Quadcopter - DJC1000-X4 beta build 2

It seems like every time I finally get on here to write a blog post I forget what I have already said and repeat some things and forget some things. Sorry for that.

I finished the DJC1000-X4 beta build with plexiglass (known from now onward as "DJC1000-X4 beta build 1").


Through that build I found a few minor issues with the frame design from the plexiglass build.


This video is of the DJC1000-X4 beta build 1 trying to fly. After the video we took it back in the garage and found that one motor mount was still loose. After straitening that up and tightening the screw, we found a lot of vibration. The vibration was due to a motor mount (one of the 'cross mount' type) was broken. This is from me trying to bend it strait in the vice after a small crash on the X450 carbon fiber frame. Sorry for the poor lighting, but we just wanted to get it flying (my friends wanted to see it fly).
http://www.youtube.com/watch?v=TOqYDnDdl04

I have fixed them fairly well.. at least as good as I can with the space that I have on the frame.

Next I created a 1/8th inch plywood version of the frame. Here is the design used for that:


Here are some pictures of the process of building the plywood frame:

The weight savings on the plywood frame versus the plexiglass is actually quite significant.

While working on the wooden frame I also modded my Turnigy 9X radio to run the open source ER9X firmware. The main reason I did this was to be able to correctly use the 3 position switch. The ER9X software is very easy to use compared to the stock software. Here are some picture of my hardware mode to install the programming cable:



Pictures of the wooden frame installed:


Here is the first real flight of the DJC1000-X4 beta build 2. In this one I used ArduCopter v2.6 firmware. There was one before this but I just went up quick and found an issue, fixed it and then recorded this:
http://www.youtube.com/watch?v=kwOH2UPDPqM
Sorry for the poor camera work. The next video is better, I swear.

Here is flight 2 of the DJC1000-X4 beta build 2. In this one I used ArduCopter v2.7.1. This fixed my previous Yaw issues. http://www.youtube.com/watch?v=3RkOY4Q7ksE

Next I wanted to get the camera gimbal to work. I beleive there was a bug in either ArduCopter v2.7.1 of the Mission Planner that caused the camera to tilt the wrong direction on me. I had just use a pot on the transmitter to control the camera on this flight. I has an issue with the front left motor that I still need to figure out (likely need to redo ESC calibration after resetting the ArduCopter settings). http://www.youtube.com/watch?v=gMsxzQz5XEo


I have been working with someone who is going to help me cut the frame parts out of carbon fiber. As a result of talking to him, I am going to need to make additional changes to make it easier to cut on a CNC machine.

I also had my uncle (a former Aerospace Engineer) take a look at the frame with me and he had a couple suggestions. I will be making those changes to the design soon as well. I may need to cut out another plywood version of the frame to test the changes for strength before doing the final carbon fiber version.


In the next Blog post I will outline the quadcopter build that I helped my friend, Matt, with. It was a very well planned one night build to flight. Sometime I even impress myself :)

Quadcopter - X450 Carbon Fiber frame

Hello!
I got an X450 Carbon Fiber frame and installed all of my parts on to it to test with. It flew fairly well. I have made a video of the flight and it can be found here: Quadrocopter - X450 CF XQuad - Outdoor - First flights

I have also assembled the plexiglass DJC1000-X4 'beta' frame and I flew it late tonight with some friends. I have a very poor quality video of the first lift off. After replacing a broken 'cross' motor mount adapter and tightening down a motor mount with no screw we got it to take off. It would start with tilting to the front right corner, but I got it off the ground. I have also discovered that I have absolutely no Yaw control at all. Full Yaw stick does nothing. I hear the motors speed up but they don't seem to do a thing.

I know that the frame is so bit that it will require PID tuning... and a lot of it. I have enabled more logging so that I can tune it correctly.

Several of the main frame parts on the plexiglass DJC1000-X4 'beta' frame we blocked by the wires from the HobbyKing Power Distribution Board. As a result some of the screws could no go in and the battery plate broke after several short attempts to fly getting no higher than about 5 feet off the ground. Having done no PID tuning and just throwing the frame together tonight I am very happy with the results.

Here are a few pictures from tonight for your enjoyment.

Quadcopter - DJC1000-X4 beta build

I have almost competed the build of my DJC1000-X4 in fiberglass. This is what I am calling the DJC1000-X4 beta build because it allows me to test fit everything before I get the carbon fiber cut to match my design. I am doing this so that I can catch all of the issue before shelling out the money for the cutting.

This has helped me to find a few minor issues and let me plan the new camera mount when it came in. The lower outer battery plate mount holes is partly blocked by the legs. I thought that this could happen when designing the frame, but I wanted to try it. I wanted to give it a try because the legs will be better the further out they are. The same goes for the lower outer battery plate mount. I'll work on that more and try to figure it out.

For now, here are pictures of what I have done with the 'beta build'.

More to come as this story develops :P

Quadcopter - Second Thrust Test

This is going to be a quick one just to get the info out there. I did some thrust testing with my test rig and my new equipment. The equipment used is:
- Turnigy 4000mAh 3S 30C Lipo
- Hobbyking SS Series 25-30A ESC (card programmable)
- Turnigy D2836/9 950KV Brushless Outrunner Motor

Results:
GWS 10"x6"x3 (1060 three blade)
918 grams
19 Amp
232.9 Watt

GWS 9"x5"x3 (9050 three blade)
701 grams
14.89 Amps
183.9 Watts

GWS 8"x4"x3 (8040 three blade)
456 grams
8.75 Amp
108.5 Watt

8:x4.5"x2 (8045 two blade)
520 grams
10.72 Amps
133.2 Watt

10"x4.5"x2 (1045 two blade)
609 grams
12.91 Amp
156.1 Watt

Here are the statistics from Hobby King's site:
Battery: 2~4 Cell /7.4~14.8V
RPM: 950kv
Max current: 23.2A
No load current: 1A
Max power: 243W
Internal resistance: 0.070 ohm
Weight: 70g (including connectors)
Diameter of shaft: 4mm
Dimensions: 28x36m
Prop size: 7.4V/12x6 14.8V/9x6
Max thrust: 850g


I hope this information helps someone with planning their quadcopter or air plane build.

