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Several people are using small unmanned helicopters with 4 rotors ("quadheli" or "quadcopter"). | Several people are using small unmanned helicopters with 4 rotors ("quadheli" or "quadcopter"). | ||
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== motors and propellers == | == motors and propellers == | ||
== frame == | == frame == | ||
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== camera == | == camera == | ||
== electronics == | == electronics == | ||
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== testing == | == testing == | ||
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== BLDC == | == BLDC == | ||
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It appears that most modern small electric aircraft use so-called "brushless DC motors", each one driven by its own "BLDC ESC". (These are easily recognized -- BLDC motors have exactly 3 equally-fat wires that go into them, which come from the BLDC ESC -- as opposed to most electric aircraft a few years ago, which used brushed DC motors with exactly 2 equally-fat wires). | It appears that most modern small electric aircraft use so-called "brushless DC motors", each one driven by its own "BLDC ESC". (These are easily recognized -- BLDC motors have exactly 3 equally-fat wires that go into them, which come from the BLDC ESC -- as opposed to most electric aircraft a few years ago, which used brushed DC motors with exactly 2 equally-fat wires). | ||
− | + | While it is probably not cost-effective to build your own BLDC motor or BLDC ESC, many of us are insatiably curious about what goes on inside these things, and so: | |
− | + | * [http://en.wikipedia.org/wiki/brushless_DC_electric_motor Wikipedia: brushless DC electric motor] | |
− | + | * [http://www.atmel.com/dyn/resources/prod_documents/doc8012.pdf Atmel AVR444: Sensorless control of 3-phase brushless DC motors] using ATmega48 (also works without change for ATmega88 and ATmega168) | |
− | + | * [http://www.atmel.com/dyn/resources/prod_documents/doc8138.pdf AVR194: Brushless DC Motor Control using ATmega32M1]: BLDC motor control application using Hall effect position sensors to control commutation sequence. | |
− | + | * [http://www.mikrokopter.de/ucwiki/BrushlessCtrl MikroKopter: brushless motor controller] was designed to give lower latency than off-the-shelf PWM ESCs. | |
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== unsorted == | == unsorted == | ||
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* [http://en.wikipedia.org/wiki/quadrotor Wikipedia: quadrotor] is a nice introduction. But what are these "three rotor craft" it mentions? (TriCopter? Tri-copter?) | * [http://en.wikipedia.org/wiki/quadrotor Wikipedia: quadrotor] is a nice introduction. But what are these "three rotor craft" it mentions? (TriCopter? Tri-copter?) | ||
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* The Gluonpilot wiki (autopilot) mentions "Quadrocopter" [http://gluonpilot.com/wiki/File:Quad.jpg] | * The Gluonpilot wiki (autopilot) mentions "Quadrocopter" [http://gluonpilot.com/wiki/File:Quad.jpg] | ||
* MikroKopter wiki [http://www.mikrokopter.de/ucwiki/] semi-open-source "for noncommercial use" | * MikroKopter wiki [http://www.mikrokopter.de/ucwiki/] semi-open-source "for noncommercial use" | ||
* QC-Copter Wiki [http://www.qc-copter.de/] : updates all motor speeds at 500 Hz. | * QC-Copter Wiki [http://www.qc-copter.de/] : updates all motor speeds at 500 Hz. | ||
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* QuadroCopter Wikia [http://scratchpad.wikia.com/wiki/QuadroCopter] | * QuadroCopter Wikia [http://scratchpad.wikia.com/wiki/QuadroCopter] | ||
* ARM-o-Kopter wiki [http://www.armokopter.at/] | * ARM-o-Kopter wiki [http://www.armokopter.at/] | ||
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* DIYdrones: "There are a zillion quad- and tri-copters out there" [http://diydrones.com/profiles/blogs/all-things-quad-megalist] | * DIYdrones: "There are a zillion quad- and tri-copters out there" [http://diydrones.com/profiles/blogs/all-things-quad-megalist] | ||
