I've made a successful flight today after almost 2 months of figuring things out. I have no experience in drones whatsoever prior to this. The past weeks have been so frustrating attempting to fly drone as part of an objective in a grad school requirement. Thank you very much for this wonderful videos, its been frustrating yet fun experience..Thank you very much!
Hi bro, I'm also making a drone for my project, I don't know how to adjust the motor vibration properly, and I also have a problem in the flight code, when I attach the propeller, when starting, the motor speed increases It goes up very quickly for a few seconds then stops, but without the propeller the code works normally. Thank you very much if you see my question.
Man, I'm doing eletronic engeneering at UFSC ( I'm from Brazil ) and as a project of my transducers class I tried to find a good project to build and create a YT video about it. So far I'm very exited about your tutorial and schematics, so thank you a lot for taking your precious time to create this great tutorial, It really is helping me a lot with understanding about Quad's.
I just finished my first test and it's flying. I'm super happy but I'm even happier to know that there are people who provide such documentation for such a great project, thanks a lot Joop, the real MVP on earth.
My High school Seniors in Arapahoe Nebraska built and flew this!!! It worked great, and was a great project. You did just enough (All) of the heavy lifting to keep it accessible to high school students with little programming background. Took us about a 6 weeks (30 classroom hours) with three students and myself to build and then debug it (Most of the time was finding the errors and fixing them). I gave students very little instruction and just let them build from your site and others. Great Experience!
Thanks a lot Joop!!. I ran the setup program and below are the output for gyro configuration Gyro calibration =================================================== Don't move the quadcopter!! Calibration starts in 3 seconds Calibrating the gyro, this will take +/- 8 seconds Please wait.................... Axis 1 offset=67.15 Axis 2 offset=-36.96 Axis 3 offset=-45.95 =================================================== Gyro axes configuration =================================================== Lift the left side of the quadcopter to a 45 degree angle within 10 seconds OK! Angle detection = 2 ( Axis inverted = no Put the quadcopter back in its original position Move stick 'nose up' and back to center to continue Lift the nose of the quadcopter to a 45 degree angle within 10 seconds OK! Angle detection = 1 Axis inverted = no Put the quadcopter back in its original position Move stick 'nose up' and back to center to continue Rotate the nose of the quadcopter 45 degree to the right within 10 seconds OK! Angle detection = 3 Axis inverted = no Put the quadcopter back in its original position Move stick 'nose up' and back to center to continue =================================================== LED test =================================================== The LED should now be lit Move stick 'nose up' and back to center to continue =================================================== Final setup check =================================================== Receiver channels ok Gyro axes ok =================================================== Storing EEPROM information =================================================== Writing EEPROM Done! Verify EEPROM data Verification done Setup is finished. You can now calibrate the esc's and upload the YMFC-AL code. Can you please let me know gyro axes are Ok? In your video Angle detection is 1,2 and 3 but in may case it is 2 , 1 and 3. In your case Axis inverted - No, Yes and Yes but in my case all No. Let me know if the above setup output is correct for gyro configuration. Thanks in advance.
Hi Mr.Joop, I have built and tested successfully my own Quadcopter using Arduino Mega. My model has many functions like auto-balanced, holding altitude, holding position, return home, autoFlight, and emergency return,... I used this project for my Graduate thesis and now I was graduated. Honestly, I want to thank you and give you a big respect for all knowledges you share. Wishing you all the best!!
am doing the samething will graduate soon i included a computer vision camera that detects cracks on concrete, let me ask you which battery did you use
@@Patrick-wn6uj no, because the voltage of Battery is still 12.6V (3s full charged). You change the resistor when you change the voltage of battery ( it’s up to type of battery’s voltage that u are using
Congratulations. I call Joop saying that the arduino version is not fast enough for some things and this is why he switched to the STM32 version. basically autolevel and holding altitude would be sufficient for me. So you implemented this with a ATMEGA 2560 and this should be enough info for me to go with the ATMEGA1284p as it should also have enough flash and is fast enough to implement the additional altitude hold function, right?
Hi Joop, I just finished building and flying my first quadcopter,YMFC-AL. It works beautifully!!! Thank you! I would like to thank you for the sharing your knowledge!!! I was able to get up to speed very quickly on what I need to know e.g. Info about PID controllers, gyro/accelerometers, AVR embedded programming, transmitters/receivers, basic electronics and wiring, micro controllers, understanding spec sheets, bit-manipulation of registers, bitwise logical operators, your Arduino sketches, and quadcopters in general. Wow what a project!!! Just phenomenal!!! Thanks. Thomas D. Wilhelm Robotics Enthusiast
Just finished my quadcopter and all I have to say is THANKS. it flies perfectly, followed this step by step and the result is amazing, i'm really happy right now. Congratulations for this series.
Joop I have to thank you for these amazing tutorials, 2 months ago I had never even heard of an Adruino never mind ever flown a quadcopter. I have just finished building and learning to fly my very own Adruino based Quadcopter thanks to you! And you know what, it flies fantastically. Its been a doddle to make because of your intuitive videos and web site and I have loved doing it I really have, cheers mate. I do have one question though when I up the pid_i_gain_roll above 0.00 even by .01 it lurches/rolls to the right and I can't control it. Thank You for teaching me so much, I am going to go autonomous next..Ps doing this has kept me sane with all these coronavirus problems..Keep safe..
I do not normally like a video nor comment on it, but this sure does deserve adequate recognition. The maker did a very good job both in the software and with the documentation. Well done.
Worked for Arapahoe Public School in Nebraska!!! Thank you for sharing your code and Schematics! My students are standing on the shoulders of a giant for sure! Thank You!!!
My quadcopter flies perfectly but after some time (around 1 to 2 min) suddenly all motors stop , it falls off and get crashed. All motors are rotating in correct direction and connections are perfectly soldered . What might be the reason for this sudden switch off. I read all Q/A and all comments but did not find solution for this
I will give u answer plz replace the wire of receiver mean voltage and ground wire try to replace them both waire and connect new waire in the same place ur issue will be solved thank you
Will I be considered as adamant if I say 'man u did well'? I am an Electronics engineering student from India and I take freaking' interest in aerial vehicles. I love you sir Joop, God must be lucky enough to bless you!
Hi there, thank you so much for these very useful videos. I have already built my quad-copter but when I try to do all setup I received this massage : Final setup check =================================================== Receiver channel verification failed!!! (ERROR 6) Gyro exes verification failed!!! (ERROR 7) The setup is aborted due to an error. and I checked on the Q and A page but I don't understand what are you mean on error 6 and 7 respectively?! 1)One stick is assigned to two functions and 1)One axis is assigned to two functions. Thanks,
@@Joop_Brokking Sorry you. I got the same error, but I use a different set of tx rx than your tutorial videos, my tx rx is Flysky i6. Can you answer for me that the Flysky i6 kit integrates with the quadcopter setup code?
Hi Joop, great tutorials and easy to read code. Having made a quad using the pro-mini I would offer this feedback to anyone else having a go:1. The pro-mini can't be used to power the gyro & receiver on VCC. An AMS1117 5V regulator is sufficient, but solder the tab to a heatsink (could be the quadcopter board itself) and use an electrolytic capacitor (uF range) on the output (the boards themselves have small capacitors)2. Your website has no mention of calibrating the accelerometer and has a Q&A that says it isn't necessary in general as you can use sub-trims to do this. I think its much easier to test-fly if you do calibrate the accelerometer. I was about to modify the code to do so but found that there is already a template in the flight controller code. My recommendation is to modify the ESC code to give 1 or 2 decimal places on the accelerometer reading (its stable to >1 decimal place when not running - make sure the quadcopter is flat with a spirit level) and use that figure in the relevant part of the flight controller. My corrections of 3-4 degrees made the test flights much less scary.
This is a great idea. A quad that can be home built from very cheap parts and electronics. All the while giving step by step instructions in an easy to understand diy way for each and every step. Simply awesome. The only problem I can see is there may be a lot of new flyers banging quads into everything :D
this progect works with arduino nano and pro mini without any modifications. tip:when orienting the direction of the motors place the front face that you want to be the leading face of the drone to the back and then assign the motors: front face (placed back) cw pin 7 LF --------|---------RF pin 4 ccw | | ccw pin 6 LR-------|---------RR pin 5 cw and if your using the same frame you just need some tiny modifications in pid values(works ok with stock values) .