Quadcopter - DJC1000-X4

If you have read my older blog posts then you know that I am working on a bigger, awesomer, carbon fiber quadcopter. I have been busy working on it, planning, designing the frame, ordering parts and researching. I thought that it would be a good time to brain dump some of the information for others to read. Enjoy!

Parts list: to date:

Hobbyking 2-8S Cell Checker with Low Voltage Alarm- Same as my old alarm, but in a case now
Turnigy D2836/9 950KV Brushless Outrunner Motor - My motors of choice this time
1/3-inch SONY CCD Video Camera (NTSC) - For future FPV plans
2.8mm F:2.0 Turnigy Micro FPV Camera Lense - Wide angle lens for the FPV camera
Hobby King Quadcopter Power Distribution Board - Easier than making my own, and good price
Turnigy 4000mAh 3S 30C Lipo Pack - Still have from the last build. Good size
PolyMax 3.5mm Gold Connectors 10 PAIRS (20PC) - To connect ESCs to Motors
Aluminium CNC Metal Motor Mount 4-Pack - Cheap, simple. May be replaced later
XAircraft CM130-TS Tilt Camera Mount with Shutter - Cheap from GLB (GoodLuckBuy) for Carbon Fiber
12MM X 10MM X 500MM 100% Carbon fiber Wing tube / Tail tube *4 - Arms - (From ebay seller "happychoice2009")
Carbon fiber landing gear / Undercarriage *2 - Start of landing gear - (From ebay seller "happychoice2009")
Carbon fiber sheet - To cut the main frame out of - (From ebay seller "happychoice2009")
4 pairs 12mm Fiber Glass Carbon Tube Fixture Part - To attach arms to main frame - (From ebay seller "vocanlo")
XAircraft X650 V4 L3002C Carbon Fiber Load Pipe Mount w/ Stopper - To mount xAircraft camera mount
XAircraft X650 Value 4 L3003 Loading Pipe Mount 2pcs - To mount xAircraft camera mount
XAircraft X650 Value 4 L3004 Loading Pipe Fixer 2pcs - To mount xAircraft camera mount
Turnigy Battery Strap 330mm - Duh, battery strap
Hobbyking SS Series 25-30A ESC (card programmable) - Speed Controllers
ArduPilot Mega 2.0 - With External GPS - Flight Controller!
Propeller set 10X45 EPP Style (Black) - First pros to try. May need to go larger or different pitch
Green LED strip (short, 3 LED strip) - To mark the arms of the quad. Green for right side, like FAA standard
Blue LED strip (short, 3 LED strip) - To mark the arms of the quad. Blue for left side, modified from FAA
White LED strip (short, 3 LED strip) - To mark the arms of the quad. White for front.
Turnigy Accucel-6 50W 6A Balancer/Charger w/ accessories - Battery charger, no power supply
TURNIGY BESC Programming Card - To setup the ESC if I have issues
Turnigy 9X 9Ch Transmitter w/ Module & 8ch Receiver (Mode 2) (v2 Firmware) - Transmitter (Tx) and Receiver (Rx)
Turnigy 2650mAh 3S 1C LLF Tx Pack (Futaba/JR) - Battery for Tx
Turnigy 9X LCD Backlight Kit - White (DIY) - Backlight for Tx screen


Here is a forum thread on my frame design. I have made many many improvements and changes over the last month+. I have come up with a name for the quad (with the help of a friend) and the name is DJC1000-X4. "DJC" for my online name 'djchew'. "1000" for the 1000mm wheelbase of the quad. Lastly, "X4" becuase it is an x4 quad.
http://www.rccanada.ca/rccforum/showthread.php?p=949774
Here is a picture of the latest revision of the main frame design:

I also just got a great deal on an X450 Carbon Fiber frame on ebay last night, so that will will be the test bed where I build this quad while I work on my custom designed frame. After that, I will sell the X450 frame. I think that it is a great frame for the cost, it is just not big enough and does not have all of the features that I want for the long term.

Several things are in the mail and I am waiting on them in order to do more testing or fly (like the Tx).



Research:
YouTube - Good video to explain the differences between gyroscopes and accelerometers
DIY Drones - Good article to  explain the differences between gyroscopes and accelerometers
YouTube - Interesting DIY Vibartion Dampners
YouTube - Interesting homemade vibration dampers using rubber
YouTube - Video on prop balancing, including balancing the hub
flitetest - Opinions from a talented cinematographer/film maker (Shadow74/Shadow Studios) on multirotors, cameras, ect: flitetest - Shadow74 - Multi rotors - Aerial Filming
flitetest - Shadow74 - Pilot flying a camera or Professional aerial film maker


New people to check out videos of on YouTube:
Youtube - vegetoast1 - videos
Youtube - shadowstudiosllc - videos
Youtube - Hoverbot1TV - videos
Youtube - gundamnitpete - videos
Youtube - stockfoodpics - videos
Youtube - eyeinsky1 - videos
Youtube - RonALampman - videos
Youtube - Extremeaerials - videos
Youtube - foxtechonline - videos


That's all that I have for now. I hope to have more soon. Perhaps the next thing I will do is balance a bunch of props, my new motors and do some more thrust testing!

Quadrocopter Build - A new hope

I have sold the X525 Quadcopter that I built. Now it is time to work on my new, larger, more powerful, carbon fiber quadcopter.

