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1  Community / Exhibition / Gallery / Re: BlueCopter - Arduino Quadcopter on: May 23, 2014, 07:09:51 pm
One thing I noticed is that it would not hold altitude at a constant throttle position. I needed to constantly correct for its tendency  to drift up or down. Perhaps this is normal, or my own inexperience.

It shouldn't drift.. The reason? Well, could be your RX..

Also, after debugging the RX, the motors do not stop at zero throttle. I must trim the throttle down a couple notches for all of the motors to stop twitching and spinning. I tried setting the minimum throttle value in config.h to just over the actual minimum, but this didn't help. What should I do to ensure that the motors stop when I set the throttle to zero?

That's because you arm/disarm the motors with the throttle... So the motors stop when the throttle signal is bellow 1100ms (standard value in firmware).. Maybe you need to put another value in your case..

Where in the code do I set "rate mode"?

Rate mode is controlled by AUX2 (it's a switch on my RX controller and equals to channel 5 in this case).. You can set it manually by changing the variable rateAngleSwitch.. If you set it to 0 then it's angle mode and 1 equals to rate mode..

My rudder control is nearly unresponsive, do I need to calibrate the yaw PID values to increase the gain?


2  Community / Exhibition / Gallery / Re: BlueCopter - Arduino Quadcopter on: May 19, 2014, 10:06:44 am

The 265 for the Z axis is just the maximum number that you can get when your quadcopter is leveled.. So I just asked you to calculate how much your current value deviates from that number and compensate for that..

Hi, Basel!
Just a small question - why 265(not 256) for the z axis compensation?
Is is something related to supply voltage?

Read the datasheet for ADXL345.. There you'll find that the z-axis is 265 at 1g..

3  Community / Exhibition / Gallery / Re: BlueCopter - Arduino Quadcopter on: May 18, 2014, 04:49:53 pm
I have not attached propellers to my quad because I am still testing the control setup before I can calibrate the settings.

Is there a step-by-step process from uploading the code, pairing the transmitter, and calibrating to finally taking a test flight?

Is config.h the only method to set the signal values and calibrate? Is there an automatic calibration mode to set stick throws as one would calibrate an ESC, or must all calibration be done manually by altering config.h values?

After uploading the sketch to the 5V Pro Micro, everything seems to be working except for the controls. The motors will spin, but they do so at strange levels of throttle. One motor only spins when at full throttle, another only spins when at zero throttle.

Yes, it's only manually through config.h.. I won't answer the rest of the questions because I've already answered them 1000 times in this thread.. Please read through it..

4  Community / Exhibition / Gallery / Re: BlueCopter - Arduino Quadcopter on: May 16, 2014, 10:39:08 am
Hello everyone!

I recently burned out my KK2 multirotor controller (it was quite an impressive fizzle). While I wait for my replacement board to arrive from China, I wanted to see if I could use one of my Arduino Pro Micros to drive my motors.

I have a 3.3V Pro Micro and a 5V Pro Micro. Which sould I use for this project? I want to use hardware that is the same as Basel's so that I can be up and flying as soon as possible. Will this IMU work?

Thanks for your help.

It would be nice to assemble a list of functioning builds from this thread. Basel only listed his hobbyking parts list so I'm not entirely sure what IMU package he uses other than the adxl345 and L3G4200D are on the board. If everyone who got a BlueCopter running could post their components list and link to their custom code, that would be awesome!


I've used the Pro Micro 3.3V on a smaller quadcopter without any problems.. If your using a ESC in your quad. then go ahead and use the 5V version, it will work mostly out of the box. That IMU is the same as mine.. So go ahead and get one of those.. Other people posting their modification is a fantastic idea.. I've tried talking to them but they are clearly not that keen on sharing like the rest of us  smiley-sad-blue .. Many of the successful ports/modifications of my code has been made by University students as their "thesis" and maybe explain why they didn't share their results.