I have accumulated 5hrs of flight time with the new AL code integrated into my controller and have not had an NaN crash in all of that time. I found a flight park about 5 minutes from work and fly every day on my lunch hour. I am learning to fly, as I go, so primarily I'm doing a lot of high speed "out-and-backs", "walking the dog", tail-in circling, full throttle punch outs, VRS recoveries and the like. So, it appears that NaN was addressed, either by improving my electronics layout/routing (reduced EMI) or with the software filter. I am also fairly convinced that the I-term 'death wobble' that I experienced was due in large part to the pendulum effect of the relatively heavy landing skid and camera/gimbal setup I was using. I have been flying without any of the 'under carriage' and the PID's are now much closer to default values. I bought an inexpensive flamewheel kit that includes 4 DJI-style legs and I plan to make a detachable lower plate, with the landing gear and a lighter Walkera gimbal attached. This will give me a 'convertible' setup, when I want to switch from 'sporty' to 'camera platform' and should be much lighter than the rig I was flying.
Hallo Mr Brokking, Thank you for your great videos. I tried to build my own ymfs-al according to your videos and website. The only differences in the build are: my 4 Motors have a KV value of 810 instead of your 1000KV. (using 4 30A-ESCs) I wanted to use my 4s lipo. Therefore I changed the R2 & R3 resistor values according to your Q&A section formula: R3 was 1500Ω and needs to be 8200Ω R2 was 1000Ω and needs to be 3300Ω ((16.8V - 0.6V) / (3300Ω + 8200Ω)) * 3300Ω = 4.65V because the resistor values were to high for me (not wanting to serial connect alot of single ones) I tried to apply the formula and came to the idea to use 300ohm for R3 and 700 ohm for R2. This gave me 4,86 V. I made through the whole setup procedure according to your videos and everything seemed fine until today. It looks like somehow i killed my arduino uno. I cant upload sketches anymore. 2 red leds still blink the green one is inactive. I know would like to know: Was my resistor-choice wrong & why? I forgot to change the code according to your Q&A regarding the different resistor values. Which consequences does this have? Today before the arduino uno broke I wanted to measure the voltage between Vin and Gnd and measured around 15V. (with 4s lipo connected) Did I hearby cause a shortcircuit and this is why it broke? Before it broke under calibration conditions everything seemed to work. When i installed the flight controller and tried starting it i had 2 crashes. Then resoldered and recalibrated... Then i fixed it to the ground with tape. After a few short tries 1 Motor didnt work as the others did and the thrust stick wasnt as programmed (i use a flysky fs i6) But most important the whole quad stopped working after a few seconds. What reason probably caused this? I hope you can help me with my questions (especially concerning the resistors!), and thank you for your great work!! Kind regards from Austria PS: I still have an arduino mega left. Is it reasonable to use it without to many changes in the programs? Which pins would have to be changed, and how would i have to change the different registers you spoke of in another comment?
The max input voltage of the Arduino Uno is 12V. Connecting it to 16.2V will overload the voltage regulator on the Arduino. This is probably the cause of the problem. If the Arduino program freezes it most likely is a I2C bus problem. Double check your wiring. Makes sure it's reliably soldered and don't use bread boards.
Hi Joop. Thanks for sharing your experience. I'm just starting in the drone world, but you've saved me a lot in the learning path. I'll use your concepts in my designs, and I'll use your lessons learned. What I got from your videos is that Arduino uno could be slow for managing receptor, sensors, motor control and the algorithms for navigation, so I'll try to start from the beginning with distributed processing and/or faster processors. Thanks again, Juan.
Bro you are awesome with all your affords at this project we all viewers are able to make this happen I am a 13 year old boy from india created this quadcopter with all your codes . Thanks a lot bro. Big respect from me
Hello brother can you tell me the cost to make this drone that you had to experience? I know it's 6 years ago and so much things have happened but it costed me around 8k to make this drone which I think is relatively good. But many people are saying they made this drone in 6k or 5k. What was your cost? I am also from India.
Dear Joop, I made another quadcopter according to your guide......it is awesome...it is flying very well.....Thank you very much for your guide...I learned lot...you are a really good teacher....
Awesome project, this has been really helpful to look at! For the blade balancing it is going to do a little better to stick the tape on the propellers downward facing surface. Since typically 80% of the lift is generated from the low pressure surface so you will be dealing with lower aerodynamic forces on the other side when the surface imperfection adds turbulence so there should be less aeroelasctic vibrations.
Hi sir, thank you so much for sharing your knowledge, i followed your tutorial and now i have a really stable quadcopter, i was trying to do something similar to you, programming and auto level controller for a quadcopter but using other technique; implementing on a raspberry pi 3 an LQR control system + an Extended Kalman Filter to stimate and regulating the angles of the quad, but with no good results (now i know it was because of the sampling time of the loop, i was working with the minimun frecuency for the ESC - 50Hz and i noticed thanks to your videos that 50Hz is too low frecuency, i know the problems of the implementation for the sensors and all the hardware (procesing times, the sensor´s noise) and your way to solve it was really amazing. I am very grateful. my next step is go back to my aplication on the RPI3 but keeping in mind all that i learn here. P.S: sorry for my bad english.
Auto lvl or self lvl, it all depends on the transmitter you use and mapping the pot data with the esc speed as well using the pid to balance the quadcopter. It's different setup using different transmitters ready made ones for rc or homemade modified one.
Hello Joop, I'm really lucky that I've found that nice guide and the time is more than perfect. I'm in R/C since a few years, building planes from scratch, having some cam birds, but also some boats and even micro helis and toy class quads for bad weather. Caused by 3D printing I came in contact with Arduino and right now I want to tip a toe into real quads, so I've ordered a F450 flamewheel frame, and sets of 2826 motors, BLHeli ESCs, props, ... (korting in a lot of shops tghese days, you know) , the needed LiPos, BEC, Arduino and of corse a Taranis+ and FS-i6 I have anyway. However, as FC I have only some old CC3D lying around for what I've ordered an external baro/compass, but hey it's much more fun to do it with Arduino and learn how it's really working. ;) As I said, the time is perfect and all I need to start with this project is to order the MPU-6050, while I have to wait for the postman with my F450 frame. Maybe that AL feature should be also fine for my cambirds too. ;)
Mr. Brokking thank you for your work. BUT. It took me nearly 1 year since the pandemic started to study your code. It is awesome if comes to build bigger quads. Like you did Sir. But when it comes to smaller quads like 250 or even 210 quads it turns out that it is impossible to tune the quad. I’ve ported the code to ESP32 and scaled the data from gyro. Second of all i have applied a second LPF to reduce noise from props and last but not least implementation of LPF to d term is a must. Anyway THANK YOU for your work it wouldn’t be possible for me to understand the code of quads without you.
Thank you for putting this out Joop, it is a very clean implementation of the KISS principle, once again. It looks like the NaN problem I was facing traced to my attempts to calibrate and normalize the 1G values of the accelerometer (unnecessarily, as it turns out the IMU is fine without this extra step). I've now flown your AL and my own and somewhat surprisingly, where your version really surpassed mine (apart from less 'dead wood' here and there, compared to my approach) is in the Z stability. My version tended to use up quite a bit of the Z-dimension, as I flew about. Anyway, I wanted to be sure to let you know, there seems to be no hidden NaN lurking in your IMU. Thanks again for everything!
NaN will / can only occur when two accelerometer values will go to maximum value (8g). The value of the total vector will overflow and cause a NaN error. During a normal flight this is unlikely (impossible) to happen because the only possible acceleration is in the Z-axis.
Hi Joop, I haven't managed to catch the precise numbers that produced the NaN, as I've been experimenting with your new code and am presently rebuilding my shield. I wonder though... Given that a) I had my full scale set to +/- 4g (instead of 8) and b) I was scaling and normalizing my raw accelerometer outputs (very much the same way YMFC scales the receiver inputs) to be +/- 10,000 at 1g and c) the problem always presented during hover... Is there a 1 in ~300,000 (20 minutes worth of program cycles) chance that acc_x, acc_y and acc_z could all be =0.000 at the same time? That would result in an acc_total_vector of zero and a NaN (divide by zero error) in the line angle_pitch_acc = asin((float)acc_y/acc_total_vector)* 57.296 To be safe, should the code be testing to ensure that acc_(foo) be larger than some very small, non-zero number, before passing them?