I have ordered lots of parts for it already over the last 3 days. Here is a list of what I already have:
4x 12mmx10mmx500mm carbon fiber tubes
19 3/4" x 15 3/4" x 1.5mm sheet of carbon fiber
4x Aluminium CNC Metal Motor Mount
4x 12mm Fiber Glass/Carbon Tube Fixture Part

Here is a list of what I have ordered for the project:
ArduPilot Mega 2.0 with External GPS
4x Turnigy D2836/9 950KV Brushless Outrunner motors
4x Hobbyking SS Series 25-30A Electronic Speed Controllers (card programmable)
TURNIGY BESC Programming Card
1/3-inch SONY CCD Video Camera (NTSC)
2.8mm F:2.0 Turnigy Micro FPV Camera Lense (Viewing Angle: 115 degree)
Hobbyking 2-8S Cell Checker with Low Voltage Alarm
Turnigy 9X 9Ch Transmitter w/ Module & 8ch Receiver (Mode 2) (v2 Firmware)
Turnigy 2650mAh 3S 1C LLF Tx Pack (Futaba/JR) (to go in Turnigy 9x)
Turnigy 9X LCD Backlight Kit - White (DIY)
Turnigy Receiver Controlled Switch
Rubber Grommet for servos (10pcs/set) (could make good vibration dampers/isolators)
Heli Canopy Rubber Grommet Medium (6pcs/bag) (could make good vibration dampers/isolators)
Turnigy Accucel-6 50W 6A Balancer/Charger w/ accessories
HobbyKing UBEC 3A / 2-6s LiPO (mostly for testing)
Turnigy Battery Strap 330mm


I am currently working on redesigning the main frame for the new carbon fiber quadcopter. I have got feedback fro ma few people and I found a few problems myself. I am working to get all of the issues discovered worked out then I will post again to get more feedback and hopefully work out any new issues.

More to come as soon as I finish the next version of this frame design!

Quadrocopter Build - Part 12 - Thrust testing

I have built a bit of a collection of propellers and I have wanted to build a thrust test rig for a while. This video helped guide me in the right direction:
Flite Test : Measuring Thrust - FLITE TIP
http://www.youtube.com/watch?v=uxTq3rNDc5g

There are many threads on RCGroups.com and many other RC sites on how to test props. Some I liked, some I did not. I took the parts I had available to me and built this thing.

I built a thrust tester and tested the props I have with one of my XXD A2208 1200KV motors. I used a Hobbywing Skywalker 20A and a Turnigy 2200mAh 3S 40C LiPo. The results were:
8x4.5x2 - 1 lb 7.6 oz (669 grams) of thrust
8x4x3 - 1 lb 3.8 oz (561 grams) of thrust
9x5x3 - 1 lb 11.8 oz (788 grams) of thrust
10x6x3 - 2 lb 3.7 oz (1012 grams) of thrust


Here are more pictures of the rig. I also have videos is anyone is interested.

I am interested to see what would happen if I put the 10x6x3 props on the quadcopter. I had thought that the motors would be too fast for these props to catch the correct amount of air for the about of tilt and surface area of the props. However this test seems to imply that they would actually do fairly well. Could be a good test if I get the time.

Also, my X525 quadcopter is for sale to free up cash for the new carbon fiber quad that I have started.



Kijiji post:
http://kitchener.kijiji.ca/c-buy-and-sell-hobbies-crafts-X525-Quadcopter-W0QQAdIdZ382623941

Quadrocopter Build - Part 11 - Progress on new frame

Hello,
Here is an update on the new frame I am working on. I have been looking for a place to cut it and I have had a few interesting options.
1. Someone an hour and a half away offered to cut it for me once he fixes his CNC machine.
2. Get a local shop to cut it (looking like $100+).
3. Possibly get help from a local hack-lab where they have a CNC machine. However they have high membership fees and I don't know any members that could help me out. They do have an 'open house' every Tuesday. Maybe they would help me out. But carbon fiber could be rough one their bits and it is messy.
4. Cut it my self and make it ugly :P

Here is the latest frame design.

I still need to put in some locations to be cut out to save weight. I also need to build it out of cardboard and test fit everything. That's for another day...

Quadrocopter Build - Part 10 - Notes and new frame work

Hello!
I have a few things to note that I have learned lately. I also want to put up a few of the things that I have been working on for the next frame.


Lessons learned:
- Practice. Lots. This may involve crashing. I need more practice.
- Read*. Lots. The more you know the better you are for yourself and anyone else you may talk with about this stuff. *=Reading does not just mean reading. I hate reading. YouTube videos are often good too. As with everything, the quality of the information depends on the source.
- Talk to people that have done it before. In forums, on YouTube, whatever. It will save you time and save you from making mistakes that they have already made.


The frame that I am working on next is a carbon fiber quad frame. It will be between 700 and 1100mm. I have some of the parts that I will need for it. I will need to make a lot of the parts because I cannot find things that I like/want to use for some things.

I have 4 carbon fiber tubes that are each 500mm long (19.7 inches).
I have a sheet of 1mm thick carbon fiber. It is around 15 inches (381 mm) by 21 inches (533 mm).

Here are a few images of my design for the main body parts which will be cut from the sheet of carbon fiber.

(Created with Google Sketchup)

This was a quick and dirty blog post, but its slightly better than o blog post...

Quadrocopter Build - Part 9 - Education

To start, I will provide an update on my quardcopter. My X525 quadrocopter is still grounded, but I have propellers now. My issue is battery. I borrowed two different batteries from someone. It showed me that my quad was somehow draining batteries very very very fast. I have a video demonstrating that here:

http://www.youtube.com/watch?v=YbkIezwOZWk

Secondly, I have four purchased carbon fiber tubes (12mm x 10mm x 500mm) and a carbon fiber sheet (1mm thick) to build my own quad frame. I am waiting on more parts to put that together. I have to design and somehow cut (maybe get someone with a CNC to help?) out the frame pltes after i design them. Should be fun.

Now for the promised education.

I want to talk about something that is not clearly explained with many multicopter flight controllers/'boards'; and that is Gyroscopes vs Accelerometers

As far as I know, every board has Gyroscopes. Slightly more expensive boards use gyroscopes and Accelerometers. More expensive than that and you start to add barometer, then magnetometer, then GPS. Each of these sensors add another degree of stability or control.

