Step 30: Repair, Re-tune, Recharge

If you crashed while flying, you might have broken some of the quadcopter's arms. There's no easy way to fix this, so just disassemble the frame and replace the arm with a spare.

After crashing, check if the battery is damaged. A damaged lithium polymer battery can explode! Immediately after the crash, disconnect the battery immediately if it has not exploded already, and inspect it before judging whether or not you can keep using it. If it's dented, bulging, bent, punctured, or cut, then dispose of it properly.

Broken propellers are easy to replace, but make sure that the shaft or motor isn't damaged. Remove the propeller first, then run the motor at a low speed to see if it's still functioning and not wobbly. If it's wobbly, then you should replace the motor, do this while not flying, or else you risk having the motor fail in mid-air which is more dangerous.

If you don't like the flight characteristics, just reconnect your flight controller back to your computer and re-tune the parameters until you are satisfied.

If you've noticed that your quadcopter doesn't stay stable no matter how hard you tune the configuration parameters, then maybe the airframe is vibrating too much for the sensors to be effective. Vibration is caused by imbalance of mass around the spinning motors. When the mass is balanced, the net centripetal force around the motor is 0. When there's an imbalance, then the centripetal force will have a magnitude greater than 0 and the angle of that force will spin. This becomes oscillation, which is vibration. So to eliminate vibration, we need to apply a force equal in magnitude but opposite in direction. Get two zip-ties per motor, and tie two zip-ties around each motor. While the propellers are installed, move the zip-ties around until the force they introduce cancels out the vibration.

Recharging the battery should sound straight forward. My charger is pretty nice and full of features, but it didn't come with a manual (I found one online later). There are two main power wires (positive and negative) that connects from the battery's main wires (the thick ones) to the charger (two banana plug jacks), connect those in the correct orientation. Then plug the JST balance connector from the battery to the balancer jack of the charger. One characteristic of lithium polymer batteries is that each cell must be monitored and balanced with other cells during charging, hence why your battery has 2 different connectors.

Place the battery into a Li-Po bag (it's a fire-proof bag you can buy that's designed for charging lithium polymer batteries), or put them into a cooking pot like me. On the charger, select the lithium polymer charging routine, set the number of cells to 3, and start the charge cycle. The process should be automatic but you should not leave the battery un-attended during charging.

If the charger can charge at 6 amps, then get a power supply that can handle 6 amps (I use a laptop power adapter). Most ordinary wall adapters cannot handle that much current, do not make that mistake.