Or, failing a convergence of zeros... Is there some 'accidental' combination of numbers that the asin function wouldn't cope with? I ask, because I'm not seeing anything approaching max values in my tests.
Hey crashed several times , but it was all my fault, I needed to trim the control, your codes are perfect I had no issues with them...I'm heading to 32 soon ...please let me know you are well..
Thanks to you, joop, I have been able to achieve my dream. The drone has flown perfectly with the Arduino nano. Just the pid needs some adjustment, but, even so, everything flies very well. Thank you, thank you very much for your great work. congratulations
its not working. after it says move all the sticks to their extended position nothing is happening. and yes i saw your q and a and corrected it but still nothing
Thank you sir, for this type of helpful video, My question is ....where did "last_channel_1, last_channel_2 .....4, define. Why did last_channel_1 represent pin 8 of arduino uno ...
Joop Brokking, I believe I found a small error in both the YMFC-AL and the MPU-6050 code. It's a very subtle error. Here's how the code is written: //Gyro angle calculations //0.0000611 = 1 / (250Hz / 65.5) angle_pitch += gyro_pitch * 0.0000611; angle_roll += gyro_roll * 0.0000611; //0.000001066 = 0.0000611 * (3.142(PI) / 180degr) angle_pitch -= angle_roll * sin(gyro_yaw * 0.000001066); angle_roll += angle_pitch * sin(gyro_yaw * 0.000001066); The problem is in the line above that reads angle_roll += angle_pitch * sin(gyro_z * 0.000001066) It will read the angle_pitch value from the line immediately before it (the yaw transferred roll angle to the pitch value) whereas I believe you meant it to get the angle_pitch value from several lines prior, the line that reads angle_pitch += gyro_x * 0.0000611 There are a couple of ways to fix it. One (not so eloquent, but simple) way is the following: angle_pitch += gyro_pitch * 0.0000611; angle_roll += gyro_roll * 0.0000611; angle_pitch_temp = angle_pitch; angle_pitch -= angle_roll * sin(gyro_yaw * 0.000001066); angle_roll += angle_pitch_temp * sin(gyro_yaw * 0.000001066); That way the non-yaw-corrected angle_pitch value is used in the final angle_roll calculation. Let me know if you see what I mean. Thanks, Don
Joop, I'm again, I'm leaving now in December and I'll try to reproduce your quadcopter project .... but I'd like to tell you a few things before ... From a distance you're a very didactic guy and know how to pass your knowledge , I already know other projects based on Arduino and I have one that I had to do to graduate. Your solutions are simple and very efficient, for me there are only two things that I believe you know but did not do! 1st you should create functions to improve the code maintenance, create "tabs" in the program with each problem solved and call in the loop. 2º creating the functions in tabs would be much more didactic than it is today, sometimes it is difficult to find where a solution begins and ends. No more congratulations on the project you are very competent. Like Muitwii, Arducopter among others. It would be a new upgrade but it would bring you and the others much better conditions to understand how to revolve the problems of flying with a drone
Thank you very much for this great video tutorial. Today I did the first flight with my quadcopter. It works as you described it in your video but I think it takes some time to fly it safe. I've learned so much. Thank you!
THANK YOU VERY MUCH i had made it Completly and the performance was Great i now want to add some new features like self leveling and self localization at last to be fully Autonomous
After working a lots of time so that i can use directly the nrf24l01 as a receiver but i was unsuccessful to do this . So i decided to make the nrf24l01 as a standard receiver and this time i am successful to do this. And for other people's who wanted to use the nrf24l01 as a receiver i will post a link to my blog where you can find the circuit diagram, source code & some other details etc.
Code written by my and my friend. The code that we write to use the nrf24l01 is working but we don't try to fly with it but i can say that it is working because we pass the setup code , esc calibration code and flight code. We run the motors without props and everything seems to be working fine.
can you help me with the same?? i am stuck in the same problem
4 ปีที่แล้ว +1
Hi, I could not understand how you determined the ports in your project. For example, what does 0b00000111 mean? Can you explain it to me, or can you suggest an article ? Because I will do it from your project too, but some ports I use are different .
I thanks to your efforts to give your talents to the world . . . Can I make a question? You wrote : esc_1 = throttle - pid_output_pitch + pid_output_roll - pid_output_yaw; //Calculate the pulse for esc 1 (front-right - CCW) esc_2 = throttle + pid_output_pitch + pid_output_roll + pid_output_yaw; //Calculate the pulse for esc 2 (rear-right - CW) esc_3 = throttle + pid_output_pitch - pid_output_roll - pid_output_yaw; //Calculate the pulse for esc 3 (rear-left - CCW) esc_4 = throttle - pid_output_pitch - pid_output_roll + pid_output_yaw; //Calculate the pulse for esc 4 (front-left - CW) I want to add two more esc(i.e. esc_5, esc_6) to make a hexacopter. What can I do write for esc-5 and esc_6? Of course I'll align two more pins for them.
My MPU6050 couldn't be found any more during the setup process. After shortening the wiring to the IMU it worked perfectly, too long IMU wiring could cause a problem! -- Just as a hint for people who have the same problem like I had.
joop I need one more help can u please tell me the minimum vibration that you get while running the motors with prop mounted I am getting 30-40 after adding some tapes is it ok or I should reduce it
Hi, Thanks for great code and explanation. Why did you use raw gyro reading in stead of angle from complementary filter to calculate error in pid ? and can you explain this line of code gyro_roll_input = (gyro_roll_input * 0.7) + (gyro_roll / 65.5)*0.3
If you need a good arduino flight controller software for multicopters, you should look at the Multiwii project ! It handles magnetometer, barometer (for altitude control), GPS ... All of that on a simple Atmega328p !
I bother you a little. I have tried to learn and reference your code with the same hardware as your quadcopter, the difference is that I want to use an Android phone to control via bluetooth. However, when testing the final step, the motors do not rotate at the same time when starting, there are always 1 or 2 motors rotating very fast while the other 2 motors only spin when I try to tilt the quadcopter towards them a great angle. . Can you guess what the problem is with me? I checked, no electromagnetic interference. Does it cause me to replace the RC controller with a controller via bluetooth? I look forward to hearing from you. Thank you very much!
Hi, I'm in the process of ordering all the parts for the YMFC-AL. The videos are great!! I believe I've watched all the videos, but I don't see where you explain how to connect the MPU-6050 to the Adruino Uno. In the pictures in the Media section, it looks like you may be using a breakout board on top of the Arduino Uno, and then soldering the MPU-6050 on the breakout board. Is this what you're doing, and if so, what's the breakout board that you're using. My apologies if I'm missing something simple!
There is a schematic in the YMFC-AL software package that you downloaded. The breakout board is not strictly necessary but you could use something like this: www.dx.com/p/arduino-prototyping-shield-pcb-board-blue-138294
Thanks a lot for taking the time and creating such an amazing tutorial. I'm currently working on the quad project, this tutorial helped me alot in understanding the quad with Arduino very clearly. Thank you very much. Much love from India.
im trying to make a cube based blimp robots with no moving parts for the challenge thanks for the research. these will be slower but hopefully better for household stuff when they need to idle
Hello, I'm following your perfect tutorials. Now I have build the YMFC_AL and also the YMFC_V2. All works fine, but with the AL Version after the Start (Throttle left) the rpm of the 4 esc are much higher and the Quad-Copter will not stay on the ground. With the V2 Version it works perfect. Also during the setup procedure the Values of the Yaw go to negativ if I turn right and Positive when I turn left. it is the opposite was you shown in the video.
I have a question. are the pitch, roll angles compensated to remove the linear acceleration of quadcopter? because when quadcopter moves, accelerometer produces inaccurate values for angle calculation.
its hardware www.google.ro/search?newwindow=1&espv=2&biw=1920&bih=950&tbm=isch&sa=1&q=i2c+5+to+3+v&oq=i2c+5+to+3+v&gs_l=img.3...6899.10741.0.10861.12.10.2.0.0.0.81.697.10.10.0....0...1c.1.64.img..0.1.80...0i30k1j0i24k1.V4C77X1MndA#imgrc=7mNbnfWmdQI0WM:
hello at the level of interrupt management you only used port b of the microcontroller which forced you to test the 4 pins of this port in the same interrupts since the vector of the 4 inters is the same. First question: isn't it better to take one of each port (B, C, D) and complete them with an int0 or an int1. That way the 4 will have a different vector and you won't have to test the origin of each interrupt so there will be 4 interrupt subroutines for each interrupt. This way the interrupt will be as short as possible because the program will not have to test the other switches.