5  Community / Exhibition / Gallery / Re: BlueCopter - Arduino Quadcopter on: April 17, 2014, 07:28:31 am
If i can like for you 1000 times, i would do it  smiley-lol smiley-lol , i am so excited to do this project. i have only small question :
1. can i use the Arduino Yun to be the brain (flight control)

thank you again for this post and video, because i see some arduino with quadcopter but it is not successful, you are exceptional  smiley-cool smiley-cool smiley-cool

Thank you.. That's kind of you =).. But still there is a lot of good arduino based quadcopters out there.. There is for example the MultiWii and ArduCopter which are two of the biggest/best code/platform for arduino..

I have never used the Arduino Yun.. But my short answer is: if it's fast enough then it will work.. But yet again, you'll have to do the research yourself.. Look up the differences between the Leonardo and Yun (in hardware that is).. But if I know the arduino folks right then I'm sure it will be compatible..

6  Community / Exhibition / Gallery / Re: BlueCopter - Arduino Quadcopter on: April 11, 2014, 12:20:41 pm
  will you please tell me what is rxval in the programme?????is it a receiver's value.if it is then what are those no.{1500,1500,1500,0,0,1000} are indicating???thank you.
Hello =)

They're indicating how long the HIGH proportion of the signal is in milliseconds. 1000 ms equals zero and 2000ms equals 100% (for the throttle)..

7  Community / Exhibition / Gallery / Re: BlueCopter - Arduino Quadcopter on: March 27, 2014, 09:30:27 am
Hi Basel,
I have been trying to build my own quadcopter for a while. I am a newbie and using your code (thanks a lot for your code). I organized your code for myself but I have some problems. (By the way I am using UNO)

Could you please have a look at my code and share your opinions with me.

My problems are unwanted receiver pulses and the IMU readings. I get radio signals very good but it pulses unwantedly. Secondly, I am using Pololu minIMU9. I can use it while motors are off but when motors run, vibration affects it very badly. I used mean average but it still doesn’t work.

(Note: I am sorry for my Turkish comment, but if you need explanation I will.)

Best regards,

I'll take a look at the code a little later.. It would be easier if you could provide some debug-data (show me the outputs inputs when it's running okay and when the problems occur).. The IMU giving irratic response after the motors are running sounds like bad grounding/noise from the motors affecting the IMU or as you said vibrations.. I can't really specify where it is coming from because you didn't provide me with any pictures/connection diagrams.. One reason could be that the battery (minus) is very near the IMU GND.. A capacitor may solve this or a long wire.. If it's vibration try putting a foam (like the one that comes with electronic components) under the IMU to dampen the vibrations..

8  Community / Exhibition / Gallery / Re: BlueCopter - Arduino Quadcopter on: March 26, 2014, 10:07:03 am
Hi, Basel!
Some questions to You:
1)In Your PID library there is a term dError. What does that stands for? Is it a gyro drift error or derivative error?

2)I am looking at Your Flight Control scheme and I see that Roll and Pitch inputs are +/-30deg. According to Your config.h, aren't they +/-15 deg?

1) It's not the gyro drift.. It's just simply the derivate of the angles (which is simply the gyro values deg/s).. The reason for me doing it that way is because I need some kind of damping for the D-term on the receiver side.. Think of it, sometimes you decide to rock the joystick fast and sometimes slow.. So what I did is implement a damping term that compensates for that (to be able to control the quad. without fluctuations)..

2) Well, you got me there =).. The control scheme is old (I changed a couple of these values, but still the scheme is the same).. The reason is because 30 deg tilt angle was too much.. So I decreased it to 15 deg after a couple of scary flights =) ..

I hope that I answered your questions to your satisfaction =)!

9  Community / Exhibition / Gallery / Re: BlueCopter - Arduino Quadcopter on: March 25, 2014, 09:23:43 am
@Basel, Please help me . One interrupt is working and the other is not. Aux2 is working and throttle is not.