Please charge at 1C or less, this means if the battery is 5000 mAH, then you can charge at 5 amps, but if it's 2200 mAH, then you can charge at 2.2 amps. Maximum Current divided by Battery Capacity equals C rating. For more info, read this guide on lithium batteries.
<p>if anyone has made it can you plz mail me the information how to make it in easier manner </p><p>mail me at deepak.electrical@gmail.com</p>
<p>Hai .. im memal raj i have same like helicopter . its not flying .. so anybody have technical idea pls give</p>
<p>hi there: is it possible to make the same project by using the pascal language .</p><p>i'm a delphi programer but i have never test this language in the electronics projects</p><p>finally thx.</p><p>with all kinds of regards: bravesofts.</p>
<p>how much weight it can lift..please give me ur mobile or mobile number i want more details i am going to do this for my finel year project...</p><p>my details</p><p>phone:9942497717 , 9655867717</p><p>call4karthikeyan@gmail.com</p>
<p>Awesome explanation! We put together a little infographic to make it easier for people to visualize the difference too: </p><p>http://www.dollarhobbyz.com/blog/ask-dh-brushed-vs-brushless-motors/</p>
<p>The PCB is really making me difficult, do we have any other alternative please..</p><p>or can we get it in the market?</p><p>Thank You</p><p>Please Reply...</p>
<p>Hi,</p><p> i want to caliberate the flight control board with out remote. how to make the FCB belive that i'm using a remote by actually using an arduino.<br></p>
<p>Hi there I have a quad assembly and testing program, but after what I mean by a motor that is connected to port d 6 Flayt control engine speed when Tratel between 1750 and 1800 to 1200, but the rest are I Zhstnd parts:</p><p>Nano's control Flayt Speed Contra Emacs 30 Amps Fvtaba 6 channel radio control Emacs engine 2213 2200 mAh lithium-polymer battery 3Sl And the quad is x Engine and engine calibration, and I even got Flayt Test and again I had a problem like this in the links below to see video software Please help<a href="http://uplod.ir/9dvyai16anxg/arm...33.mp4.htm" rel="nofollow">http://uplod.ir/9dvyai16anxg/arm...33.mp4.htm</a>http://h1.asset.aparat.com/public/user_data/flv_video_new/685/909a206786b90312c1d2fe682f3d71532052749.mp4</p><p>hamzh.shahabadi@gmail.com or masih.azin@yahoo.com</p>
<p>How much did this project cost you?</p>
<p>hi i have an arduino uno how can i use that to make the quadcopter. i already bought the frame and cables but i havent bought any electical things i need to use the arduino </p>
<p>You can buy an ardupilot or similar system. Look up &quot;Arduino Quadcopter&quot;</p>
<p>At a mining mum you need a gyroscope and custom code. There are tutorials online.</p>
Great looking project. I was wondering if anyone has tried this basic design using shrouded or ducted fans in place of open propellers?
<p>Search edf quadcopter on YouTube.</p>
<p>Hi,</p><p>That's a great share. Thank you so much. I want to ask a question. I want to build a quadrotor with a camera. I want to control the angle of camera. Is it possible?</p>
<p>Search &quot;quadcopter gimbal&quot; on the internet. You can make one with servos.</p>
<p>Nice build! I'm thinking of building one but maybe using a prebuilt controller instead of the Arduino. However, as the final aim would be to lift a raspberry pi and digital point and shoot camera (total weight 400g) will the configuration you've made lift an additional 400g mass comfortably? Thansks! </p>
<p>It is possible, though you would want a light battery, possibly a 4 cell lipo, and larger props to improve power. I recommend the KK2.1 board for a prebuilt flight controller.</p>
<p>can you give me the working source code for quadcopter,because code given in github was wrong .....</p><p>if anybody have code for ATmega644PA please email me on yogeshmane153@gmail.com </p><p>thanks .....</p>
<p>you give some diagrams here but they are not clear . i can't read component names . i face difficulty to arrange components as shown in figures .they are very small . so can you provide neat and clean diagram frank sir plzzzzz</p><p>thanks</p>
<p>Hi Frank Sir</p><p>This article is very useful to make quadcopter. I read all steps and follow all instructions .</p><p>I buy all components mention in this step 9. but question is this how can i assemble solder connect all components. i don't have any complete circuit diagram.</p><p>so can you provide me a complete circuit diagram of quadcopter to join all components.</p>
<p>hi i have an arduino uno how can i use that to make the quadcopter. i already bought the frame and cables but i havent bought any electical things i need to use the arduino </p>
<p>this the video of the error i posted earlier <br>http://www.youtube.com/watch?v=Qoc4k1FEY6c</p>