Bedankt voor de uitgebreide uitleg en downloads, na alles volgens schema gesoldeerd te hebben kon ik de setup zonder problemen doorlopen. Volgende stap is leren vliegen :-)
Hi there Joop, This is truly an amazing project and I am currently knee deep fixing my hardware and software. Your Q&A on your website has been able to help me through all steps except for the one I'm on. I am using all the pieces of hardware that you have recommended, except I'm using the FS-R6B receiver. Heres my situation. 1. Run setup: Everything checks out. 2. Run esc_calibrate, Receive receiver inputs, gyro calibrates, each motor acts fine (
Always test the quadcopter firmly in your hand so it does not flip over. You can feel if it is working correct. Double check all the connections and make sure that all the ESC's are connected to the correct outputs and that the props are mounted in the correct rotation and pushing the quadcopter up.
>>Always test the quadcopter firmly in your hand so it does not flip over. You can feel if it is working correct. Roger that, I'll give that a shot. >>Double check all the connections and make sure that all the ESC's are connected to the correct outputs and that the props are mounted in the correct rotation and pushing the quad-copter up. During the esc_calibration, I have verified that all the props are oriented properly and the ESCs are connect to the correct outputs. That is, each motor works individually, then all of them work in unison. But when I upload, the Flight Controller, there is something that is causing several of the motors to just arbitrarily start. Any advice?
I don't get the point of the first question. w4 is missing yaw while all motors react on yaw? The 3500 values makes the quad hover at the same throttle position when the battery voltage is dropping during flight.
Yes. I typed some missing word : "w4 = K (-dRoll - dPitch + dYaw + dThrottle ) = throttle - pid_output_pitch - pid_output_roll + pid_output_yaw)" Your answer is helpful for me. Thanks Joop :D
Well, the two look the same except for other variable names.I don't know what dPitch means but if it is the same as pid_output_pitch they are the same.
www.slideshare.net/corradosantoro/quadcopter-31045379?next_slideshow=1 I found it in the above web (slide 17 to slide 23). Then, I demonstrated again with your coordinates. (ESC 1 - FR, ESC 2 - RR, ..etc)
thanks a lot for this particular video, We are creating a drone for a project at my school using your code, but a structure different that yours. We've had a lot of problems, but I think video is the one going to fix everything. Guess I just didn't see it before
Thanks for the awesome tutorial - Really enjoy your work. But I have a Question for you: Can I use the codes you provided in your official website to small quadcopter, e.g. using 8520 coreless DC motor with diy brushed ESC?
I have chosen 1800 kv motor and 10 inch propeller. When armed, the propeller starts running at high speed and increases gradually. Not all propeller spins and some times the quadcopter makes a somersault. Is there any change to be done in code for choosing 1800 kv motor. Kindly Reply. Thanks for your informative video lectures.
🥲🥲SIR, i am trying to make a brushed coreless mptor drone using atmega328p and a MPU6050 . Here is the problem : - when i use only gyro data to calculate the angle and implement to the system the balancing quite stable But when i add the accelerometer values , the drone become unstable and the angle reading also give some error ( i think it causes the vibration of those motors) AND i am also feed PWM to each motor drivers by using the function (analogWrite()) is that right ?? SIR , can you please help me to figure it out PLEASE🙏.
Hi Joop, My Motor 3 (pin 6) works fine without propellers and when i install propellers and trying to fly my quad-copter my third motor always stops and thus my quad-copter is not lifting from ground. Please reply me.
up Hello Joop, I have been trying to build this project for a while now and have been having issues. I use the Gyro L3G4200D, it is identified in the setup file without a problem but it fails in the ESC calibration. The pitch and yaw numbers are nan, and 0 Is the esc calibration file made for the MPU-6050 gyros only? If so How can I make it work with the L3G4200D? Thanks in advance
Hi,Joop I Know that Atmega328 is very slow compared to that of STM32F103C8T6 and i Wanted to know that Can we Implement features like Altitude Hold , GPS to arduino and will that interfere with the main loop resulting in time delay or will there be any down side because of these features? Thankyou.
Hey, I'm done with the setup. The setup went well. The ESC calibration isn't responding when I send 'r' or 'a' through the serial monitor. It stops at "reading receiver signal" and does not proceeding any further. What should I do?
my center poitions off: Center positions stored. Digital input 08 = 1096 Digital input 09 = 2096 Digital input 10 = 3960 Digital input 11 = 5748 pls how can I make adjustments?
Joop, thank you for the best instructional video's on TH-cam. I am fairly recent to Arduino and Multi-copters, but have been working through a design for a variable pitch / constant RPM quad for a while now, and I am so grateful for the source code you have provided which will be a great starting point for my project.
Hello sir, I am trying to make this Quadcopter but I am having problems with my MPU-6050 module, the problem us that no matter how well I place/calibrate the module it spits out wrong values and thus the FC tries to position the Quadcopter which makes it go crazy and drift on one side. Like for example if I place the Gyro at 0° the output for the roll value is 46°. Please help me with this Sir. Thank You!
Hello Joop Brokking, I'm so glad that I found your website and youtube channel. It help me a lot with my final year project. I have followed all the steps you had shown including the circuit connection. I have done the set up, but until the ESC calibration i have some issues. If all the four motors and ESCs, i had calibrate it individually with same receiver and transmitter, should i recalibrate it all together again? I trying to calibrate again but the motor beep-beep with one second interval, where in manual said that "check if the throttle wire has been properly plugged into the throttle channel on the receiver". Does this mean there is something wrong with my circuit ? Another question is, before this, my transmitter and receiver is used for fixed wing uav, do i have to do some setting in my transmitter if i want to use it for quadrotor ? Thank you for your time and I'm sorry if my question is too simple for you to answer as I have on less than 1 year experience in this field.
Hello Joop, just a quick question. If I want to build this quadcopter and I want to add the FPV and a Gimbal of 3 axis. Does "Flysky FS-T6 6-CH TX Transmitter" works? or I would need more channels for it? Thank you in advance!
Hi I have made the drone and its flying, can i add GPS to it?... when the signal lost happpen it will retuen bck to home.... can it be done by PID value changing ?
Thanks Joop for your new super great video ! asap I will try it on my quadcopter build following your previous precious video lessons and let you knows. By now, with old fw I had lot of trouble in calibrating procedure, but watching this new video I see lot of valuable new tools to have more control of what's going on.
Your such a great engineer and youtuber ! Your videos empowered me soo much that I have decided to rewrite my own code , inspired on your but with new flavours of mine. I am now passioned by this Thanks a lot. Currently i am Studying engineering in France. Have a great time in the Netherland.
Hi Joop, I am building this quad and I am done with the building, but I have a spektrum DX8 transmitter and need to know which receiver should I buy, most of the spektrum receiver , power with the positive and negative at channel 1 usually throttle, your´s is different, comes with special port for battery
Sir Mine all the four motors are not running at same speed.i have install succesfully the setup and esc calliberate program of ymfc al but after uploading the esc calliberate program , as i increase t the throttle at the four motors are not running at same speed but they start at same time, two motors are running very fast so that the quadcopter get fliiped or fully tilt , so sir please tell me the solution sir please
I have a couple of questions :D, Why didnt you power the arduino with the 5V that the ESCs outputs? and can i use the L3G4200D with a separate accelerometer like the ADXL345 instead of the MPU6050
Because you need the power for the voltage divider. So it's easier to just provide the 12V to the Arduino. It also reduces EMI. You can use different sensors but you have to modify the code yourself.
I think my problem with the battery, because i do not use the lipo battery after the charger is broken, now I use a three battery pills of a PC connect on serie (each 3.7V and 2.2A For making a battery of 11.1 V and 2.2A) This can be the problem of the rotation of the 4 motors at the same time ? Because when I increase the accelerator, one of the four will stop and another after that until a motor runs i'm really confused about this
Hi Sir, i have two doubts..... 1. its possible to control flysky fs-ct6b.... if suitable pls provide the settings. 2. my drone its functions with any one motor. why sir? pls give your valuable ideas.....
