YMFC-3D part 6 - Build your own Arduino quadcopter flight controller with source code..
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- เผยแพร่เมื่อ 15 พ.ค. 2015
- PLEASE USE THE YMFC-AL (AUTO-LEVEL) SOFTWARE: • YMFC-AL - Build your o...
These videos are just for reference. The new software is much easier to setup and supports almost all transmitters.
You can download the Arduino sketch here:
www.brokking.net/ymfc-al_main.... - วิทยาศาสตร์และเทคโนโลยี
As a mechanical engineering undergrad, you are definitely one of the best instructors I've come across. Very simple and straightforward explanations that would have made my controls classes much easier to follow. I hope to code my own autonomous quad with referencing this as my foundation. Thanks for your hard work in these videos!
This was an awesome series, thanks so much for taking the time to make it! I was going to use an off the shelf type flight controller for my own tricopter project, but this series has single single-handedly given me the confidence to have a go at making my own :)
D.B. That's good to hear.
Thanks for the tutorial ... I built my quad as per the instructions given in this video and finally flew it. It was actually 3 years back when the series of videos had been posted online. Its really amazing. :D
This is the only video of its kind that I was able to find on the tube. Short, detailed, and no nonsense. This video will get popular in very short order. Thanks for posting the code as well. This is the best demonstration of code/hardware out there. I love it! Subbed, and thumbed!
what a fantastic series, enjoyed every single minute of it. Thank you for spending the time to educate us! :-)
Dude, awesome job, seriously. I've been looking for something like this for a while now. It's so exciting to finally get my controller working
The content here is on par with any 3000 level engineering course I ever took. Thank you very much, glad to subscribe.
this is the simplest but the best tutorial i've ever seen. i've been having problems with PID for stability and you gave me answers. YOU are the MAN! Thanks a lot!
Thanks for the compliments!
two years ago i dreamed to biuld a quad using arduino but i didnt know where to start but when i watched your vids two mothes ago i got motivated i kept watching your vids and started gathering parts and now i almost there to make it fly thank to god and you very much my dear and nice friend
you are the man , no kidding
Thanks :-)
Thanks for the video tutorial. Not only did you show me how to try building a quad-copter, you also showed me a lot about the Atmega328 chip and it's properties I never knew existed. The interrupts are one feature I didn't know about and will prove useful in other projects. Thank you so very much for sharing the videos because they taught me a lot. You are one smart and sharing guy! P.S. I love the donation part on your site. I always believed in paying it forward.
Thank you for your positive reaction. This keeps me motivated and enthusiastic about what I do.
A quick question I hope you can answer. I bought a GY-521 gyro that from my understanding is the same as a MPU-6050. But when I run the "Find Gyro" sketch, it can't find it. I also tried the gyro using the MultiWii code and the MultiWiiconf program and it seems to work.
Is there any way I can get this gyro to work in the code you've created. I'd rather not use the MutiWii if possible. Not that it isn't great code. I'd just rather try this using your code.
Thanks for any help you might be able to give me.
Dave
Yes, you could use the YMFC-3D version 2. It supports the MPU-6050. Click on question 1 on how to get started: www.brokking.net/ymfc-3d_v2_qanda.html
That worked great. Thank you for the info.
My Drone tutorial search stopped when i got ur video. U are God of drone for me 💐
Awesome, certainly I will build one for me.
A great series, short videos but with a clear explanation regarding the matter.
Thank you very much for sharing your knowledge with all of us.
Thank you so much! These guides has helped me a lot for my upcoming project!
This has to be one of the finest if not the best video series on this subject. Everyone should watch and get the code. So say I.....
Joop, you are the best ! Thank you for helping us with your high-quality educational tutorials.
Great series, Joop! The code is very understandable due to the videos and comments in the sketch. I may modify it for my tricopter.
Thanks and keep up the good work.
Impressive series of building and performance of quad!!! It's inspiring!!! Thank You J.B.
Joop; You rock... I have never had this explained so clearly and concisely as you have done here..It's great to know how it works, but WHY it works is what you went into in depth and is what gives so much value to what you have done. Thank you so much!!
+John Wilkins Thank you for your message positive message!
Thank you again for a fantastic series... I have watched them all, and I know I will study them many more times.
John Colvin Thanks!
Absolutely beautiful. Loved the ending flight
Truly an amazing lesson. Thank you for sharing you knowledge with us.
Men like you make dreams come true for all of us ,,mortals'' that can't program :)
Extraordinary work and my compliments.
I've decided to start my own build after your sketches.
Thank you very very much!
djquaky Thanks for the compliments!
