Presenting the Tricopter
(or Third time is a charm)
Luis Correia (@luisfcorreia)
Presenting the Tricopter
in the beginning there was an idea
Presenting the Tricopter
then a bi-copter was created
Presenting the Tricopter
Presenting the Tricopter
but it didn’t fly
explained in my first talk
https://codebits.eu/intra/s/session/187
Presenting the Tricopter
the next year, it evolved
Presenting the Tricopter
Presenting the Tricopter
but it didn’t evolve enough to fly
explained in my second talk
https://codebits.eu/intra/s/sessio...
Presenting the Tricopter
drastic measures were taken!
the tricopter was born
Presenting the Tricopter
design is based on David Windestål’s
tricopter v2.5
http://rcexplorer.se/projects/2011/09/the-tri...
Presenting the Tricopter
image © 2012
Basílio Vieira
Presenting the Tricopter
The Setup
Presenting the Tricopter
motors paired with correct propeller size,
coupled with proper 3S battery
(Hextronic DT700 + APC ...
Presenting the Tricopter
rear motor tilts via a strong metal gear
servo, with a ball set linkage
Presenting the Tricopter
Presenting the Tricopter
integrated flightboard, using same
processor and gyro+accel sensor
(atmel atmega 328p + MPU6050)
Presenting the Tricopter
Presenting the Tricopter
FRAME
Presenting the Tricopter
aluminum arms, fiberglass chassis
actually, the “chassis” is a fiberglass PCB
from a Cisco empty ...
Presenting the Tricopter
all wires go through the aluminum arms,
clean and elegant cable routing
Presenting the Tricopter
ELECTRONICS
Presenting the Tricopter
ESC’s are near the motors,
powered directly from battery connector
Presenting the Tricopter
DC-DC converter is used to supply +5V
to flightboard, RC remote receiver,
bluetooth module and ca...
Presenting the Tricopter
YAW servo is powered by rear ESC,
preventing noise on the +5V line
Presenting the Tricopter
LANDING GEAR
Presenting the Tricopter
several attempts were made
Presenting the Tricopter
cardboard “wood”:
FAILED
3D printed landing gear:
FAILED
my design http://www.thingiverse.com/thing:147475,
image from user http://www.thingiverse....
Presenting the Tricopter
IKEA GLIS plastic box
SUCCESS!!!
http://www.ikea.com/pt/pt/catalog/products/20047450/
Presenting the Tricopter
choosing a box as a landing gear is a
win-win-win solution, lowers the CG,
holds the battery and ...
Presenting the Tricopter
(now, take a deep breath)
let’s fly it for a little bit
Presenting the Tricopter
HELPFUL TIPS
for building your own
Presenting the Tricopter
Configuring Electronics
Presenting the Tricopter
Electronic Speed Controllers (ESC’s),
always buy them preflashed
with SimonK firmware
Presenting the Tricopter
ESC’s - please do RTFM
ALWAYS!!!
Presenting the Tricopter
ESC’s - configure throttle
min and max range
(don’t argue, DO IT!)
Presenting the Tricopter
ESC’s - check additional parameters
(like LiPo/NiMH battery type)
Presenting the Tricopter
ESC’s - check the motor’s direction
clockwise or anti-clockwise
WITHOUT THE FRACKING PROPS ON
(us...
Presenting the Tricopter
Flight board
Presenting the Tricopter
choose wisely, don’t buy the cheapest one!
ask your friends and do some research!
Presenting the Tricopter
minimum sensors required:
gyroscope (flight)
gyro + accelerometer (stable flight)
Presenting the Tricopter
full sensor board includes barometer,
compass, GPS, gyro and accel
Presenting the Tricopter
choose a tried and tested flightboard,
identify it in MultiWii config.h
Presenting the Tricopter
start with standard PID values,
adapt if needed
(don’t fsck it up)
Presenting the Tricopter
RC Remote controller
Presenting the Tricopter
almost anything works, but please
buy one with at least 6 channels
Presenting the Tricopter
use channels 5 and 6 for
enabling other functions
Presenting the Tricopter
TEST ITS RANGE BEFORE
GOING OUT AND FLY
(nothing is worse than losing control)
Presenting the Tricopter
use LiPO battery pack instead of non-
rechargeable to power it
Presenting the Tricopter
trim it before going out flying
(you can fine tune it in the air, if needed)
Presenting the Tricopter
Battery
Presenting the Tricopter
I use 3S1P LiPO 2200mAH
(but feel free to choose your own)
Presenting the Tricopter
battery choices depend on a lot of variables,
frame weight, expected flight time
Presenting the Tricopter
the elusive “C” rating is important,
the more, the better
(but watch out for price hike)
Presenting the Tricopter
“C” rating means sustained peak current
a 2200mAH, 35C battery can supply
77A for a “while”
Presenting the Tricopter
always use battery monitor
with LOUD beeper
(assistants do it, please)
Presenting the Tricopter
to wrap up:
Presenting the Tricopter
research, research, research, research,
use simulation software, use tested parts,
ask your frien...
Presenting the Tricopter
let’s fly!
Presenting the Tricopter
and you can ask me
@luisfcorreia
copters@loide.net
(the end)
of 60

Presenting the tricopter or third time is a charm

My presentation slides from https://codebits.eu/intra/s/session/359
Published on: Mar 4, 2016
Published in: Business      
Source: www.slideshare.net