Lets clarify what a gyroscope does. A gyroscope can sense rotation. That's it. They can tell that orientation of an object. One gyroscope can measure one angle for one axis. Some flight controllers use three gyroscopes to measure all three axis. There are also 3 axis gyroscopes. It does the same thing as three different gyroscopes, but generally takes up less space on the board.

Accelerometers measure linear motion (including gravity). Generally I have only seen 3 axis accelerometers used. This is likely also due to the space savings of having one over three different ones. An accelerometer can detect that affect of the wind causing something that is flying to 'drift'.

The KK multicopter flight conttroller I have been using have three different gyroscopes. It has no accelerometers. This makes flying require a lot more user action to keep it stable in wind or the air coming back from a propeller pushing air when close to the ground.

I have been looking at other flight controller boards. I think that my next board will be something that I will be able to fly with less effort by my. I would also like to have it control/stabilize a camera tilt/pan mount. I am looking for a board with:

Gyroscopes

Accelerometers

Barometer

Magnetometer

GPS

Camera stabilization

The one I am really considering is the ArduPilotMega 2.0. However the price is a little high. But with an all-in-one solution I am not sure that I have many other options. I have not seen much about camera stabilization with APM2.0, but it appears to be possible based on their site.

http://code.google.com/p/ardupilot-mega/wiki/Tracking

Let me know if you have another board idea for me with these features. I have been shying away from MultiWii and MK due to the number of add-on boards required in order to get all the features I want. I also have not considered DJI or xAircraft boards due to their prices.I can get an APM2.0 shipped to me from CanadaDrones.com for $310.

Feel free to ask me any questions, give me your opinions or just say hi!.

Bye now.

Quadrocopter Build - Part 9 - New Transmitter but still grounded

I have been waiting for propellers from GoodLuckBuy for a while. They shipped my package, but the props where not included. The order status is "Partial Shipped". I contacted GoodLuckBuy and they just replied as if the whole thing was already shipped. I emailed them back to saw that it only some items were shipped. No reply yet...

I like the items at GoodLuckBuy, and they have the best prices. But this service (or lack of) is getting annoying. I have two other orders after that now that are sitting at "Processed" for up to 6 days now.

On an unrelated note, I was talking on RCCanada.ca with a few guys and they suggested that I use 'expo' mode. To which I replied 'what?'. Then they sent these to me:

Transmitter Dual Rate and Expo Theory, Part 1 of 2

http://www.youtube.com/watch?v=V9vWmRncdws

Transmitter Dual Rate and Expo Theory, Part 2 of 2

http://www.youtube.com/watch?v=PoNtTVs9i5M

I already knew I wanted to get a better transmitter/remote at some time, but now I have a reason. Expo mode makes it easier to fly. That would be helpful. So I bought a Turnigy 9X from someone on RCCanada.ca. Now I have to make sure the channels are going the right direction and try controlling it.

I also thought I'd order more props from multiple place online. So I did. Two different sellers, and two different prop sizes. However I learned later that I should be using smaller props for the higher speed motors that I am using (1200kv). That being said, all the props I had on order would not work very well. I got talking to Mark from FliteLab.com and he suggested smaller props and could ship them to me much faster from Halifax than I can get any from China. I ordered 10 props from him. They should be here this week so that I can finally fly again.

I also got thinking about building a lighter, larger quad frame. I found several items from different sources (all at the best prices I could find) and ordered what I will need to build a ~1100mm frame. I am sure there is a reason why people don't usually build them that large, so I can always cut the carbon fiber tubes done if needed. I also will be running into issues with mounting the motors as GoodLuckBuy did not include the motor mounts with the motors :( GoodLuckBuy also gave me what appears to be 6mm prop adapters, so I ordered 5mm (standard from what I understand) prop adapters from Mark at FliteLab.com. Thanks again Mark.

Lots of things going on is all different areas with my quad, transmitter, new frame build, new battery on order but not shipped.... I hope to spit it all out in another blog post shortly. For now I gotta run. Feel free to ask questions here, on RCCanada.ca, YouTube or even Twitter.

http://www.youtube.com/user/dege13

http://www.rccanada.ca/rccforum/member.php?u=32267

http://twitter.com/dege13

Quadrocopter Build - Part 8 - Setting pots/gain on KK flight controller

Latest video:

http://www.youtube.com/watch?v=Pj_j0dJMeTs

Here is some of the most stable flight yet. During this video I set the potentiometers for the KK board (blackboard hardware version 5.5) with firmware version 4.7.

I have spent quite a lot of time in the past trying to stop the quad from drifting side to side, ect. I have worked out most of those issues by changing the values used as center on the transmitter using the PC. That aside, now I work on the pot settings.

Near the end one of the two blade props I am using broke at the shaft hole. This is because they shaft holes were too small and I had to drill them out to make them fit. New tree blade props are already on order.

Here are the steps to adjust the pot settings. Do these outside or where you have at least 10 square feet to work.

"Pot function for flight

1. Yaw = 50% to start with (This is the P and I parameter of the Yaw control loop), (on my quads all of them works @ 100%)

Adjust this parameter the following way:

Increase the pot until you notice oscillation in the Yaw.

When it is oscilliting reduce it a bit..

2. Pitch = 0 to start with (this is the I parameter of Roll and Pitch control loop)

Adjust this parameter the following way:

When hovering, trigger the Roll or Pitch stick.

If the quad does not wobble after stick release, increase the pot until it does wobble. (1% at a time, its extremely sensitive)

When its starting to wobble, reduce the pot a bit.

3. Roll = 40% to start with (this is the P parameter of Roll and Pitch control loop)

Adjust this parameter the following way:

Increase the pot until you notice oscillation during hovering.

When it is oscilliting reduce it a bit."

Quadrocopter Build - Part 7 - Details, Details, Details

I am still working through all of the issues I have been hitting. There are many, small and big. Here is a list of the ones I can remember at this moment:

- Shipping from China takes 14 to 35+ days.

- My transmitter interferes with WiFi. As soon as it is on, my WiFi stops working.

- My transmitter interferes with the ContourHD. It causes a 'humming' sound unless I keep them far apart. This could cause issues once I try to use the ContourHD on the quad...