* DIYdrones: Quadcopters discussion forum [http://diydrones.com/forum/categories/quadcopters-1/listForCategory] | * DIYdrones: Quadcopters discussion forum [http://diydrones.com/forum/categories/quadcopters-1/listForCategory] | ||
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* DIYdrones: "There are loads of open source quadcopters out there, but they're all ..." [http://diydrones.com/profiles/blogs/turning-the-parrot-ardrone] ''Is it possible to design a helicopter that avoids this problem?'' | * DIYdrones: "There are loads of open source quadcopters out there, but they're all ..." [http://diydrones.com/profiles/blogs/turning-the-parrot-ardrone] ''Is it possible to design a helicopter that avoids this problem?'' | ||
* the "ChRoMicro - Cheap Robotic Microhelicopter HOWTO" [http://docwiki.gumstix.org/index.php/Customer_projects#Cheap_Robotic_Microhelicopter], [http://www.pabr.org/chromicro/doc/chromicro.en.html] describes "how to build a 300 g helicopter with embedded Linux and Bluetooth datalink from off-the shelf components for less than 500 EUR." Can these ideas be adapted to helicopters with more rotors? | * the "ChRoMicro - Cheap Robotic Microhelicopter HOWTO" [http://docwiki.gumstix.org/index.php/Customer_projects#Cheap_Robotic_Microhelicopter], [http://www.pabr.org/chromicro/doc/chromicro.en.html] describes "how to build a 300 g helicopter with embedded Linux and Bluetooth datalink from off-the shelf components for less than 500 EUR." Can these ideas be adapted to helicopters with more rotors? | ||
− | + | * Quadrotto: Project Quadcopter [http://docwiki.gumstix.org/index.php/Customer_projects#Quadrotto], [http://quadcopter.wordpress.com/]. Is there any way to avoid making the same mistakes all over again, and instead make fresh new mistakes? :-). | |
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* RCgroups: Multi Rotor Helis discussion forum [http://www.rcgroups.com/multi-rotor-helis-659/] | * RCgroups: Multi Rotor Helis discussion forum [http://www.rcgroups.com/multi-rotor-helis-659/] | ||
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* microdrones [http://www.microdrones.com/] | * microdrones [http://www.microdrones.com/] | ||
* whatnick blog: [http://whatnicklife.blogspot.com/2010/01/quadcopter-taking-shape.html "quadcopter taking shape"]; and other [http://whatnicklife.blogspot.com/search/label/quadcopter quadcopter posts] ... he apparently has a Gumstix Verdex and a BeagleBoard -- are either one of these going on the quadcopter? | * whatnick blog: [http://whatnicklife.blogspot.com/2010/01/quadcopter-taking-shape.html "quadcopter taking shape"]; and other [http://whatnicklife.blogspot.com/search/label/quadcopter quadcopter posts] ... he apparently has a Gumstix Verdex and a BeagleBoard -- are either one of these going on the quadcopter? | ||
* [http://wsn.oversigma.com/wiki/index.php?title=WSN_Platforms WSN wiki: wireless sensor node platforms] -- perhaps we could use one of these boards for our wireless communication, or perhaps make incremental improvements, rather than designing yet another one from scratch? | * [http://wsn.oversigma.com/wiki/index.php?title=WSN_Platforms WSN wiki: wireless sensor node platforms] -- perhaps we could use one of these boards for our wireless communication, or perhaps make incremental improvements, rather than designing yet another one from scratch? | ||
− | * Dr. Igor Bensen designed the | + | * Dr. Igor Bensen designed the [http://books.google.com/books?id=f9kDAAAAMBAJ&pg=PA172&lpg=PA172&dq=%22eight+rotor%22+helicopter&source=bl&ots=fq2nUjB0y9&sig=lAW25I249Pozm1wIQ9EwIABPBgc&hl=en&ei=uQLNS7nTDY3wsQOnt6ivDg&sa=X&oi=book_result&ct=result&resnum=10&ved=0CDAQ6AEwCQ#v=onepage&q=%22eight%20rotor%22%20helicopter&f=false eight rotor helicopter] on the front page of Popular Mechanics 1982 September. |
− | * | + | * [http://www.google.com/#q="Real-time+stabilization+of+an+eight-rotor+UAV+using+optical+flow" Google: "Real-time stabilization of an eight-rotor UAV using optical flow"] |
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