![ทุกครั้งที่หลับตา (Lucid Dream) - AYLA's [ Official MV ]](http://i.ytimg.com/vi/4i1OBAQyv58/mqdefault.jpg)
I've made a successful flight today after almost 2 months of figuring things out. I have no experience in drones whatsoever prior to this. The past weeks have been so frustrating attempting to fly drone as part of an objective in a grad school requirement. Thank you very much for this wonderful videos, its been frustrating yet fun experience..Thank you very much!
Are these tutorials sufficient for me to build my drone, or did you use additional sources as well?
You have made successfully your own drone... It is stable and fast response please reply.
It’s Addicting
Hi bro, I'm also making a drone for my project, I don't know how to adjust the motor vibration properly, and I also have a problem in the flight code, when I attach the propeller, when starting, the motor speed increases It goes up very quickly for a few seconds then stops, but without the propeller the code works normally. Thank you very much if you see my question.
@@thanhsangg I hear you brother my one took off and turned over on my first run and now net to make adjustments
Man, I'm doing eletronic engeneering at UFSC ( I'm from Brazil ) and as a project of my transducers class I tried to find a good project to build and create a YT video about it. So far I'm very exited about your tutorial and schematics, so thank you a lot for taking your precious time to create this great tutorial, It really is helping me a lot with understanding about Quad's.
Concordo contigo melhor vídeo do youtube!!! Best TH-cam Vídeo!!! Thank
Olá Marilene!
Did it go well ?
I just finished my first test and it's flying. I'm super happy but I'm even happier to know that there are people who provide such documentation for such a great project, thanks a lot Joop, the real MVP on earth.
Hi can u tell me were u got the codes for ardrino because i am having hard time finding them
Hi have you change the pid values?
My High school Seniors in Arapahoe Nebraska built and flew this!!! It worked great, and was a great project. You did just enough (All) of the heavy lifting to keep it accessible to high school students with little programming background. Took us about a 6 weeks (30 classroom hours) with three students and myself to build and then debug it (Most of the time was finding the errors and fixing them). I gave students very little instruction and just let them build from your site and others. Great Experience!
Thank you for sharing this story. It really keeps me motivated.
Please reply!! CAN I resetup my quad because when I send r in esc calibration the roll and pitch sticks are at 2000ms
how old were they?
Thanks a lot Joop!!. I ran the setup program and below are the output for gyro configuration
Gyro calibration
===================================================
Don't move the quadcopter!! Calibration starts in 3 seconds
Calibrating the gyro, this will take +/- 8 seconds
Please wait....................
Axis 1 offset=67.15
Axis 2 offset=-36.96
Axis 3 offset=-45.95
===================================================
Gyro axes configuration
===================================================
Lift the left side of the quadcopter to a 45 degree angle within 10 seconds
OK!
Angle detection = 2 (
Axis inverted = no
Put the quadcopter back in its original position
Move stick 'nose up' and back to center to continue
Lift the nose of the quadcopter to a 45 degree angle within 10 seconds
OK!
Angle detection = 1
Axis inverted = no
Put the quadcopter back in its original position
Move stick 'nose up' and back to center to continue
Rotate the nose of the quadcopter 45 degree to the right within 10 seconds
OK!
Angle detection = 3
Axis inverted = no
Put the quadcopter back in its original position
Move stick 'nose up' and back to center to continue
===================================================
LED test
===================================================
The LED should now be lit
Move stick 'nose up' and back to center to continue
===================================================
Final setup check
===================================================
Receiver channels ok
Gyro axes ok
===================================================
Storing EEPROM information
===================================================
Writing EEPROM
Done!
Verify EEPROM data
Verification done
Setup is finished.
You can now calibrate the esc's and upload the YMFC-AL code.
Can you please let me know gyro axes are Ok? In your video Angle detection is 1,2 and 3 but in may case it is 2 , 1 and 3. In your case Axis inverted - No, Yes and Yes but in my case all No. Let me know if the above setup output is correct for gyro configuration. Thanks in advance.
Hi Mr.Joop, I have built and tested successfully my own Quadcopter using Arduino Mega. My model has many functions like auto-balanced, holding altitude, holding position, return home, autoFlight, and emergency return,... I used this project for my Graduate thesis and now I was graduated.
Honestly, I want to thank you and give you a big respect for all knowledges you share.
Wishing you all the best!!
am doing the samething will graduate soon i included a computer vision camera that detects cracks on concrete, let me ask you which battery did you use
@@Patrick-wn6ujyes!! I used Lipo battery,
Weight: >= 350g
3s - 5400mah - 30C( changeable )
@@syha06 did you have to change the resistors of the voltage divider?
@@Patrick-wn6uj no, because the voltage of Battery is still 12.6V (3s full charged). You change the resistor when you change the voltage of battery ( it’s up to type of battery’s voltage that u are using
Congratulations. I call Joop saying that the arduino version is not fast enough for some things and this is why he switched to the STM32 version. basically autolevel and holding altitude would be sufficient for me. So you implemented this with a ATMEGA 2560 and this should be enough info for me to go with the ATMEGA1284p as it should also have enough flash and is fast enough to implement the additional altitude hold function, right?
Hi Joop,
I just finished building and flying my first quadcopter,YMFC-AL. It works beautifully!!! Thank you!
I would like to thank you for the sharing your knowledge!!! I was able to get up to speed very quickly on what I need to know e.g. Info about PID controllers, gyro/accelerometers, AVR embedded programming, transmitters/receivers, basic electronics and wiring, micro controllers, understanding spec sheets, bit-manipulation of registers, bitwise logical operators, your Arduino sketches, and quadcopters in general.
Wow what a project!!! Just phenomenal!!!
Thanks.
Thomas D. Wilhelm
Robotics Enthusiast
Just finished my quadcopter and all I have to say is THANKS. it flies perfectly, followed this step by step and the result is amazing, i'm really happy right now. Congratulations for this series.
Please can you tell me if you used same parameters of pid controller?
Joop I have to thank you for these amazing tutorials, 2 months ago I had never even heard of an Adruino never mind ever flown a quadcopter. I have just finished building and learning to fly my very own Adruino based Quadcopter thanks to you! And you know what, it flies fantastically. Its been a doddle to make because of your intuitive videos and web site and I have loved doing it I really have, cheers mate. I do have one question though when I up the pid_i_gain_roll above 0.00 even by .01 it lurches/rolls to the right and I can't control it. Thank You for teaching me so much, I am going to go autonomous next..Ps doing this has kept me sane with all these coronavirus problems..Keep safe..
Are these tutorials sufficient for me to build my drone, or did you use additional sources as well?
I do not normally like a video nor comment on it, but this sure does deserve adequate recognition. The maker did a very good job both in the software and with the documentation. Well done.
respect
This was so well explained. Good Job Bro
Worked for Arapahoe Public School in Nebraska!!! Thank you for sharing your code and Schematics! My students are standing on the shoulders of a giant for sure! Thank You!!!
My quadcopter flies perfectly but after some time (around 1 to 2 min) suddenly all motors stop , it falls off and get crashed. All motors are rotating in correct direction and connections are perfectly soldered . What might be the reason for this sudden switch off. I read all Q/A and all comments but did not find solution for this
Even I am facing same issue
I will give u answer plz replace the wire of receiver mean voltage and ground wire try to replace them both waire and connect new waire in the same place ur issue will be solved thank you
But I have a problem in my quad my quad can't fly why? All the components work properly
@@KongaRaju read my comments your issue will be solved
Turning off problem got solved but it's not flying and all components functioning properly
Will I be considered as adamant if I say 'man u did well'? I am an Electronics engineering student from India and I take freaking' interest in aerial vehicles. I love you sir Joop, God must be lucky enough to bless you!
Hi there, thank you so much for these very useful videos.
I have already built my quad-copter but when I try to do all setup I received this massage :
Final setup check
===================================================
Receiver channel verification failed!!! (ERROR 6)
Gyro exes verification failed!!! (ERROR 7)
The setup is aborted due to an error.
and I checked on the Q and A page but I don't understand what are you mean on error 6 and 7 respectively?!
1)One stick is assigned to two functions
and
1)One axis is assigned to two functions.
Thanks,
The stick functions are not setup correct. What center and endpoints does the software find for you stick inputs?
I had a problem with error 6 too, but then I realized, that I was moving stick in the wrong direction during setup...
