Update Feb 25 2012: Warning, I may have discovered a bug inside the CadSoft EAGLE 6.1.0 software that may make the PCB look slightly different. My design files are meant for 5.11 so use that instead. You have been warned.
- X mode flying
- MPU-6000 gyro & accelerometer sensor for flight stabilization
- USB battery recharging on the transmitter, the copter plugs into the transmitter to recharge
- When the copter plugs into the transmitter, the user can synchronize to a random radio frequency
- Controlled using a Wii Classic Controller, which plugs into the transmitter
- Running a modified MultiWii firmware, which is open source, written with Arduino and Processing
- Square center body is 1.5" by 1.5"
- Propellers are about 45mm in diameter
- Diagonal motor to motor distance is 110mm
- Motors are supposedly "X-Twin" spare motors, they come with the propellers
- Flight battery is a single Li-poly cell, 3.7V, 350mAH, 20C
- Controller battery is a single Li-ion cell, 3.7V, 1000mAH
- Uses ATmega128RFA1 microcontroller for both copter and transmitter
- This particular ATmega has a built-in 2.4GHz transceiver, 16 possible channels, 250kbit/s or 2mbit/s max depending on the standard being used.
- The "arms" and "body" are connected by locking slots, making them easy to build and repair
- Motors slide right into the arm
- Two layer 1.6mm thick FR4 PCB used (this is the default for a lot of PCB manufactures), the components are all on a single side (easy to assemble)
- All open source project, schematics + PCB + code all available. Heavy use of Arduino and Zigduino involved.
Step 0 Come up with puntastic name
Pico... Copter... You get the idea. This project was originally named "PalmQuad" since it's small enough to fit in your palm, so if you might see some mention of this name in the code or pictures.
I originally finished building "version 1" in November, and wrote the Instructable in November. Then I went on vacation for a few weeks, and also school just started. Now it is February and I just finished "version 2", but since I've already written the majority of the Instructable, I have some bits of "version 1" text that I'll just
All project files are available to download in this instructable "step". It contains files for "version 1" only for reference purposes, please only use "version 2" files. Although I really recommend you only take my concepts and design everything from scratch yourself instead, just so there's absolutely no mysteries in your project.
If you are wondering about the lack of a flight video, see step 6 for an explanation.
Oh and I noticed that "AdBlock" stops Instructables from showing you all my pictures, so please turn it off.
Step 1: Version 1's Build Log
Version 1 is soldered using the reflow soldering method (see my other instructable: http://www.instructables.com/id/Hack-a-Toaster-Oven-for-Reflow-Soldering/), version 2 was not due to time constraints and l didn't bring my oven to school. I managed to solder the QFN chips with a heatgun.
In version 1, the flyback diode for each motor was mounted onto the arms, but in version 2, the flyback diodes are in the main quadcopter body PCB instead.
In version 1, the propellers required a drilling before they fit onto the motor. The motors in version 2 comes with the propellers pre-attached so the drilling is no longer necessary. However, please read step 6 to see why you should use the motors from version 1 instead.