Transcripts - Presenting the tricopter or third time is a charm

  • 1. Presenting the Tricopter (or Third time is a charm) Luis Correia (@luisfcorreia)
  • 2. Presenting the Tricopter in the beginning there was an idea
  • 3. Presenting the Tricopter then a bi-copter was created
  • 4. Presenting the Tricopter
  • 5. Presenting the Tricopter but it didn’t fly explained in my first talk https://codebits.eu/intra/s/session/187
  • 6. Presenting the Tricopter the next year, it evolved
  • 7. Presenting the Tricopter
  • 8. Presenting the Tricopter but it didn’t evolve enough to fly explained in my second talk https://codebits.eu/intra/s/session/251
  • 9. Presenting the Tricopter drastic measures were taken! the tricopter was born
  • 10. Presenting the Tricopter design is based on David Windestål’s tricopter v2.5 http://rcexplorer.se/projects/2011/09/the-tricopter-v2-5/
  • 11. Presenting the Tricopter image © 2012 Basílio Vieira
  • 12. Presenting the Tricopter The Setup
  • 13. Presenting the Tricopter motors paired with correct propeller size, coupled with proper 3S battery (Hextronic DT700 + APC slowfly 11x4.7 + Turnigy 3S1P 2200mAh)
  • 14. Presenting the Tricopter rear motor tilts via a strong metal gear servo, with a ball set linkage
  • 15. Presenting the Tricopter
  • 16. Presenting the Tricopter integrated flightboard, using same processor and gyro+accel sensor (atmel atmega 328p + MPU6050)
  • 17. Presenting the Tricopter
  • 18. Presenting the Tricopter FRAME
  • 19. Presenting the Tricopter aluminum arms, fiberglass chassis actually, the “chassis” is a fiberglass PCB from a Cisco empty plane filler
  • 20. Presenting the Tricopter all wires go through the aluminum arms, clean and elegant cable routing
  • 21. Presenting the Tricopter ELECTRONICS
  • 22. Presenting the Tricopter ESC’s are near the motors, powered directly from battery connector
  • 23. Presenting the Tricopter DC-DC converter is used to supply +5V to flightboard, RC remote receiver, bluetooth module and camera
  • 24. Presenting the Tricopter YAW servo is powered by rear ESC, preventing noise on the +5V line
  • 25. Presenting the Tricopter LANDING GEAR
  • 26. Presenting the Tricopter several attempts were made
  • 27. Presenting the Tricopter cardboard “wood”: FAILED
  • 28. 3D printed landing gear: FAILED my design http://www.thingiverse.com/thing:147475, image from user http://www.thingiverse.com/knightshado Presenting the Tricopter
  • 29. Presenting the Tricopter IKEA GLIS plastic box SUCCESS!!! http://www.ikea.com/pt/pt/catalog/products/20047450/
  • 30. Presenting the Tricopter choosing a box as a landing gear is a win-win-win solution, lowers the CG, holds the battery and HD camera
  • 31. Presenting the Tricopter (now, take a deep breath) let’s fly it for a little bit
  • 32. Presenting the Tricopter HELPFUL TIPS for building your own
  • 33. Presenting the Tricopter Configuring Electronics
  • 34. Presenting the Tricopter Electronic Speed Controllers (ESC’s), always buy them preflashed with SimonK firmware
  • 35. Presenting the Tricopter ESC’s - please do RTFM ALWAYS!!!
  • 36. Presenting the Tricopter ESC’s - configure throttle min and max range (don’t argue, DO IT!)
  • 37. Presenting the Tricopter ESC’s - check additional parameters (like LiPo/NiMH battery type)
  • 38. Presenting the Tricopter ESC’s - check the motor’s direction clockwise or anti-clockwise WITHOUT THE FRACKING PROPS ON (use a piece of tape)
  • 39. Presenting the Tricopter Flight board
  • 40. Presenting the Tricopter choose wisely, don’t buy the cheapest one! ask your friends and do some research!
  • 41. Presenting the Tricopter minimum sensors required: gyroscope (flight) gyro + accelerometer (stable flight)
  • 42. Presenting the Tricopter full sensor board includes barometer, compass, GPS, gyro and accel
  • 43. Presenting the Tricopter choose a tried and tested flightboard, identify it in MultiWii config.h
  • 44. Presenting the Tricopter start with standard PID values, adapt if needed (don’t fsck it up)
  • 45. Presenting the Tricopter RC Remote controller
  • 46. Presenting the Tricopter almost anything works, but please buy one with at least 6 channels
  • 47. Presenting the Tricopter use channels 5 and 6 for enabling other functions
  • 48. Presenting the Tricopter TEST ITS RANGE BEFORE GOING OUT AND FLY (nothing is worse than losing control)
  • 49. Presenting the Tricopter use LiPO battery pack instead of non- rechargeable to power it
  • 50. Presenting the Tricopter trim it before going out flying (you can fine tune it in the air, if needed)
  • 51. Presenting the Tricopter Battery
  • 52. Presenting the Tricopter I use 3S1P LiPO 2200mAH (but feel free to choose your own)
  • 53. Presenting the Tricopter battery choices depend on a lot of variables, frame weight, expected flight time
  • 54. Presenting the Tricopter the elusive “C” rating is important, the more, the better (but watch out for price hike)
  • 55. Presenting the Tricopter “C” rating means sustained peak current a 2200mAH, 35C battery can supply 77A for a “while”
  • 56. Presenting the Tricopter always use battery monitor with LOUD beeper (assistants do it, please)
  • 57. Presenting the Tricopter to wrap up:
  • 58. Presenting the Tricopter research, research, research, research, use simulation software, use tested parts, ask your friends, ask in forums, read wikis then fly low and slow, don’t be an asshole
  • 59. Presenting the Tricopter let’s fly!
  • 60. Presenting the Tricopter and you can ask me @luisfcorreia copters@loide.net (the end)

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