@@Joop_Brokking Sorry you. I got the same error, but I use a different set of tx rx than your tutorial videos, my tx rx is Flysky i6. Can you answer for me that the Flysky i6 kit integrates with the quadcopter setup code?
Hi Joop, great tutorials and easy to read code. Having made a quad using the pro-mini I would offer this feedback to anyone else having a go:1. The pro-mini can't be used to power the gyro & receiver on VCC. An AMS1117 5V regulator is sufficient, but solder the tab to a heatsink (could be the quadcopter board itself) and use an electrolytic capacitor (uF range) on the output (the boards themselves have small capacitors)2. Your website has no mention of calibrating the accelerometer and has a Q&A that says it isn't necessary in general as you can use sub-trims to do this. I think its much easier to test-fly if you do calibrate the accelerometer. I was about to modify the code to do so but found that there is already a template in the flight controller code. My recommendation is to modify the ESC code to give 1 or 2 decimal places on the accelerometer reading (its stable to >1 decimal place when not running - make sure the quadcopter is flat with a spirit level) and use that figure in the relevant part of the flight controller. My corrections of 3-4 degrees made the test flights much less scary.
Mr. Joop,
You are the best.You took some much pain to teach people.Because of you many can now realise their dream of making a drone.
Thank You
can you help me with my trouble
i am facing an issue where my gyro is giving a value of roll as 20 and pitch and yaw are 0 how can i fix it??
This is a great idea. A quad that can be home built from very cheap parts and electronics. All the while giving step by step instructions in an easy to understand diy way for each and every step. Simply awesome. The only problem I can see is there may be a lot of new flyers banging quads into everything :D
this progect works with arduino nano and pro mini without any modifications.
tip:when orienting the direction of the motors place the front face that you want to be the leading face of the drone to the back and then assign the motors:
front face (placed back)
cw pin 7 LF --------|---------RF pin 4 ccw
|
|
ccw pin 6 LR-------|---------RR pin 5 cw
and if your using the same frame you just need some tiny modifications in pid values(works ok with stock values) .
I have accumulated 5hrs of flight time with the new AL code integrated into my controller and have not had an NaN crash in all of that time. I found a flight park about 5 minutes from work and fly every day on my lunch hour. I am learning to fly, as I go, so primarily I'm doing a lot of high speed "out-and-backs", "walking the dog", tail-in circling, full throttle punch outs, VRS recoveries and the like.
So, it appears that NaN was addressed, either by improving my electronics layout/routing (reduced EMI) or with the software filter.
I am also fairly convinced that the I-term 'death wobble' that I experienced was due in large part to the pendulum effect of the relatively heavy landing skid and camera/gimbal setup I was using.
I have been flying without any of the 'under carriage' and the PID's are now much closer to default values. I bought an inexpensive flamewheel kit that includes 4 DJI-style legs and I plan to make a detachable lower plate, with the landing gear and a lighter Walkera gimbal attached. This will give me a 'convertible' setup, when I want to switch from 'sporty' to 'camera platform' and should be much lighter than the rig I was flying.
That is good to hear! Thank you for the feedback.
Hallo Mr Brokking,
Thank you for your great videos.
I tried to build my own ymfs-al according to your videos and website.
The only differences in the build are:
my 4 Motors have a KV value of 810 instead of your 1000KV. (using 4 30A-ESCs)
I wanted to use my 4s lipo.
Therefore I changed the R2 & R3 resistor values according to your Q&A section formula:
R3 was 1500Ω and needs to be 8200Ω
R2 was 1000Ω and needs to be 3300Ω
((16.8V - 0.6V) / (3300Ω + 8200Ω)) * 3300Ω = 4.65V
because the resistor values were to high for me (not wanting to serial connect alot of single ones)
I tried to apply the formula and came to the idea to use 300ohm for R3 and 700 ohm for R2.
This gave me 4,86 V.
I made through the whole setup procedure according to your videos and everything seemed fine until today.
It looks like somehow i killed my arduino uno. I cant upload sketches anymore. 2 red leds still blink the green one is inactive.
I know would like to know:
Was my resistor-choice wrong & why?
I forgot to change the code according to your Q&A regarding the different resistor values.
Which consequences does this have?
Today before the arduino uno broke I wanted to measure the voltage between Vin and Gnd and measured around 15V. (with 4s lipo connected)
Did I hearby cause a shortcircuit and this is why it broke?
Before it broke under calibration conditions everything seemed to work. When i installed the flight controller and tried starting it i had 2 crashes. Then resoldered and recalibrated...
Then i fixed it to the ground with tape. After a few short tries 1 Motor didnt work as the others did and the thrust stick wasnt as programmed (i use a flysky fs i6)
But most important the whole quad stopped working after a few seconds.
What reason probably caused this?
I hope you can help me with my questions (especially concerning the resistors!), and thank you for your great work!!
Kind regards from Austria
PS:
I still have an arduino mega left. Is it reasonable to use it without to many changes in the programs?
Which pins would have to be changed, and how would i have to change the different registers you spoke of in another comment?
The max input voltage of the Arduino Uno is 12V. Connecting it to 16.2V will overload the voltage regulator on the Arduino. This is probably the cause of the problem.
If the Arduino program freezes it most likely is a I2C bus problem. Double check your wiring. Makes sure it's reliably soldered and don't use bread boards.
Hi Joop. Thanks for sharing your experience. I'm just starting in the drone world, but you've saved me a lot in the learning path. I'll use your concepts in my designs, and I'll use your lessons learned. What I got from your videos is that Arduino uno could be slow for managing receptor, sensors, motor control and the algorithms for navigation, so I'll try to start from the beginning with distributed processing and/or faster processors. Thanks again, Juan.
Bro you are awesome with all your affords at this project we all viewers are able to make this happen I am a 13 year old boy from india created this quadcopter with all your codes . Thanks a lot bro. Big respect from me
Hello brother can you tell me the cost to make this drone that you had to experience? I know it's 6 years ago and so much things have happened but it costed me around 8k to make this drone which I think is relatively good. But many people are saying they made this drone in 6k or 5k. What was your cost? I am also from India.
Dear Joop, I made another quadcopter according to your guide......it is awesome...it is flying very well.....Thank you very much for your guide...I learned lot...you are a really good teacher....
That is good to hear!
Awesome project, this has been really helpful to look at!
For the blade balancing it is going to do a little better to stick the tape on the propellers downward facing surface. Since typically 80% of the lift is generated from the low pressure surface so you will be dealing with lower aerodynamic forces on the other side when the surface imperfection adds turbulence so there should be less aeroelasctic vibrations.
what should do if the throttle increase at idle position
Hi sir, thank you so much for sharing your knowledge, i followed your tutorial and now i have a really stable quadcopter, i was trying to do something similar to you, programming and auto level controller for a quadcopter but using other technique; implementing on a raspberry pi 3 an LQR control system + an Extended Kalman Filter to stimate and regulating the angles of the quad, but with no good results (now i know it was because of the sampling time of the loop, i was working with the minimun frecuency for the ESC - 50Hz and i noticed thanks to your videos that 50Hz is too low frecuency, i know the problems of the implementation for the sensors and all the hardware (procesing times, the sensor´s noise) and your way to solve it was really amazing. I am very grateful. my next step is go back to my aplication on the RPI3 but keeping in mind all that i learn here.
P.S: sorry for my bad english.
Thank you for taking the time to write this message. It keeps me motivated to help people :-)
Auto lvl or self lvl, it all depends on the transmitter you use and mapping the pot data with the esc speed as well using the pid to balance the quadcopter. It's different setup using different transmitters ready made ones for rc or homemade modified one.
Everything explained very well ....it is the best thing you did and never seen before, thanks so much .
This is a very flexible drone because of programmability... 😀. It's auto leveling because of code...can't believe I'm getting a hobby, I'm so geeky! 😀
Hello Joop,
I'm really lucky that I've found that nice guide and the time is more than perfect.
I'm in R/C since a few years, building planes from scratch, having some cam birds, but also some boats and even micro helis and toy class quads for bad weather. Caused by 3D printing I came in contact with Arduino and right now I want to tip a toe into real quads, so I've ordered a F450 flamewheel frame, and sets of 2826 motors, BLHeli ESCs, props, ... (korting in a lot of shops tghese days, you know) , the needed LiPos, BEC, Arduino and of corse a Taranis+ and FS-i6 I have anyway. However, as FC I have only some old CC3D lying around for what I've ordered an external baro/compass, but hey it's much more fun to do it with Arduino and learn how it's really working. ;)
As I said, the time is perfect and all I need to start with this project is to order the MPU-6050, while I have to wait for the postman with my F450 frame.