- My battery barely lasts at all. More on that later....

- The original LiPo alarm I got sucks. New one has arrived.

- Chinese bulk sellers do make mistakes (forget items, miss parts)

- Chinese bulk sellers They are also very hard to get a hold of and service a LOT of customers

- Chinese bulk sellers also have some of the best prices you will find

- There are a lot of other very helpful people also building quadrocopters. More on that later too.

- There is a lot of information to learn. Have fun doing it or you will go crazy.

Details on the battery issue:

I have reached out for help on the issue from YouTube and the people I have been talking to there who have also been building quadrocopters. Here is my video:

2012-03-30 - Quadrocopter - Battery issue https://www.youtube.com/watch?v=lKR8ynO57lg

A few possible causes I can think of:

- The battery is 'bad'/defective

- The battery does not give enough current (the 'C' rating times 'mah', to get Amps per Cycle)

- Motors are drawing more current than they should

- anything else....

Please leave a comment with your thoughts!

Facts:

- At the start of the video, the battery was fully charged to ~12.4 volts. LiPo monitor shows 12.3 volts at the start.

- Drops to 11.8 volts when motors are stated at minimum throttle

- at 10.4 volts the lipo alarm goes off. Alarm was set for 3.3 volts for one cell. I have since changed it to 3.1 volts to give me a bit more time during testing. Will change back later when I actually fly it to give time to land without battery damage.

- Returns to 11.9 volts with the motors off/throttle all the way down

- After a total of 33 seconds of the motors running (not even flying!) until the lipo alarm went off due to cell number 3 dropping below 3.3 volts. It returned to 3.92 once the motors were stopped.

- When cell 3 went below 3.3v, cells 1 and 2 were at 3.43v and 3.73v.

- battery specs are: 11.1v 2280mah 30C (35C max), made by "GE Power", purchased from GoodLuckBuy

I have done a 'balance' charge on my LiPo. I hope that this will help, but I bet that it will still drain the battery in no time. Will be doing more testing and I will post and update or another video if the problem changes.

Here are some of the people I have been talking to on YouTube about quadrocopters and some people who I have just enjoyed videos from:

https://www.youtube.com/user/TheFlyingRookie/videos

https://www.youtube.com/user/MobileMediaProducts/videos

https://www.youtube.com/user/gundamnitpete/videos

https://www.youtube.com/user/willimesserschmitt/videos

https://www.youtube.com/user/XtremeWingRC/videos

https://www.youtube.com/user/PatheticComputing/videos

https://www.youtube.com/user/xframesvideo/videos

https://www.youtube.com/user/buffythesaint/videos

https://www.youtube.com/user/RCModelReviews/videos

https://www.youtube.com/user/TheDmel/videos

https://www.youtube.com/user/AerospaceControlsLab/videos

https://www.youtube.com/user/ParallaxInc/videos

Quadrocopter Build - Part 6 - Stable-ish

Good news, I have got it to come very close to what you would call 'fly' :p http://www.youtube.com/watch?v=dYOsrRToJtg
I had to invert the yaw gyro on the board. I have to correct all of the controls on the transmitter (they were very off, and one was incorrectly inverted).
I went back to an X mode/config. Battery is close to dead but I really wanted to get one strait flight after all the things I fixed. I am on KK multicopter firmware v4.7.
Next will be an outdoor flight on a fully charged battery.

Here is a list of all items ordered to date. Some were not needed, some just for the fun of it. If I knew everything I would have needed up front I also could have saved on shipping.
Order 1 - HobbyKing
Hobby King 2.4Ghz 6Ch Tx & Rx V2 (Mode 2)
http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=9042

Order 2 - GoodLuckBuy
2200mAh 30C - 35C 11.1v LiPo RC Battery For Trex 450 V2
http://www.goodluckbuy.com/2200mah-30c-35c-11-1v-lipo-rc-battery-for-trex-450-v2.html
8x4.5" 8045 8045R CW/CCW Rotating Propeller For MultiCoptor 2 Pairs
http://www.goodluckbuy.com/8x4-5-8045-8045r-cw-ccw-rotating-propeller-for-multicoptor-2-pairs-.html
GWS 9050 9x5 3-blade Rotating Propeller CW 4-Pack
http://www.goodluckbuy.com/gws-9050-9x5-3-blade-rotating-propeller-ccw-4-pack.html
GWS 9050 9x5 9050R 3-blade Rotating Reversed Propeller CCW 4-Pack
http://www.goodluckbuy.com/gws-9050-9x5-9050r-3-blade-rotating-reversed-propeller-ccw-4-pack.html
Hobbywing Skywalker 20A 2A-BEC Brushless ESC for Quadcopter Multicopter 4-Pack
http://www.goodluckbuy.com/hobbywing-skywalker-20a-2a-bec-brushless-esc-for-quadcopter-multicopter-4-pack.html
KK MK X525 V3 QuadCopter Folding Frame Friber Glass MultiCoptor Red/Balck
http://www.goodluckbuy.com/kk-mk-x525-quadcopter-folding-frame-quad-rotor-friber-glass-multicoptor.html
KKmulticontroller V5.5 Controller Board V2.2 Program with Config: QuadCopter
http://www.goodluckbuy.com/kkmulticontroller-v5-5-controller-board-v2-1-program-with-config-quadcopter-.html
M3 6 + 15mm Plastic Nylon Pillar Hex Spacer Male/Female 20pcs
http://www.goodluckbuy.com/m3-6-15mm-plastic-nylon-pillar-hex-spacer-male-female-20pcs.html
MultiCopter Copter Power Battery to 8 ESC 8 Led Strip Connection Board
http://www.goodluckbuy.com/multicopter-copter-power-battery-to-8-esc-8-led-strip-connection-board.html
Reinforced Protection Cover Plate for KK MK MultiCopter Controller
Circuit Board (2-Pack)
http://www.goodluckbuy.com/reinforced-protection-cover-plate-for-kk-mk-multicopter-controller-circuit-board-2-pack-1.html
VANTAGE 50W B6S+ LiPo NiMH Battery Balance Charger
http://www.goodluckbuy.com/vantage-50w-b6s-lipo-nimh-battery-balance-charger-.html
XAircraft X650 L1010 Battery Fastener 2pcs
http://www.goodluckbuy.com/xaircraft-x650-l1010-battery-fastener-2pcs.html
XXD A2208 1200KV Brushless Motor for Quadcopter Multicopter 4-Pack
http://www.goodluckbuy.com/xxd-a2208-1200kv-brushless-motor-for-quadcopter-multicopter-4-pack.html

