Minima is my minimalistic quad copter build. It was intended as a prototype platform for trying various software ideas and to get an idea of what it takes to make a quad fly. Since I usually don't have a whole lot of spare time (and a fairly limited attention span) I've been working on it on and off for over a year. (actually, looking at the PCB it appears the board is from Jun 2010 D: ). The hardware is functional so I am now mainly playing with the IMU. Currently the software is way too simple but working well enough to fly around carefully.
Obviously, there is a lot of room for improvement and maybe someone else get's to implement some better algorithms for the IMU before I get to it.
The video indicates that the flight stabilisation works in principle but could be better. I am actually quite surprised that it works as well as it does, given that it's only controlled by two perpendicular PD controllers running at a 100Hz update.
It's going to be quite interesting to fit a better algorithm into the little controller running at a low speed.
Also, check out MinimaBL which is sort of version 2.0
Here are some technical details:
Some creative sourcing and a more careful selection of parts can bring down the cost quite a bit more but I just used whatever I found in my electronics box. Not using expensive xbees would be a start (but they are nice for debugging since they manage the entire communication for you). There is now likely a cheaper 3 axis digital gyro around too, etc.
More of a build log can be found in the detailed parts list:
Read on >> detailed parts list
A bit of flying around in the basement.
Apologies for the editing tricks, the camera was loosing focus for annoyingly long periods of time.
Btw. this is flying the gyro/accel control loop which tended to oscillate a bit and needs some work.
Using the gyro only completely eliminates this. The quad behaves more like a helicopter and needs
you to fly it that way but it's a very smooth ride.
Here are some things to avoid. (The reason to always have superglue handy).
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