<p>I am using a nanowii board for QUAD + with D2830-11 1000kv motors, turnigy plush 18 Amp ESC's and a zippy flightmax 3S1P 5000mah battery <br>the TX-RX is a turnigy 9x V2</p><p>I am able calibrate the throttle individually for all the ESC but when i arm them, 3 of them work fine but the 4th one keeps on doing 'beep'-'beep' with an interval of about 2 seconds</p><p>The rest 3 motors work according to the throttle but the third one(bottom one) keeps on making that noise no matter what i do</p><p>could anyone tell me what the problem is?</p>
i want to download this file but it is asking to create a pro account.my parents will not allow to do this.if it is free i am happy .I am requesting all members of instructables.com
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Thanks for your great instruction. But I wonder why you set OCR1n =pw*2? in step 13? Wont it immediately jump out of the loop? <br>And can you let me know what kind of logic analyzer you use? <br>Thanks a bunch! :) <br>
pw * 2 doesn't change pw at all, it only &quot;returns&quot; a number that is twice what pw was, but pw is not modified.<br><br>I use Saleae Logic as the logic analyzer.
This <a href="http://www.nitrotek.fr/helicopteres-rc.html" rel="nofollow">Quadcopter </a> is excellent. I had been really looking forward to if you would be so kind to tell me, where do you ask for the frame kit, fans and motors. I really want to do this job it's just my favorite one thanks for sharing.
Amazing :) wish I had that much talent
can we move the helicomper in the left and right direction
I have a Multiwii Microwii flight controller and I am able to arm the motors but not disarm them. <br> <br>Thanks for the quick response, <br>Nikhil
Hey Frank, <br> <br>I finally finished making the quadrotor but I was wondering how to turn it off. <br>It's kind of a stupid question but are you just supposed to unplug the battery or is it necessary to install a switch
Safety the quadcopter (it's a stick command). There is a LED that indicates safety. Once it's safe, unplug the battery.<br><br>A true kill switch that can handle that much current is not feasible
where do u put the 12 gauge sandard cord wire <br>
How do you use the battery monitor and battery charger ?
hi <br>i cant use avrdude is there any other program to use the bootloader and please if you can explain how to use avrdude and plz plz upload the docs in any site other than google code because i cant use google code if you can please email it to me
Frank <br>could i use Arduino mini for my flight controller instead of designing my own cause I dont understand how to design it at all <br> <br>Thank you <br>Please Reply <br> <br>
Yea, just look at AeroQuad Mini, or MultiWiiCopter, both of them actually use the Arduino Mini
so just to be sure instead of doing step 9 I would just substitute your microcontroller with Arduino mini and still follow the rest of the steps <br> <br>Oh and can you give a link of the Arduino mini to buy because I'm really confused <br> <br>Thank you
Frank <br>My previous comment has been there for a long time and you still havent responded <br>Please reply <br>
He replied right above you,<br> <br> <strong><em>Aug 3, 2012. 10:22 PM<br> Yea, just look at AeroQuad Mini, or MultiWiiCopter, both of them actually use the Arduino Mini</em></strong>
Frank <br> <br>Your Quadcopter is an excellent one. I was just wishing that if you would kindly tell me , from where did you order the frame kit, fans and the motors. <br> <br>If you would be kind, can i have your email address. <br> <br>Thanks.
I like the store Hobby King, that's where I buy everything<br><br>My email is on my website, in the title as an image so spam bots can't detect it.
Hi Frank, <br> <br>Amazing instructable you've created! I'm currently nearing the final stages and am about to program but was just wondering about a couple of things as I'm new to all this and completing this for a school project. <br> <br>Just wondering with the solder jumpers, if the solder jumps across the whole thing (3v3 and 5v as well as ser0 and ser1) or if you choose which to use, and whether all 4 LED's should be lit when it is plugged in for programming, as currently only LED-PWR and LED1 are lit <br> <br>Thanks! <br> <br>
I was extremely impressed by this project and I've decided to try to make one myself. I was hoping that you still have at least one leftover blank PCB because it would save me the trouble of having them shipped from elsewhere. I live in Ontario as well so you shipping to me would be far easier than shipping from the U.S most likely. <br> <br>I plan to start building this in my school&acirc;€™s manufacturing shop so I would like to get my hands on a PCB sooner than later. I would earnestly appreciate a quick reply. <br> <br>Sincerely, Alexander

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Bio: I am an electrical engineer. I graduated from U of Waterloo. I used to work for Adafruit Industries as an EE. Now I work for ... More »
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