First DIY quadcopter wont fly

P

Pegasus

Member
Hi all,
I have builded my first DIY quadcopter and have some unresolved issues with it. Unfortunately it is not stable enough to hover and fly. Quad begins to overcompensate and lose control very quickly if given higher throttle (30% throttle or more).
Total weight of quad is around 1,5kg (with lipo) and total motor thrust is about 3,2kg.

Components used:
ESC - Emax 20A SimonK
Motors - Emax XA2212 980KV
Propellers - 10x4.7 (plastic)
Lipo 3S 5000 mAh 11.1V 30C Zop Power
Flight controller - Arduino Uno (running self made code)
Gyro/Accelerometer - GY-87 (10DOF sensor)
Frame - self made - mostly wooden with two aluminum bars for stronger construction​

Motors and propellers are balanced using tape method. Regardless of balancing there as still very high vibrations coming from motors that probably interfere with gyro/accelerometer sensor readings. Motors are isolated from wooden bar by rubber band and are held on bar using plastic ties. IMU sensor is mounted on top of wooden board held on ear plugs that are glued to frame.
I try everything I could think of to make it flyable but without no success. Tried replacing aluminum arms with wooden, putting rubber band on motor hold to reduce vibrations, putting IMU sensor on ear plug foam, balancing motors and propellers several times. I'm totally out of options now.
I think that problem could be in vibrations or frame or propeller adapter and propeller combination.

In following video quad is tied so it can move only around pitch axis. It has command to maintain zero angle position (horizontal).

Following are pictures of vibrations measurement taken with iSeismometer app (iOS).
http://tinypic.com/r/5bsknq/9
http://tinypic.com/r/2coiy5u/9
http://tinypic.com/r/2agks3b/9
http://tinypic.com/r/309lgl0/9

Help please. Any suggestions are welcome. :)

2ahb253.jpg

j6pr8h.jpg
 
Look at Jackson's diagram. Pretty sure that the only prop that is correct is the front right. All the others appear to be reversed
 
In my first frame version I had a aluminum square arms and motors were screw very tight on them, zero motor movement was possible. In latest frame version I used wooden arms and rubber band around them to reduce vibrations coming from motors to sensors, motors are also held very tight by plastic ties.

Here is how my motors are spinning
front left - spinning CCW, normal propeller
front right - spinning CW, R propeller
back right - spinning CCW, normal propeller
back left - spinning CW, R propeller
So on one diagonal propellers are spinning CW, on other are spinning CCW. Every motor is spinning opposite than on picture you send. Do you think that this is causing any problems?
 
Hi,
I will change motor spinning direction based on image you send (cw-ccw-cw-ccw). Also some folks suggested that I flash my FC with MultiWii, I did this and will test my quad in following days. If you have any more suggestion to try please let me know. I let you know did your suggestions make any difference after test outside.
 
Hi ,
thank you for suggestion to change motor spinning direction.
I have changed spinning direction of all motors now they spin cw-ccw-cw-ccw and configured MultiWii (FC) to be in angle mode. This combo made my quadcopter completely stable to fly.
I have taken a small video to show you results. While flying I had a problem maintaining quadcopter altitude so in next trial I plan to activate altitude hold mode. It's difficult to constantly adjust throttle manually to accomplish this. How are your experiences with altitude hold mode on MultiWii?

 
Now you see what was so funny. Just joking man, that's excellent. And yes, alt hold should make your craft more stable yet.
 
ant to build diy stm32 but at min o got amp2.6 and parrot ar2.0 boards.
Im ready to order arduono ect as soons I know exactly what I need and the size yes the size can you tell me measurements of the fc please.
Tell me what gyro, pcb, bm, pdb and if you got gps equiped what gps you used.
Im ready to order this but no 100% pluss what you think about adding a servo and fets for esc and doing a complete all in 1 unit? pm me when you have time as i can see your on my page here and i keep getting jokers like that guy everywere.

components are super cheap and these people who are selling fcs are completely taking advantage of uneducated people.
 
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