Maybe that AL feature should be also fine for my cambirds too. ;)
My drone is wide to fly, but I can not set PID. Can somebody Help me to solve the Problem please.
Mr. Brokking thank you for your work. BUT.
It took me nearly 1 year since the pandemic started to study your code. It is awesome if comes to build bigger quads. Like you did Sir.
But when it comes to smaller quads like 250 or even 210 quads it turns out that it is impossible to tune the quad. I’ve ported the code to ESP32 and scaled the data from gyro. Second of all i have applied a second LPF to reduce noise from props and last but not least implementation of LPF to d term is a must.
Anyway THANK YOU for your work it wouldn’t be possible for me to understand the code of quads without you.
You are awesome. I am just now gathering parts. I just wanted to say thank you so much for all you video and document.
Thank you for putting this out Joop, it is a very clean implementation of the KISS principle, once again. It looks like the NaN problem I was facing traced to my attempts to calibrate and normalize the 1G values of the accelerometer (unnecessarily, as it turns out the IMU is fine without this extra step). I've now flown your AL and my own and somewhat surprisingly, where your version really surpassed mine (apart from less 'dead wood' here and there, compared to my approach) is in the Z stability. My version tended to use up quite a bit of the Z-dimension, as I flew about. Anyway, I wanted to be sure to let you know, there seems to be no hidden NaN lurking in your IMU. Thanks again for everything!
NaN will / can only occur when two accelerometer values will go to maximum value (8g). The value of the total vector will overflow and cause a NaN error. During a normal flight this is unlikely (impossible) to happen because the only possible acceleration is in the Z-axis.
Hi Joop, I haven't managed to catch the precise numbers that produced the NaN, as I've been experimenting with your new code and am presently rebuilding my shield.
I wonder though... Given that a) I had my full scale set to +/- 4g (instead of 8) and b) I was scaling and normalizing my raw accelerometer outputs (very much the same way YMFC scales the receiver inputs) to be +/- 10,000 at 1g and c) the problem always presented during hover...
Is there a 1 in ~300,000 (20 minutes worth of program cycles) chance that acc_x, acc_y and acc_z could all be =0.000 at the same time? That would result in an acc_total_vector of zero and a NaN (divide by zero error) in the line angle_pitch_acc = asin((float)acc_y/acc_total_vector)* 57.296
To be safe, should the code be testing to ensure that acc_(foo) be larger than some very small, non-zero number, before passing them?
Or, failing a convergence of zeros... Is there some 'accidental' combination of numbers that the asin function wouldn't cope with? I ask, because I'm not seeing anything approaching max values in my tests.
Hey crashed several times , but it was all my fault, I needed to trim the control, your codes are perfect I had no issues with them...I'm heading to 32 soon ...please let me know you are well..
Thanks to you, joop, I have been able to achieve my dream. The drone has flown perfectly with the Arduino nano. Just the pid needs some adjustment, but, even so, everything flies very well. Thank you, thank you very much for your great work. congratulations
Awesome project! This morning I got all the pieces to build the quadcopter :D
This video broke my brain. Thanks for trying to explain your work.
This project is more valuable for the inventor. Encourage you to further development.Thank you.
its not working. after it says move all the sticks to their extended position nothing is happening. and yes i saw your q and a and corrected it but still nothing
Thank you sir, for this type of helpful video,
My question is ....where did "last_channel_1, last_channel_2 .....4, define. Why did last_channel_1 represent pin 8 of arduino uno ...
Joop Brokking, I believe I found a small error in both the YMFC-AL and the MPU-6050 code. It's a very subtle error. Here's how the code is written:
//Gyro angle calculations
//0.0000611 = 1 / (250Hz / 65.5)
angle_pitch += gyro_pitch * 0.0000611;
angle_roll += gyro_roll * 0.0000611;
//0.000001066 = 0.0000611 * (3.142(PI) / 180degr)
angle_pitch -= angle_roll * sin(gyro_yaw * 0.000001066);
angle_roll += angle_pitch * sin(gyro_yaw * 0.000001066);
The problem is in the line above that reads
angle_roll += angle_pitch * sin(gyro_z * 0.000001066)
It will read the angle_pitch value from the line immediately before it (the yaw transferred roll angle to the pitch value) whereas I believe you meant it to get the angle_pitch value from several lines prior, the line that reads
angle_pitch += gyro_x * 0.0000611
There are a couple of ways to fix it. One (not so eloquent, but simple) way is the following:
angle_pitch += gyro_pitch * 0.0000611;
angle_roll += gyro_roll * 0.0000611;
angle_pitch_temp = angle_pitch;
angle_pitch -= angle_roll * sin(gyro_yaw * 0.000001066);
angle_roll += angle_pitch_temp * sin(gyro_yaw * 0.000001066);
That way the non-yaw-corrected angle_pitch value is used in the final angle_roll calculation.
Let me know if you see what I mean. Thanks, Don
Joop, I'm again,
I'm leaving now in December and I'll try to reproduce your quadcopter
project .... but I'd like to tell you a few things before ... From a
distance you're a very didactic guy and know how to pass your knowledge ,
I already know other projects based on Arduino and I have one that I
had to do to graduate. Your solutions are simple and very efficient, for
me there are only two things that I believe you know but did not do!
1st
you should create functions to improve the code maintenance, create
"tabs" in the program with each problem solved and call in the loop. 2º
creating the functions in tabs would be much more didactic than it is
today, sometimes it is difficult to find where a solution begins and
ends. No more congratulations on the project you are very competent.
Like Muitwii, Arducopter among others. It
would be a new upgrade but it would bring you and the others much
better conditions to understand how to revolve the problems of flying
with a drone
Thank you very much for this great video tutorial.
Today I did the first flight with my quadcopter. It works as you described it in your video but I think it takes some time to fly it safe.
I've learned so much. Thank you!
Thank you for writing me this message. Great to heat that you got it to fly!
THANK YOU VERY MUCH i had made it Completly and the performance was Great
i now want to add some new features
like self leveling and self localization
at last to be fully Autonomous
excellent ......super
Sir, I want to know .....since this video was created 6 year back. Are there further improvements in CODE and hardware ?
After working a lots of time so that i can use directly the nrf24l01 as a receiver but i was unsuccessful to do this . So i decided to make the nrf24l01 as a standard receiver and this time i am successful to do this. And for other people's who wanted to use the nrf24l01 as a receiver i will post a link to my blog where you can find the circuit diagram, source code & some other details etc.
Thank you for your contribution.
Electronic projects hi, are you using nrf24? where could I found some information? tks
Code written by my and my friend.
The code that we write to use the nrf24l01 is working but we don't try to fly with it but i can say that it is working because we pass the setup code , esc calibration code and flight code.
We run the motors without props and everything seems to be working fine.
Have you the code? Can I found your code to download? best regards
can you help me with the same?? i am stuck in the same problem
Hi, I could not understand how you determined the ports in your project. For example, what does 0b00000111 mean? Can you explain it to me, or can you suggest an article
? Because I will do it from your project too, but some ports I use are different
.
Thank you so much your videos really help me fix old drone arduino based....Thank you so much.....I'm
from Philippines
I thanks to your efforts to give your talents to the world . . .
Can I make a question?
You wrote :
esc_1 = throttle - pid_output_pitch + pid_output_roll - pid_output_yaw; //Calculate the pulse for esc 1 (front-right - CCW)
esc_2 = throttle + pid_output_pitch + pid_output_roll + pid_output_yaw; //Calculate the pulse for esc 2 (rear-right - CW)
esc_3 = throttle + pid_output_pitch - pid_output_roll - pid_output_yaw; //Calculate the pulse for esc 3 (rear-left - CCW)
esc_4 = throttle - pid_output_pitch - pid_output_roll + pid_output_yaw; //Calculate the pulse for esc 4 (front-left - CW)
I want to add two more esc(i.e. esc_5, esc_6) to make a hexacopter. What can I do write for esc-5 and esc_6?
Of course I'll align two more pins for them.
Please check this video and calculator: th-cam.com/video/9FvpT9jH0NA/w-d-xo.html
Thanks a lot. I'd got it!!!