Order 3 - HobbyKing
Car Cigarette Lighter Adapter for Battery Chargers
http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=8819
Nylon T-Connectors Female (10pcs/Bag)
http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=11962
Nylon T-Connectors Male (10pcs/Bag)
http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=11981
3.5mm 3 wire Bullet-connector for motor (5pairs/bag)
http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=10255
Hobby King Battery Monitor 3S
http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=7223
Turnigy Pure-Silicone Wire 12AWG (1mtr) BLACK
http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=9674
Turnigy Pure-Silicone Wire 12AWG (1mtr) RED
http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=9673
Turnigy Pure-Silicone Wire 14AWG (1mtr - 69A) BLUE
http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=9648

Order 4 - DealExtreme
12-LED Red / Blue Fast Strobe Light Flexible Strips (DC 12V / Pair)
Got two pairs. That 4 total, wired and sold in pairs.

http://www.dealextreme.com/p/12-led-red-blue-fast-strobe-light-flexible-strips-dc-12v-pair-117626G4

1W 95-Lumen 6500K 21-LED Dome White Light Bulb (DC 12V)
http://www.dealextreme.com/p/g4-1w-95-lumen-6500k-21-led-dome-white-light-bulb-dc-12v-51039

Order 5 - eBay
F00113 Hobbywing Program Card for Heli Brushless ESC
http://www.ebay.ca/itm/130617998623?ssPageName=STRK:MEWNX:IT&_trksid=p3984.m1439.l2649#ht_1898wt_1396

Order 6 - HobbyKing
TURNIGY Transmitter Strap
http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=11982
Hobby King 2.4Ghz 6Ch Tx USB Cable
http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=9043
450 Size Heli Blade Balancer Adapter (3mm)
http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=14928

Order 7 - GoodLuckBuy
1-6S LiPo Battery Voltage Checker Tester with Dual-Speaker Low Voltage
Buzzer Alarm
http://www.goodluckbuy.com/1-6s-lipo-battery-voltage-checker-tester-with-dual-speaker-low-voltage-buzzer-alarm.html
GWS 9050 9x5 3-blade Rotating Propeller CW 4-Pack
http://www.goodluckbuy.com/gws-9050-9x5-3-blade-rotating-propeller-ccw-4-pack.html
GWS 9050 9x5 9050R 3-blade Rotating Reversed Propeller CCW 4-Pack
http://www.goodluckbuy.com/gws-9050-9x5-9050r-3-blade-rotating-reversed-propeller-ccw-4-pack.html
M3 Plastic Nylon Hex Nuts for Multicopter Flight 20pcs
http://www.goodluckbuy.com/m3-plastic-nylon-hex-nuts-for-multicopter-flight-20pcs.html

Order 8 - BuyInCoins
Power 12V 5A Supply Adapter for iMAX B5 B6 RC Charger
http://www.buyincoins.com/details/power-12v-5a-supply-adapter-for-imax-b5-b6-rc-charger-product-4866.html
New RC Helicopter Plane CCPM Servo ESC Checker Tester
http://www.buyincoins.com/details/new-rc-helicopter-plane-ccpm-servo-esc-checker-tester-product-4861.html

Quadrocopter Build - Part 5 - Upgrade and start over

I have upgraded the firmware to 4.7 on the KK multicopter board. I ran into several issues but the short story is, use these guides to help you avoid the issues I had:

"quadcopter (x-mode build log)"

http://multicopter.forestblue.nl/quadcopter_build_log.html

"KK flight-controller setup guide"

http://rcexplorer.se/Educational/kkguide/kkguide.html

To extent on the short story, 4.7 has a lot of changes and the are annoying but they result in a much better flight with more control.

Go read the two sties or at least just the first one.

I have broke too many props, and it turns out that the set of two blade props that I bought have too small of a shaft hole (*giggle*).

New props are on order from China... I may stop by a local hobby shop and see if they have any I can buy way over priced just so I can get this thing off the ground.

Oh, also, make sure your transmitter have all axes are centered and not are inverted. If you have a very simple/cheap Tx but you can get a USB cable to configure it, do.

Quadrocopter Build - Part 4 - Outdoor

I thought that I likely damaged enough furniture trying to fly indoors, so I would try outdoor. At this point the reversed gyro on the KK board was not sitting well with me. I for sure can reverse it in the 4.7+ software via the PC + USB cable, but that has a bug with M4. A lot of good that does me...

Outdoor test flight number one. Unsuccessful attempt to fly outdoors. It was quite windy and the battery was low.

Not exciting, but a good test of using a GorillaPod (flexible camera tripod) on the ContourHD. I think it vibrates too much. Will need to mount the camera on top or bottom.

Forward and backwards were reversed.

http://www.youtube.com/watch?v=RJB9I1IMYng

I have gone back to version 2.2 of the software/firmware. This *should* be what came on the board when I got it, however it doesn't seem to be allowing me to reverse the pitch gyro using the directions everyone talks about, seen here:

http://www.kkmulticopter.kr/index.html?modea=manual

Under "4. Gyro(Servo) direction reversing"

This did work for me on firmware version 4.7. However we all now know about the M4 issue in that. I have yet to try firmware v4.5, ect. I Need to get time this week to try that out.

I also need to balance more propellers. I also need to order more propellers... I have a set of two blade props, but the recommended props for these motors were three blade. Also, I hear that three blade are quieter. Sounds good, if its true :)

Two motors are way off balance because I put on unbalanced propellers. This was a temporary fix.

