ELECINF344/381

Partie interactive du site pédagogique ELECINF344/ELECINF381 de Télécom ParisTech (occurrence 2011).

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Copterix : First outdoor flight

We can now control the attitude of our copter with the RF remote control. We have also implemented the possibility of turning on/off the motors directly with the RF remote control. Bertrand has made a script for running all the control tasks at boot. We can thus take control of our Copter as soon as the gumstix has started and is running Linux, without using any SSH connexion.

Then, we took the Copter outside for a first flight in real conditions. We succeed in taking off, but I wasn’t very comfortable with it. Then, we had a big crash: Bertrand accidentally put the thrust too high at the takeoff. The Copter overturned and damaged/broke some propellers. Fortunately, we put a protection onto the motors’ boards yesterday. They thus don’t seem to have suffered damages. Here are some photos after the crash. (Photos are from Samuel Tardieu)

the broken propeller... what a shame.

Crash of the 22th April, 2011

 

Tomorrow, we’ll try to improve our PID algorithm for pitch, yaw and roll, and then we’ll probably work on the Kanade algorithm, for X and Y control loop.

Sur le même sujet :

  1. Copterix: First flight
  2. Copterix has had a harsh day
  3. Copterix: motors control, 1st test
  4. Copterix : it’s hard to calibrate a PID.
  5. Copterix : PID on the way

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