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1  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..

2  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)..

3  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..

4  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 =)!

5  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.

6  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..

7  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..

8  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?

9  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..

10  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..

11  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..

12  Using Arduino / Project Guidance / Re: Arduino Quadcopter with Android via Bluetooth on: March 03, 2014, 04:36:01 pm

Now to begin with I have no problems getting personal messages.. But If you think that I'm the right guy to help you with your problem then a brief message together with a link to the thread you've posted is fine, not more, not less..

Now a project like this isn't easy to tackle if you don't know/understand math and physics.. But anyhow here is my 50 cents:
The equation you've posted is obviously for + (plus) configuration, (how do I know that, you may say?).. In the X-configuration you utilize all of the motors during any axis change, meaning, if you change the Pitch then all motors will have to compensate for that change.. For example: If we tilt forward (two front motors will have to decrease their throttle and the two back motors will have to increase).. If you look at the equation you've posted you can clearly see that if you change the pitch then you'll change the throttle of only two motors (indicating that it's a +-configuration).. Not to be rude or anything.. But it sounds like you haven't done your research.. Begin by reading about these equations and how people more or less have done it essentially.. You can also look at my code, because it is written in a simple way for quadcopter-beginners to understand..

Here is a link to my code:
And here is a link to my quadcopter( BlueCopter) thread, where I'm sure you'll find a lot of answers to a lot of beginner questions.. Be sure to read through the entire thread before posting any further questions.. :

13  Community / Exhibition / Gallery / Re: BlueCopter - Arduino Quadcopter on: March 03, 2014, 04:16:50 pm
@neinteresee: It sounds like you're having some problems with your calibrations.. The PID shouldn't start increasing/decreasing by its own..  It could also be that your RX (transmitter/receiver) is transmitting something that isn't zero (corresponds to a signal of 1500ms), thus explaining your fenomenon.. I can't really say anything more than this based on the information you've provided..  Satiro is finished with his quadcopter, he even sent me a video showing of the quadcopter first flight during his thesis presentation.. The quadcopter flew without any problems as far as I could see.. I don't know if it's okay to post his video without his permission, so if your still reading this thread Satiro, will you please post your video here..

@dizzwold: Based on the information you've provided it doesn't sound like you're ready for a project like this.. This project isn't for beginners (I'm sorry to say).. I would love to help you, but that would be a full time job in this case.. Try out something simpler to begin with.. When you're ready, read about quadcopters (dynamics and how other have done it etc etc.. There is a lot of information about this topic on the internets!).. When you're a arduino guru, start looking at my code and understand it.. If you've got further questions after that, then I'll be happy to help..

14  Community / Exhibition / Gallery / Re: BlueCopter - Arduino Quadcopter on: February 16, 2014, 11:31:08 am
shoot... I was planning on using one of the Arduinos that operates on 3.3V, is it necessary for me to have 5V too? Should i just connect 3.3V to both?

In that case connect both to 3.3V yes..
15  Community / Exhibition / Gallery / Re: BlueCopter - Arduino Quadcopter on: February 16, 2014, 10:12:52 am
hey basel, I recently got my hands on what I think is the same IMU you've described in your first post...
so do I just need to use 4 wires (vin/gnd/sda/scl), or do i need to ground the rest of the pins?

Hey, You can keep them floating.. Just make sure that Vin is coupled to 5V and V3.3 is coupled to 3.3V..

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