Next outdoor attempts. Just trying to get trim and gyros right, and reverse gyro direction for pitch.

http://www.youtube.com/watch?v=trCoMyGas8U

When trying to use the 'Gyro direction reversing' steps, I somehow changed something with the yaw, causing it to spin up and out of control when I used yaw.

I reset the KK board settings using 'Clear all settings [servo & stick centering]'.

Part 2 of trying to fly that day. Nothing is resolved. Not owrking great.

http://www.youtube.com/watch?v=dFfBIsglmTQ

I also have a battery drain issue. I am sure that the battery is not powerful enough. Here is my calculation... try to follow me here...

ESCs are rated at 20A Max. There are four of them. 4 * 20 = 80A Max draw (plus board and Rx).

The battery is rated at 30C Constant draw, and 35C Max/burst. 35C is 35 times the current rating, aka the mAh rating of the battery. This battery is 2.28 Ah (2280mAh). Therefore in one C (aka cycle) this battery can output a maximum of 35*2.28 Amps. That it 79.8 Amp Max. That is less than that max of my speed controllers.

Often, the battery is only lasting me a few minutes of testing. That's not even fly time.

When I am at about 3/4 throttle, the battery monitor starts to beep even when the battery is at a full charge. Has happened twice at least.

I have also had a few times where I increase the throttle but the motors do not speed up. This also leads me to thing it is either a battery or ESC issue.

I will need to buy a bigger battery. I planned to anyway, but though it would be to extend flight time not to maintain flight.

Last attempts for the day. Same issues. Thought I'd just try to fly it even with pitch backwards.

Enjoy.

http://www.youtube.com/watch?v=yEqBNmGw0co

Until next time...

Quadrocopter Build - Part 3

Build is done! That went much faster than I thought it would. I guess all of my research, forum reading and video watching was useful.

I ran into an issue where the "XCopter v4.7 KK" doesn't properly power motor number 4. More info on the issue here:

http://www.rcgroups.com/forums/showthread.php?t=1584924

Until the issue is fixed, use version 2.2 for an X4/XQuad.

Another issue that I ran into is that some KK blackboards come with the pitch gyroscope backwards. If you test the pitch (typically right hand stick's forward and back) and it is backwards, you need to reverse it. It may also be Transmitter specific. I'm not sure. Directions here:

http://www.kkmulticopter.kr/index.html?modea=manual

Under "Gyro(Servo) direction reversing"

I recorded the first flight with version 2.2 (which is what the KK board shipped with) before the M4 issue with two cameras. Here are the videos:

Quadrocopter - 2012-03-10 - X525 XQuad - First flight - Camera 1

http://www.youtube.com/watch?v=OHmOIwNLe9c

Quadrocopter - 2012-03-10 - X525 XQuad - First flight - Camera 2

http://www.youtube.com/watch?v=FSCyF9n6NZI

Tomorrow I plan to take it outside and try to calibrate the gyro potentiometers on the KK board to stop drifting in any direction (pitch, roll, yaw).

More videos and info to follow in the future.

Quadrocopter Build - Part 2

Great news! The majority of my parts have arrived!

I got:

propellers (2 and 3 prop sets with spares), flight controller (with usb cable) (with one extra by accident), battery charger, battery (2280mAh 35C), motors (1100kv), frame (X525), speed controllers (20A), power distribution board.

First and second shipments to arrive:

Third shipment to arrive:

More to come when I start building tomorrow!

Quadrocopter Build - Part 1.5

Just an update...

I got the Tx, Rx, Power wires, Power connectors, ESC wires and ESC connectors.

Still waiting on:

Frame, Flight Controller, Battery, LEDs, motors, props, ESCs, ESC programmer and Tx USB, Tx strap, prop balancing bar, and much more.

I found a good idea for my idea of "Switch on quad for battery to save from always disconnecting the battery (likely not possibly because of amperage required)".

Rather than a switch, I can use this removable positive wire idea this guy used:

http://static.rcgroups.net/forums/attachments/5/1/1/2/9/a2876469-216-power%20wiring.jpg

I hope the other shipments will be in soon!

I will also provide an update and hopefully video soon of me figuring out the Tx and Rx. Perhaps me making the power and ESC wires and connectors.

One question I have to find the answer to: What is the voltage for the Rx, and how do people power it? I still have no figured out how people power the flight control boards either.

I found that this Rx should be 4.8-6 volts, but do people just use a resister and I have never seen anyone ever talk about it in a build before?

Until next time.... Keep your stick on the ice :)

Update: Found some info that I noted to look into above. Flight controller gets power from ESCs. Receiver gets power from Flight controller. On the KK, they are all connected, as seen in this schematic: http://www.kkmulticopter.com/images/stories/kk55_board.jpg

More details here if you want them: http://www.kkmulticopter.com/index.php?option=com_content&view=article&id=161:kkmulticontroller-v55-qblackboardq&catid=57:pcb-schematics&Itemid=65

Other people have also had these questions about Rx and FC power. Some good answers were provided, but I think the schematic is the best. Here are a few forum posts where the questions were answered:

http://www.hobbyking.com/hobbyking/forum/forum_posts.asp?TID=26594

http://www.fpvuk.org/forum/index.php?topic=3334.0

I expect some future questions to be answered on this other site I found while trying to learn more, it is known as "Quadrocopter and Tricopter Info Mega Link Index". It can be found here: http://www.rcgroups.com/forums/showthread.php?t=1097355

Some videos I plan to watch tonight to get make sure I know what to expect:

How to Solder Bullet Connectors to Brushless Motors and ESC

How to Solder Deans Connectors in under 1 minute

Quadrocopter Build - Part 1 - The Parts & Plan

I am building a quadrocopter/quadcopter/multirotor. They go by many names. They come in many different types. This one will be mine.