Hi.I would like to thank you for these wonderful videos especially fir your way of explainings.These videos are very educative.
Awesome series sir. Thank you so much for these videos. Really helped a lot.
Absolutely the best!! I am so amazed at your knowledge. You have a very good approach for delivering this content. Your site is very well organized and documented. I did find some link errors but not a big deal because I found what needed on the site Downloads. I have learned so much from this series. I went as far as transcribing your voice track to the the steps with screenshots. I am in the process of gather all parts then plan to first tackle the YMF-AL project. I am a bit concerned that it appears you are not really responding to us so wondering what I will do when I have show stop problems.
Fantastic job! I will try build it. Thanks for showing us your jobs. I show them to my students
Brilliantly made and well described. Thank you Joop :)
Really it is worth watching. As you said it is very helpful for starting up with Quadcopter.
wow dude, this is soooooo cool. i picked up a da vinci jr last week and got some arduino boards coming soon. this look so cool.
This serie was extremely helpful!! If you ever come to NY, lets go for a beer lol
+Julian Tejera-Sosa I'll keep that in mind ;-)
Hi
Thanks for your hard work and resulting series. It's mine to do in the near future.
Best regards
Great series of videos! Thank you ;)
Fantastic! Luckily I can get hold of the specified gyro locally , meaning a quick start on building my own flight controller. 😎
Thank you for this great video series!
Thank You so much for doing this video :) Great Project.
Awesome..!!!! :) Thank you for this great video.
Seems its very stable.
thanks for sharing the code.
This was so awesome not only did this series help me begin to develop my own flight controller but it taught so much more about arduino uno and programming in general. Than you for all your time and efforts. I have been looking at using an mpu 6050 to build a dual PID taking in the orientation angle not just the angular rate. Have you worked with this sensor at all?
Hi Joop,
Is it possible to implement altitude hold by reading gyro and accelerometer only ?
I've seen people usually using baro and gps for this. Does your quad have alt hold on this video ? I assume its very hard to fly without this feature, is it not ? Does every pitch and rolling will change climbing/dropping rate?
tasiotas In this video I have no altitude hold. It's not very hard to fly it like this. It just takes some practice.
The gyro can't be used for altitude hold. A combination of baro, gps and accelerometer will give the best result.
thanks, one more question.
When you hold roll throttle at maximum(right stick push right), quadcopter will start rolling until it reaches max defined roll angle, or it will continue to increase roll until it will flip upside down ?
Im trying to imagine how quad will behave with your code. I have very simple quad(Syma x5c-1) and Im not sure if radio inputs are the same as yours. When I push roll stick to maximum value, quad is just continuously drifting sideways and gaining speed.
I have finished my Quad according to your describtion. If works perfectly :) ....... Thankyou man, great Job and very good explained. All the Best :)
+Orion Sirous Thanks for the compliments and happy flying!
WOWWW!!! awesome job sir. thanks very much :D
Bedankt voor de zeer goeie informatie. Ik heb her zeer veel van geleerd!!
absolutely amazing detail and technical data . Top work
Thanks!
Kei gaaf man! Heb het al 3 keer gezien!
Very well done, great project and video
Thank you very much. This was very usefull and interesting...
Hello , Your videos are amazing and they helped me build my own quad copter as well as understanding the code aspect of them. However I still have a problem with the MPU-6050 noise levels , ive shortened the wires as much as possible and pushed the ESC's as far as possible yet my readings are still bad compared to the ones on your Q and A on your site. Would using another gyro give better results?
Make sure that the props and motors are balanced. This can also be a source of noise on the gyro data. If the noise persist you could try another gyro.
Great video & thumbs up. Cheers from sunny Sint Maarten
Thank you very much for sharing your research and knowledge concerning the YMFC-V2. It works so good. Great built, even for a noob (no knowledge of electronics). The Arduino Uno R3 as a flight controller? Got a new hobby, thanks to your information, youtube step by step instructions and code. Waarschijnlijk had ik dit beter in het Nederlands kunnen zetten. :)
Thanks Rob :-)
Thank you also for sharing the code with us.
Awesome videos, I enjoyed every one.
Edit: I see you have provided two videos that clearly explain the answer to my question. Thanks.
I have one query regarding the gyros. It may have been explained and may have I missed it so apologies if that is the case.
Considering the output from the gyro is in degrees/per second and there is no absolute values available for Yaw, Roll and Pitch is it possible that an amount of drift (relative to the initial start position) can creep in overtime.
My thinking is that repeated sudden sharp changes due to turbulence or wind may not be accurately captured over time due to delays in the processing loop and missed minute changes may sum over time.
