Saturday, 27 August 2016

Hexacopter MK3 - Updates

After some more test flights and some more crashes I have made some additional changes to the 3d printed parts.

Primarily two items:
  1.  Beefed up the Hub slightly to allow for less flex
  2. Added location rods to the end motor mounts to ensure positive lock. I had super glued the motor mounts to the arms however with the vibration they could come loose and cause havoc to the copters flying characteristics :(.

Hub Changes:

Old/New (Orange)
Running FEM analysis suggested a 20% increase in strength just by increasing the filet radius.

Motor mount changes:

Location pin through top of arm securely locks the motor mount in place.

Some pics...


Hub Modififications

After 10 hours of flying the arms started wobbling in the hub. Vibration caused the aluminum pegs to enlarge the holes in the carbon arms. New design gets rid of movement between the arm and the hub.

Friday, 8 July 2016

Navio2 Install & Updates

sudo apt-get update && sudo apt-get dist-upgrade
sudo apt-get update && sudo apt-get install apm-navio2 

Monday, 20 June 2016

Navio2 Wifi Config

Navio2 Wifi

I have a Raspberry Pi 3 and have configured the onboard Wifi module to talk to my home network.
The second Wifi dongle will be used in the field for Telemetry. No idea what the range will be yet...



#!/bin/sh -e
# rc.local
# This script is executed at the end of each multiuser runlevel.
# Make sure that the script will "exit 0" on success or any other
# value on error.
# In order to enable or disable this script just change the execution
# bits.
# By default this script does nothing.

# Print the IP address
_IP=$(hostname -I) || true
if [ "$_IP" ]; then
  printf "My IP address is %s\n" "$_IP"

sudo ArduCopter-hexa -A udp: -C /dev/ttyAMA0 > /home/pi/star$
#sudo ArduCopter-hexa -A udp: -C /dev/ttyAMA0 > /home/pi/star$

exit 0

 # interfaces(5) file used by ifup(8) and ifdown(8)

# Please note that this file is written to be used with dhcpcd
# For static IP, consult /etc/dhcpcd.conf and 'man dhcpcd.conf'

# Include files from /etc/network/interfaces.d:
source-directory /etc/network/interfaces.d

allow-hotplug lo
iface lo inet loopback

allow-hotplug wlan0
iface wlan0 inet dhcp
    wpa-conf /boot/wpa_supplicantwlan0.conf

allow-hotplug wlan1
iface wlan1 inet dhcp
    wpa-conf /boot/wpa_supplicant_adhoc.conf

allow-hotplug eth0
iface eth0 inet manual

ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev

        psk="My Wifi Key"


ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev


Monday, 30 May 2016

Initial Setup of EMLID Navio2

Initial Setup of Navio2

Had some trouble getting PWM to PPM to work correctly in Ardupilot Flight Planner, all working once APM 3.4-dev was installed on the Pi.

FS-IA10 -> S2PW Signal Converter Module -> EMLID Navio2 (Raspberry Pi 3).

Useful command to read throttle setting from the Raspberry Pi,

sudo cat /sys/kernel/rcio/rcin/ch2

Tuesday, 8 December 2015

Mini Quad Rebuild 10mm arms

Mini Quad Rebuild 10mm arms

The original 9mm pultruded carbon fiber tubes were cheap tubes with no tortional strenght one crash and they cracked length wise. (unidirectional fibers)

The 10mm tubes are role wrapped and have much more torsional strength.

New motor ends needed to be 3d printed from PLA, luckly drilling out the central hub arm holes from 9 to 10mm went well using a bench press.

 The motors, distance between the holes is just under 10mm which means the tubes and the 3mm bolts have a bit of an interference fit.

Printed bungs on the ends of the tubes to help support the compression force when the motor ends are placed. 4mm Aluminum pegs fix the arms into the central hub.

4x 3mm bolts (22mm long) compress the two parts onto the end of the arms and fix the motor.