Lets start with the parts list of everything I have ordered:

Hobby King 2.4Ghz 6Ch Tx & Rx V2 (Mode 2)

http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=9042

2200mAh 30C - 35C 11.1v LiPo RC Battery For Trex 450 V2

http://www.goodluckbuy.com/2200mah-30c-35c-11-1v-lipo-rc-battery-for-trex-450-v2.html

8x4.5" 8045 8045R CW/CCW Rotating Propeller For MultiCoptor 2 Pairs

http://www.goodluckbuy.com/8x4-5-8045-8045r-cw-ccw-rotating-propeller-for-multicoptor-2-pairs-.html

GWS 9050 9x5 3-blade Rotating Propeller CW 4-Pack

http://www.goodluckbuy.com/gws-9050-9x5-3-blade-rotating-propeller-ccw-4-pack.html

GWS 9050 9x5 9050R 3-blade Rotating Reversed Propeller CCW 4-Pack

http://www.goodluckbuy.com/gws-9050-9x5-9050r-3-blade-rotating-reversed-propeller-ccw-4-pack.html

Hobbywing Skywalker 20A 2A-BEC Brushless ESC for Quadcopter Multicopter 4-Pack

http://www.goodluckbuy.com/hobbywing-skywalker-20a-2a-bec-brushless-esc-for-quadcopter-multicopter-4-pack.html

KK MK X525 V3 QuadCopter Folding Frame Friber Glass MultiCoptor Red/Balck

http://www.goodluckbuy.com/kk-mk-x525-quadcopter-folding-frame-quad-rotor-friber-glass-multicoptor.html

KKmulticontroller V5.5 Controller Board V2.2 Program with Config: QuadCopter

http://www.goodluckbuy.com/kkmulticontroller-v5-5-controller-board-v2-1-program-with-config-quadcopter-.html

M3 6 + 15mm Plastic Nylon Pillar Hex Spacer Male/Female 20pcs

http://www.goodluckbuy.com/m3-6-15mm-plastic-nylon-pillar-hex-spacer-male-female-20pcs.html

MultiCopter Copter Power Battery to 8 ESC 8 Led Strip Connection Board

http://www.goodluckbuy.com/multicopter-copter-power-battery-to-8-esc-8-led-strip-connection-board.html

Reinforced Protection Cover Plate for KK MK MultiCopter Controller Circuit Board (2-Pack)

http://www.goodluckbuy.com/reinforced-protection-cover-plate-for-kk-mk-multicopter-controller-circuit-board-2-pack-1.html

VANTAGE 50W B6S+ LiPo NiMH Battery Balance Charger

http://www.goodluckbuy.com/vantage-50w-b6s-lipo-nimh-battery-balance-charger-.html

XAircraft X650 L1010 Battery Fastener 2pcs

http://www.goodluckbuy.com/xaircraft-x650-l1010-battery-fastener-2pcs.html

XXD A2208 1200KV Brushless Motor for Quadcopter Multicopter 4-Pack

http://www.goodluckbuy.com/xxd-a2208-1200kv-brushless-motor-for-quadcopter-multicopter-4-pack.html

Car Cigarette Lighter Adapter for Battery Chargers

http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=8819

Nylon T-Connectors Female (10pcs/Bag)

http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=11962

Nylon T-Connectors Male (10pcs/Bag)

http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=11981

3.5mm 3 wire Bullet-connector for motor (5pairs/bag)

http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=10255

Hobby King Battery Monitor 3S

http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=7223

Turnigy Pure-Silicone Wire 12AWG (1mtr) BLACK

http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=9674

Turnigy Pure-Silicone Wire 12AWG (1mtr) RED

http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=9673

Turnigy Pure-Silicone Wire 14AWG (1mtr - 69A) BLUE

http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=9648

12-LED Red / Blue Fast Strobe Light Flexible Strips (DC 12V / Pair)

http://www.dealextreme.com/p/12-led-red-blue-fast-strobe-light-flexible-strips-dc-12v-pair-117626

Got two pairs. That 4 total, wired and sold in pairs.

G4 1W 95-Lumen 6500K 21-LED Dome White Light Bulb (DC 12V)

http://www.dealextreme.com/p/g4-1w-95-lumen-6500k-21-led-dome-white-light-bulb-dc-12v-51039

F00113 Hobbywing Program Card for Heli Brushless ESC

http://www.ebay.com/itm/ws/eBayISAPI.dll?ViewItem&item=130617998623

Total cost: Just under $360 CAD with shipping for all parts.

A few notes on why I got some of the parts that I did:

- KK board is cheap. Great starter board. I can always buy a better one with more features later after I learn to build it and after I learn to fly it.

- Some of the wiring, connectors and parts will be extras, but I'd rather get extra than to wait for it later.

- I shopped around for good prices. I think I could have done a bit of a better job (like ordering from one place only one to save on shipping) but you have to learn somehow and you can't spend all of your time searching for the best price for every part.

- I will be using X-quad mode to allow for the camera to record good video between the arms

- I considered an X400 or X450, but I went with an X525 for more stability and hopefully the ability to carry a heavier load later.

- 2200mAh will likely only give 10 minute flight time, but its a start

- I got 2 and 3 blade prop sets. I want to try them each out. They were cheap.

- I hope the XXD motors and Hobbywing ESCs don't suck.

The Plan (order of operations, if you will):

- Build frame

- Do wiring (including power distribution board)

- Attach motors, ESCs (electronic speed controllers), receiver, voltage alarm

- Attach wiring to all parts

- Configure ESCs (with programming card)

- Charge battery? (no one ever talks about this step so I don't know if they come pre charged or not)

- Mount board

- Wire board

- Attach battery

- Check motor directions

- Balance props

- Test fly

- Configure KK controller board pots (potentiometers)

- Attach ContourHD camera

A few notes for myself. Just a few things I think I may forget or that other people don't always do and I want to do/try.

- Switch on quad for LEDs

- Switch on quad for battery to save from always disconnecting the battery (likely not possibly because of amperage required)

- Record every step of the build. For me and for others to view later

- Use thin foam when attaching things that may need vibration dampening

That is all for now. I cannot wait for the parts to come in!!!!!