For example I imagine that if the frame is forced by outside source at any fixed angle for some time then the outputs from the gyro will approach zero and the PID controllers errors will tend toward zero over time and no longer try to correct the angle error.
I was trying to see from the flight footage if this the case but it seemed to be able to return to perfectly level.
If the behaviour I describe is real then I suspect that it is almost negligible and not worth any concern.
I am just curious if my theory holds any weight.
Thanks for some very informative, detailed, well produced videos.
Cheers
I am building an RC version of Opener’s Black Fly VTOL aircraft. Do suppose this code could be modified to achieve the flight characteristics of that aircraft? I would image it’s just a matter of adjusting the desired pitch attitude of the PID from 0 to 90 degrees and back again as the aircraft transitions from vertical to horizontal flight. Guessing also I’d need to blend the roll and yaw commands as the motors tilt back and forth. What do you think?
Enjoyed the tutorials a lot! Used a lot of it as inspiration for building my own setup.
I have a problem though, one of my motors spin slower than the others. I did the calibration of all the ESC's and the motors start at the same time.. just not at the same speed.
Any suggestions? (clearly might just be a faulty motor)
Im just thinking of implementing som sort of trim, since one cannot be sure that all motors act the same.
If you use the YMFC-3D version 2 all the motors should start at the same speed after calibration. If not you might have a faulty ESC or motor.
You are Awesome!
Thank you, sometimes TH-cam ist great ;)
Thank you very much for sharing this!
hey joop i like your tut very much and i m planning to build my own but i wanna ask which motor have you used ?of how many kv?
U deserve more like. Thank you
I made it and it works really well . I have a question 🙋 what happens if the receiver disconnect from transmitter . Will it land safely
Thanks so much Mr. Joop Brokking. You make me understand how the codes of flight controller works. I imagine how we can make own flight controller that has Return to Home Mode like Dji Drone and ect.....🤔
I'm very Thanks u to light me up.
Now i made it, it's so amazing performance.
Thank u so much!
Your welcome!
Great job ... thanks for sharing this
Great works, sir :)
Great Job man :), many Thanks
Hey Joop thanks for sharing your learning!. I have a question.Is it required to calibrate the esc after uploading the code? cuz i have already calibrated them individually and on uploading the code the motors just keep beeping and dont move at all. Is this happening because i haven't calibrated them properly or something else? Help me out here!
+DoGstrer quantum You need to calibrate the esc's with a 1000-2000us pulse to get them to work correctly. Use the Arduino sketch of part 2 to setup your transmitter. After that calibrate the esc's with the throttle output of your receiver.
Wondeful work Joop. I have built the quadcopter using the parts listed in your webside. I have passed the setup procedure, calibrated the esc's and uploading the final flight controller program to the quadcopter. Then, I am finally making some tests keeping the quadcopter in my hand to see how it is reacting. And the issue is that when I am giving a a roll or pitch command from the FS6 transmitter, the quadcopter is reacting but is not coming back to initial state when I am coming back to the initial position with the transmitter command. Any idea ? Thanks. Fabrice
If you use the YMFC-3D software the quadcopter will stay in it's current position. If you use the YMFC-AL (auto-level) the quadcopter will automatically level itself.
www.brokking.net/ymfc-al_main.html
Thanks for clarification. I am using the YMFC 3D V2 software... I may use the serial connection to print the esc1 2 3 and 4 to see how they react.
Joop, was wondering whether I shall declare the variable int receiver_input_channel_1 in the Flight Controller program ...... as volatile int receiver_input_channel_1...... as I am using IDE Arduino 1.8.0 and in reference to the modification I made in the Setup program which was working. Thanks. Fabrice
Great job!!thanks for making those awesome tutorials and explaining everything clearly. I'm into building a tricopter and tried to modify the code accordingly but I'm not getting the movements correct ; especially the yaw movement as it is controlled by servo. Can you explain the changes I need to make in code for the same or upload a short tutorial for the same?
I cannot help you with that because I never tried it before.
I'm a 16 year old who spent the last few months hitting my head against a wall. I've also been trying to make a flight controller using an Arduino by implementing some of your code, but my quadcopter seems to simply fall out of the sky when I'm attempting aggressive maneuvers, any ideas why (if hovers and flies around just fine)? I'm using the mpu6050 as the IMU with the 5Khz Digital Low Pass Filter (the only one that the quad stays stable with).
Ps. Could it be due to vibration? Should i get an anti vibration mount for the Arduino?
+Gabriel Fernandes Im also using 2 different motors/esc
could it also be my power supply? im using the esc 5v output to power the ardui o
Gabriel, I cannot help you with this problem. There are so many things that can be wrong. From programming to hardware.
