/projects/2011/09/the-tricopter-v2-5/
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Presenting the Tricopter
image © 2012 Basílio Vieira
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Presenting the Tricopter
The Setup
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Presenting the Tricopter
motors paired with correct propeller size,coupled with proper 3S battery
(Hextronic DT700 + APC slowfly 11x4.7 + Turnigy 3S1P 2200mAh)
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Presenting the Tricopter
rear motor tilts via a strong metal gear servo, with a ball set linkage
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Presenting the Tricopter
integrated flightboard, using same processor and gyro+accel sensor
(atmel atmega 328p + MPU6050)
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Presenting the Tricopter
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Presenting the Tricopter
FRAME
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Presenting the Tricopter
aluminum arms, fiberglass chassis
actually, the “chassis” is a fiberglass PCB from a Cisco empty plane filler
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Presenting the Tricopter
all wires go through the aluminum arms,clean and elegant cable routing
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Presenting the Tricopter
ELECTRONICS
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Presenting the Tricopter
ESC’s are near the motors,powered directly from battery connector
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Presenting the Tricopter
DC-DC converter is used to supply +5Vto flightboard, RC remote receiver,
bluetooth module and camera
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Presenting the Tricopter
YAW servo is powered by rear ESC,preventing noise on the +5V line
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Presenting the Tricopter
LANDING GEAR
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Presenting the Tricopter
several attempts were made
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Presenting the Tricopter
cardboard “wood”:FAILED
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3D printed landing gear:FAILED
my design http://www.thingiverse.com/thing:147475,image from user http://www.thingiverse.com/knightshado
Presenting the Tricopter
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Presenting the Tricopter
IKEA GLIS plastic boxSUCCESS!!!
http://www.ikea.com/pt/pt/catalog/products/20047450/
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Presenting the Tricopter
choosing a box as a landing gear is awin-win-win solution, lowers the CG,
holds the battery and HD camera
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Presenting the Tricopter
(now, take a deep breath)
let’s fly it for a little bit
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Presenting the Tricopter
HELPFUL TIPSfor building your own
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Presenting the Tricopter
Configuring Electronics
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Presenting the Tricopter
Electronic Speed Controllers (ESC’s), always buy them preflashed
with SimonK firmware
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Presenting the Tricopter
ESC’s - please do RTFM
ALWAYS!!!
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Presenting the Tricopter
ESC’s - configure throttlemin and max range
(don’t argue, DO IT!)
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Presenting the Tricopter
ESC’s - check additional parameters
(like LiPo/NiMH battery type)
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Presenting the Tricopter
ESC’s - check the motor’s directionclockwise or anti-clockwise
WITHOUT THE FRACKING PROPS ON(use a piece of tape)
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Presenting the Tricopter
Flight board
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Presenting the Tricopter
choose wisely, don’t buy the cheapest one!ask your friends and do some research!
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Presenting the Tricopter
minimum sensors required:gyroscope (flight)
gyro + accelerometer (stable flight)
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Presenting the Tricopter
full sensor board includes barometer,compass, GPS, gyro and accel
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Presenting the Tricopter
choose a tried and tested flightboard,identify it in MultiWii config.h
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Presenting the Tricopter
start with standard PID values,adapt if needed
(don’t fsck it up)
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Presenting the Tricopter
RC Remote controller
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Presenting the Tricopter
almost anything works, but pleasebuy one with at least 6 channels
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Presenting the Tricopter
use channels 5 and 6 forenabling other functions
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Presenting the Tricopter
TEST ITS RANGE BEFOREGOING OUT AND FLY
(nothing is worse than losing control)
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Presenting the Tricopter
use LiPO battery pack instead of non-rechargeable to power it
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Presenting the Tricopter
trim it before going out flying
(you can fine tune it in the air, if needed)
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Presenting the Tricopter
Battery
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Presenting the Tricopter
I use 3S1P LiPO 2200mAH
(but feel free to choose your own)
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Presenting the Tricopter
battery choices depend on a lot of variables,frame weight, expected flight time
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Presenting the Tricopter
the elusive “C” rating is important,the more, the better
(but watch out for price hike)
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Presenting the Tricopter
“C” rating means sustained peak currenta 2200mAH, 35C battery can supply
77A for a “while”
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Presenting the Tricopter
always use battery monitorwith LOUD beeper
(assistants do it, please)
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Presenting the Tricopter
to wrap up:
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Presenting the Tricopter
research, research, research, research, use simulation software, use tested parts,ask your friends, ask in forums, read wikis
thenfly low and slow, don’t be an asshole
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Presenting the Tricopter
let’s fly!
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Presenting the Tricopter
and you can ask me
(the end)