Some Arduino IDE versions had some problems with interrupt on pin 7 (i think, this is just out of my head, I'm still at work smiley ).. Update your Arduino IDE to at least version 1.0.5 and try again.

10  Community / Exhibition / Gallery / Re: BlueCopter - Arduino Quadcopter on: March 18, 2014, 01:19:08 pm
Really having trouble understanding the problem.. I'll assume nothing is working.. What you should do is to forget about my code for the moment and try to make the IMU and receiver work.. Read through this thread.. I've explained how these signals look like and even provided arduino code to test the different functions.. My MPU library even includes a example that should work for the acc and gyro.. So you can test the different functions before jumping in to my code.. If you can't solve these problems on your own then maybe this project is still too complicated for you.. Read read read, run all the different examples and then and only then try to tackle this project..

11  Community / Exhibition / Gallery / Re: BlueCopter - Arduino Quadcopter on: March 18, 2014, 09:29:08 am
I can't seem to set my connections with the receiver can you tell me exactly how to connect the esc's and the receiver channels?
one more thing the MPULib has the address of Accelerometer as 0x53 whereas the i2c library has 0x3b. i'm confused as to what to use and that's why can't make it work.
Please can you help step by step. Thanking you in advance, i'm totally new to this.
Did you even look at the first post of this thread? There is a picture showing the connections.. The adress of the acc and gyro depend on some adress pins.. Read the datasheet and compare with your imu..

12  Community / Exhibition / Gallery / Re: BlueCopter - Arduino Quadcopter on: March 18, 2014, 06:38:16 am
@Basel thank you for all your efforts but i have a problem. I'm using 6DOF sensor instead of 10DOF. What are the changes that i'll have to make in the code to make it work.
And one more thing, i can't seem to understand the connections of the receiver, i'm using arduino leonardo.
Please help.

if it's the same accelerometer and gyrometer then all you have to do is remove the initialization of the magnetometer from the library and you're set to fly =)!.. What's the problem with the connections of the receiver?

13  Community / Exhibition / Gallery / Re: BlueCopter - Arduino Quadcopter on: March 18, 2014, 05:41:14 am
@kadirsevil: Yes, the library is outputting the gyro measurements in deg/s.. RX_expo is a smoothing function for the RX signals.. The reason for the smoothing is to get a smooth response from the PID's.. Some people have built in RX expo's in their receivers, so I made it optional..

14  Community / Exhibition / Gallery / Re: BlueCopter - Arduino Quadcopter on: March 04, 2014, 02:13:05 pm
@Satiro: Thank you for posting your awesome results =)! The simulator is actually a good idea! I had to do it the hard way! Changing a lot of propellers (because of crashes =) )..

@praveen713268: It won't work out of the box.. You need to re-write it to work with MPU-6050 (ACC/GYRO COMBO).. If you manage to do that I'm sure it will work..
I think xbee needs Serial to work.. The Serial pins in my code are used by the receiver .. So again it won't work out of the box.. You'll have to write something on your own.. I'm not sure what you want to do with the ultrasonic sensors.. Do you want to use the ultrasonic sensors to sense how close your quad is to walls perhaps? In that case, again, it's not supported in my code but I'm sure you can write something to make it work..

15  Community / Exhibition / Gallery / Re: BlueCopter - Arduino Quadcopter on: March 03, 2014, 05:57:23 pm
I found all my decimal points as you did.. By averaging a bunch of values.. I'm a freak of numbers, you don't actually need that many decimals.. I've tried analyzing the data you provided.. First off, I think that you don't have your motors on (because your gyro and angles aren't moving).. The dependency between your receiver and PIDroll, PIDpitch and PIDyaw looks normal.. Still I can't see what or where the problem is.. Try turning on the motors and hover the quadcopter (I assume that you will tie it down somehow, be careful)... Put it in Angle mode let it just hover don't move the joysticks and log the data as you did before.. And post it here..

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