You might try to get a L3G4200 or L3GD20H gyro and build the YMFC-3D. Just to get you started.
Is it possible to reconstruct this project without any Tx/Rx components. Communicate with the microcontroller using wifi for a starting point and getting it to only hover at proximity in a controlled space, sending pulse width commands directly from the development platform onto the MCU, via a while loop waiting for user input for a pulse width? Purely for testing reasons?
Hi joop,i want to ask you two questions
1)I'm using spi protocol for 9dof(3axis gyro-accelerometer-magnetometer) sensor lsm9ds1,could it cause any problem?I'm asking because you are using i2c protocol.
2)In my code the refresh rate is 350 Hz,do you think it's the right thing to do?
Isn't ther system more stabilized with the frequency?
Thanks.
1) It can work but you have to modify the code yourself.
2) A higher refresh rate means more corrections per second. So you should be fine.
this guy is a legend! no kidding!!!
Is it necessary to solder the jumper cables from the receiver to the Arduino ports ... would it be okay to use the jumper cables that have male to female connections ?
HI! I just want to ask if ever that I want to add an anti-collision feature to this drone. What advice can you give me or what should I do? thank you sir
You're amazing!
Awesome. Hei, its possible to add an GPS in this project. Arduino uno work fine, or is not indicated?
Douglas Melchiors A GPS is not possible because you need a auto level function first. And the Arduino Uno is not powerful enough to do all this.
you are simply awesome
Super! I will make one.
Hello Joop,
First, thanks a lot for uploading these videos and sharing your excellent job.
I have a question for you.
When i start my quadcopter, the Rear Left motor doesn't start, i have to move the right stick from my RC for making it work.
What could it be happening?
Pedro Daniel Have you calibrated the esc's with the program that I wrote for part 4?
Joop Brokking Thanks a lot again!
while(receiver_input_channel_3 < 990 || receiver_input_channel_3 > 1020 || receiver_input_channel_4 < 1400){
start ++;
PORTD |= B11110000;
delayMicroseconds(2000); // I just had to modify this, from 1000 to 2000.
PORTD &= B00001111;
delay(3);
if(start == 125){
digitalWrite(12, !digitalRead(12));
start = 0;
}
}
start = 0;
Now at the beginning, my 4 motors start at the same time and velocity.
Pedro Daniel That's good to hear. So two seconds is to long for the esc to initialize. Good job!
Joop Brokking You were right, two seconds was too long for the esc. I changed it for 1090 and works great. Thanks!!!
Wonderful!
Hi Mr. Brokking, I have some issues with the code. For the YMFC-3D V2, I have successfully went through all of the setup procedures and calibrated the ESC's. I can also upload the flight controller code also. When I pitch forward, the quadcopter's nose pitches forward as I wanted to. When I bring the pitch throttle back to center position, the quadcopter does not become horizontal again, it remains the same pitch angle as it was before. It will remain the same angle until I change it again with the transmitter, which really stresses me out. Gyro seems to work, but will not return to its horizontal level again once i release the sticks. Do you know what the problem is? Also i tried your YMFC-AL code also, but for that code, the LED remains on. Thanks in advance for your help.
The YMFC-3D is a 3D flight controller. That means that you have to manually level the quadcopter as you described. The YMFC-AL has an auto level feature that levels the quadcopter when you release the sticks. Please check the Q&A page to see why the LED stays on (question 9):
www.brokking.net/ymfc-al_qanda.html
are you using a electronic speed controller and do you need it on every drone
You are my HERO!!!!!!!!!!!!!!
Joop, I noticed in the code you have nicely setup pin 12 and pin 13 both as OUTPUTS. I want to use the on board led of the UNO as the led indicator (while quad copter is on the ground is good enough visible indication) instead of pin 12. So I am contemplating to change the code accordingly all 12's to 13 in the code and then I am going to use a small buzzer on pin 12 for low battery indication, while copter is in flight or on the ground, which proofed to be useful on other flight controllers too (//Turn on the led if battery voltage is to low.
if(battery_voltage < 1050 && battery_voltage > 600)digitalWrite(12, HIGH);)
Easy enough I think, just wanted to confirm with you and the other subscribers that I am on the right track.
Freddie Snijman Freddie, your on the right track. Only the line that you mentioned needs to be 12. The rest is set to 13 for the led on the Arduino Uno.
You are godsend.... buddy
Am trying to implement it with arduino mega 2560 but am not getting it to work since Interrupts and external interrupts differ from arduino uno. Am having trouble with editing your Code to just let it work with mega 2560. If you please just give me an advice or hint so i can work with. And Your work is Amazing thanks for sharing it.
