Applied to a multirotor, the coefficients of these parameters can be translated by their behaviour:. By default, at the first startup, the tricopter is initialized with coefficient values that should be quite ok. In setup mode, tilt the pitch stick back. The selected parameter then changed sequentially and the LED blinks each time a new parameter is pointed. The choice of parameter is indicated on the LCD on the first line.
In setup mode, tilt the roll stick right increment or left decrement. For the P parameter: the variation is in steps of 0. For the I parameter: the variation is in steps of 0. For the D parameter: the variation is in steps of 1, with a maximum value set to 0.
But we can quickly be lost if we made too many changes. The LED blinks again and tricopter returns in a state ready to fly. The Arduino must be connected via an USB cable to the computer to use it. Alternatively, it is possible to use a wireless transmission via bluetooth as data are transported over a simple serial port.
Default values are set at the beginning. The default values can be reset by uploading an old version and then the last version. If you feel your multi too reactive, decrease it. If you want to improve its responsiveness, increase this parameter. Defines the acc influence in stable mode only this parameter has no effect if the stable mode is disable If the multi is not stable once activated, reduce P. For a very stable multicopter with a solid attitude, the PID settings must be set high.
But if you want to do some acrobatics with these settings, the multi starts to wobble in fast translation or when you decide to shake it to much. One solution is to decrease the PID, but it is to the detriment of static stability. In fact only P and D parameters are impacted in the transformation. The purpose of this setting is not really to gain more stability, but to gain more maneuverability. The purpose of this curve is to gain more stability when you are in a situation to use more throttle than needed to just maintain a lift.
This is typically the case in fast translation. To activate a function, you must check the white box at the intersection of the required option row and at the switch state you want to enable column. On this screen, the left column resumes the detection of sensors. The right column precises if the sensor is currently use or not depending on the checked options.
There are several option that can be adjusted via define word directly in the sketch before uploading it on the Arduino. Thanks to numerous examples found on the Internet, I developed this app. To my knowledge, there are some new and reusable parts radio interface, LCD interface, the servo control.
I would like to share this code and spread it under the GPL licence so that it serves other, directly or indirectly in a tricopter or for other projects. Arduino Pro Mini card is a very small version of the well known classic Duemilanove Arduino. However, all possibilities remain the same. It now integrates an Atmel p and exists in several versions 3.
This board is the heart of the multicopter. Note that is is also possible to use other Arduino cards if they include an Atmel p running at 16MHz: Arduino nano , Arduino pro, Arduino Duemilanove.
Most Arduino clones should also work. One of the most interesting compatible board is the Seeeduino Mega. This board also support an integrated USB port. In order to reduce the size and match the standard 5x5cm flight control size size of Mikrokopter boards , one brilliant man Paul Bake decided to design the Flyduino board.
The following explanations are agnostic to the mode used. So it is relevant for both mode 1 and mode 2, the most commons. The engine launch is done by tilting the yaw stick right while having the throttle stick in minimum position.
An alternative method was also introduced recently: roll stick right while having the throttle stick in minimum position. For security reasons, the throttle stick must be set to minimum. Now motors turn at an idle rate and the tricopter is ready for flight. If you have no ACC connected Nunchuk or other indivisual ACC , it is not necessary for the multicopter to be positioned flat, the angle does not matter.
Motor shutdown is done by tilting the yaw stick left while having the throttle stick in minimum position. An alternative method was also introduced recently: roll stick left while having the throttle stick in minimum position. To calibrate the neutral of gyroscope sensors, you must tilt the yaw stick left , tilt the pitch stick back while having the throttle stick in minimal position.
The multicopter should not move during this stage. However its inclination has no influence. The status LED will blink to confirm this step.
This step is relevant only if you have a Nunchuk or an individual ACC. The multicopter inclination should be as horizontal as possible during this step. To calibrate the neutral of accelerometer sensors, you must tilt the yaw stick left , tilt the pitch stick back while having the throttle stick in maximal position.
With the help of your roll and pitch stick you could now trim the ACC mode. You must first put the throttle stick in maximal position. The status LED will blink to confirm each ticks. Internet is full of examples. Wii Motion Plus extensions are widely available on ebay. The RC elements are all available at hobbycity. MultiWii project related stuffs. The software is for the moment able to control a tricopter, a quadricopter or a hexacopter.
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