Building the quadcopter

I start to build my quadcopter





The frame is assembled and the motors are fixed
I calibrated the 4 ESCs and tested the 4 motors one by one (without the propellers of course). All is OK
I still have to buy rilsan (cable ties) to fix the ESC on the arms

My Quadcopter name is ROSETTA ;-)

Here is my ESC calibration procedure :

  1. Disconnect the battery
  2. sudo  /usr/local/sbin/servod --cycle-time=20000us --step-size=10us --min=1000us --max=2000us
  3. Connect the motor to ESC
  4. Send a pulse max value
  5. pi@raspberrypi:~ $ echo 1=200 >/dev/servoblaster
  6. Connect the ESC to Raspberry (white wire on gpio on servo1, black wire on gpio GND - Do not use the red wire)
  7. Connect the battery
  8. Wait Beep Beep
  9. Send a pulse min value
  10. pi@raspberrypi:~ $ echo 1=100 >/dev/servoblaster
  11. Wait Beep Beep Beep (battery 3S = 3 Beeps) 
  12. Wait a long Beep. This means calibration is ok !
  13. pi@raspberrypi:~ $ echo 1=0 >/dev/servoblaster
  14. You will get a beep every 2 seconds (invalid signal)
  15. pi@raspberrypi:~ $ echo 1=100 >/dev/servoblaster
  16. Signal is OK = No more beep
  17. pi@raspberrypi:~ $ echo 1=110 >/dev/servoblaster
  18. Motor start at 10%

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