I tried in the past to build the quad with no success.I can't really understand the PID part on the code and in general. Do you know any websites or PDFs that i could read and learn the PID algorithm and then implement it in my own projects? Just to copy your code, use it and not understand how it works, isn't practical because i can't use it or adapt it in other projects.
Thanks for the for the tutorial ...grate ...i have MADE a quad copter CONTROLLER with AURDINO due , now it is in the PID tuning phase ....i had used the standard libraries for sensor s like mpu6050 dmp , ms5611 , PID etc ...even in the hardware i had used level shifters ( mosfet based ..for me txb108 was not worked well ) even i can see that with some print functions i am able to run my loop running less than a micro ... my tuning setup is quad copter is tied with rope in an welded iron stand .. while tuning in level position there is small wobbling..can u plz guide me here to correct it .
greetings, as a university project me and my friends want to build a self leveling quadcopter, but we want to give our inputs without an rf controller, someway within the computer connected. Do you have any possible/optimal ideas for this method, and a source code more suitable for this method? (without rf controller) Thanks in advance :)
Thanks for your very good series. I watched all 6 videos . Could you please tell me what battery you suggest for this project. there are different types in the market and I don't know which one to choose in terms of voltage and amperage. Thanks in advance.
+Ehsan Keshtgar In this series I use a 11.1V (3S) / 3800mAh 20C Lipo. But a 2200mAh will also work fine. But don't use a 4S because it will screw up the voltage deviser ad the analog input.
Thanks for your video. It's amazing!
For you next project, can you share to us how to build the own RC transmitter with joystick module for arduino?
Hi, cool video, I am building a quadcopter with arduino too but I have a problem. when I connect the battery, the engine and the receiver to the ESC nothing happends and the voltage go down to zero, do you think is a problem of the battery or of the receiver?
how can I contact you?
Joop - is there any possibility of you doing a video with a stabilize PID loop (using roll, pitch, and yaw) feeding into the rate loop?
+Joe Prince Maybe in the future. But not now. I'm currently working on my own flight controller and I don't have the time to do another video session like this.
+Joop Brokking I completely understand - best of luck with your flight controller!
very good excellent teacher
there are 2 type of flysky like that, the first one left analog stay in the middle and the second one stay in the bottom. which one should i use Mr?
Use the one where the left stick stays in it's position (so not self centering).
big job "joop" ! thanks
hello, i have made the arduino based drone, but now i am using bmp180 altitude sensor in it. the problem is that it takes very long to read the data, and the loop is 2000us. please share the method you have for altitude sensor
Thank, you are awesome :)
Hi Joop. I am building an autonomous quadcopter that uses the arduino, mpu6050 and turnigy ESCs. the main idea at the moment is to basically make it hover. How can I modify the code u included to fit an arduino quadcopter without the use of a radio transmitter?
+Tahmed Adnan Sorry but I can't help you with that. It's involved and can't be explained in a few lines.
Best series ever for Arduino FC DIY project! I will also start making one.
I plan to use 328p but the nano/mini version and mpu-6050 gyro.
My ESCs does not have even simonk on them just standatd ones I think 250hz is too much and I have to go with 50hz refresh rate. What to change in the app?
If your esc's don't support 250Hz refresh rate the quadcopter won't fly stable. 50Hz is to slow and won't give you a good flying experience. Most esc's can be flashed with other software. Try this first.
Joop Brokking but I am using those standard ESCs with my other quadcopters having APM (arduino mega 2650) and cc3d FC. They both have option to set the communication rate between 50-490hz so it is an option and possible. Also my APM quadcopter flies stable with those ESC in both communication rate setting, but with higher than 50 somtimes when giving slow throttle randomly a motor cannot start rotating. Once it starts fine it flies well. So it is only problem in altitude/gps hold modes when I have no direct control on throttle and coper flips somtime instead of takeoff.
In the code (line 225 - 226):
//The refresh rate is 250Hz. That means the esc's need there pulse every 4ms.
while(micros() - loop_timer < 4000); //We wait until 4000us are passed.
Change the 4000 to whatever you need. So for 50Hz it is 20000.
Joop Brokking thank you! I am far from needing this now, but collecting the info. It is very good how you explain both arduino and fc related things so even if I won't succeed I would learn a lot! Thanks!
Thank you so much 💖💖💖💖
Hi,
i am sagar .A newbie to multirotor. awesome videos.... very helpful to me. need a help regarding hardware.i want to know what are the specifications of the motor u have used and also about the esc.
thnks in advance......