My MPU6050 couldn't be found any more during the setup process. After shortening the wiring to the IMU it worked perfectly, too long IMU wiring could cause a problem! -- Just as a hint for people who have the same problem like I had.
Thanks for the hint.
joop I need one more help can u please tell me the minimum vibration that you get while running the motors with prop mounted I am getting 30-40 after adding some tapes is it ok or I should reduce it
Below 100 is fine.
Hi, Thanks for great code and explanation.
Why did you use raw gyro reading in stead of angle from complementary filter to calculate error in pid ?
and can you explain this line of code
gyro_roll_input = (gyro_roll_input * 0.7) + (gyro_roll / 65.5)*0.3
If you need a good arduino flight controller software for multicopters, you should look at the Multiwii project !
It handles magnetometer, barometer (for altitude control), GPS ... All of that on a simple Atmega328p !
I bother you a little. I have tried to learn and reference your code with the same hardware as your quadcopter, the difference is that I want to use an Android phone to control via bluetooth. However, when testing the final step, the motors do not rotate at the same time when starting, there are always 1 or 2 motors rotating very fast while the other 2 motors only spin when I try to tilt the quadcopter towards them a great angle. . Can you guess what the problem is with me? I checked, no electromagnetic interference. Does it cause me to replace the RC controller with a controller via bluetooth? I look forward to hearing from you. Thank you very much!
Hi, I'm in the process of ordering all the parts for the YMFC-AL. The videos are great!! I believe I've watched all the videos, but I don't see where you explain how to connect the MPU-6050 to the Adruino Uno. In the pictures in the Media section, it looks like you may be using a breakout board on top of the Arduino Uno, and then soldering the MPU-6050 on the breakout board. Is this what you're doing, and if so, what's the breakout board that you're using. My apologies if I'm missing something simple!
There is a schematic in the YMFC-AL software package that you downloaded. The breakout board is not strictly necessary but you could use something like this: www.dx.com/p/arduino-prototyping-shield-pcb-board-blue-138294
Sir, this tutorial is awesome ! I already built my YMFC. Now is tuning the PID value.
Thanks a lot for taking the time and creating such an amazing tutorial. I'm currently working on the quad project, this tutorial helped me alot in understanding the quad with Arduino very clearly. Thank you very much. Much love from India.
bro had u finished with your project
im trying to make a cube based blimp robots with no moving parts for the challenge thanks for the research. these will be slower but hopefully better for household stuff when they need to idle
sorry to ask ,but will this flight controller be compatible with other frame design(example H / I design)
Hello, I'm following your perfect tutorials. Now I have build the YMFC_AL and also the YMFC_V2. All works fine, but with the AL Version after the Start (Throttle left) the rpm of the 4 esc are much higher and the Quad-Copter will not stay on the ground. With the V2 Version it works perfect. Also during the setup procedure the Values of the Yaw go to negativ if I turn right and Positive when I turn left. it is the opposite was you shown in the video.
I have a question. are the pitch, roll angles compensated to remove the linear acceleration of quadcopter? because when quadcopter moves, accelerometer produces inaccurate values for angle calculation.
You have a great selection of videos and your site is very easy to navigate and to the point.
Thanks!
the MPU6050 needs i2c serial converter, the project works perfectly !! Thank you !!
What do you mean serial converter.. Software or hardware.. Please reply.
its hardware www.google.ro/search?newwindow=1&espv=2&biw=1920&bih=950&tbm=isch&sa=1&q=i2c+5+to+3+v&oq=i2c+5+to+3+v&gs_l=img.3...6899.10741.0.10861.12.10.2.0.0.0.81.697.10.10.0....0...1c.1.64.img..0.1.80...0i30k1j0i24k1.V4C77X1MndA#imgrc=7mNbnfWmdQI0WM:
M project is not working. Can you help me?
what is not working ? did you folow de q and a stage
When I initilize quad with throtle down yaw left one side of the quad keeps
speeding up even the throtle stick at its lowest position.
can you add the GPS hold function and other functions to the the FMCA-AL in a way that new DIY people can grasp and understand
Exciting stuff. Thank you for your hard work to enable us to play. Just love it.
please make a vedio on how to add camera on this drone and some other features such as one key return I am waiting for your reply
hello
at the level of interrupt management you only used port b of the microcontroller which forced you to test the 4 pins of this port in the same interrupts since the vector of the 4 inters is the same. First question: isn't it better to take one of each port (B, C, D) and complete them with an int0 or an int1. That way the 4 will have a different vector and you won't have to test the origin of each interrupt so there will be 4 interrupt subroutines for each interrupt. This way the interrupt will be as short as possible because the program will not have to test the other switches.
Bedankt voor de uitgebreide uitleg en downloads, na alles volgens schema gesoldeerd te hebben kon ik de setup zonder problemen doorlopen. Volgende stap is leren vliegen :-)
Hi there Joop,
This is truly an amazing project and I am currently knee deep fixing my hardware and software. Your Q&A on your website has been able to help me through all steps except for the one I'm on. I am using all the pieces of hardware that you have recommended, except I'm using the FS-R6B receiver.
Heres my situation.
1. Run setup: Everything checks out.
2. Run esc_calibrate, Receive receiver inputs, gyro calibrates, each motor acts fine (
Always test the quadcopter firmly in your hand so it does not flip over. You can feel if it is working correct.
Double check all the connections and make sure that all the ESC's are connected to the correct outputs and that the props are mounted in the correct rotation and pushing the quadcopter up.
>>Always test the quadcopter firmly in your hand so it does not flip over. You can feel if it is working correct.
Roger that, I'll give that a shot.
>>Double check all the connections and make sure that all the ESC's are connected to the correct outputs and that the props are mounted in the correct rotation and pushing the quad-copter up.
During the esc_calibration, I have verified that all the props are oriented properly and the ESCs are connect to the correct outputs. That is, each motor works individually, then all of them work in unison. But when I upload, the Flight Controller, there is something that is causing several of the motors to just arbitrarily start.
Any advice?
Regarding the self leveling arduino quad copter: should i buy the FUTABA receiver or does the arduino make the receiving part?
I have 2 two question in Your Code :
Question 1 :
“esc_1 = throttle - pid_output_pitch + pid_output_roll - pid_output_yaw; //Calculate the pulse for esc 1 (front-right - CCW)
esc_2 = throttle + pid_output_pitch + pid_output_roll + pid_output_yaw; //Calculate the pulse for esc 2 (rear-right - CW)
esc_3 = throttle + pid_output_pitch - pid_output_roll - pid_output_yaw; //Calculate the pulse for esc 3 (rear-left - CCW)
esc_4 = throttle - pid_output_pitch - pid_output_roll + pid_output_yaw; //Calculate the pulse for esc 4 (front-left - CW)”
I want to solve it. But I am not sure with my answer.
We have:
Because CCW along axes x (North): dRoll = (Thrust3 + Thrust4) - (Thrust1 + Thrust2) = k( -w1 - w2 + w3 + w4)
CCW along axes y (East): dPitch = (Thrust1 + Thrust4) - (Thrust2 + Thrust3) = k(w1 - w2 - w3 + w4)
CCW along axes z (Down): dYaw = Torque1 + Torqe3 - (Torque2 + Torque4) = k(w1 - w2 + w3 - w4)
Along axes z (Down): dThrottle = Thrust1 + Thrust2 + Thrust3 + Thrust4 = k(-w1 - w2 - w3 - w4)
Solve with matlab:
Convert it to matrix A, B, X
Hence :
A = [-1, -1, 1, 1; 1, -1, -1, 1; 1, -1, 1, -1; 1, 1, 1, 1]
B = [dRoll; dPitch; dYaw; dThrottle]
X = [w1; w2; w3; w4]
Otherwise: AX = B;
Solved:
X = K[1, -1, -1, 1; 1, 1, 1, 1; -1, 1, 1, -1; -1, -1, 1, 1]
Or:
w1 = K (dRoll - dPitch - dYaw + dThrottle) = K (throttle - pid_output_pitch + pid_output_roll -pid_output_yaw);
w2 = K (dRoll + dPitch + dYaw + dThrottle) = K (throttle + pid_output_pitch + pid_output_roll + pid_output_yaw);
w3 = K (-dRoll + dPitch - dYaw + dThrottle) = throttle + pid_output_pitch - pid_output_roll - pid_output_yaw);
w4 = K (-dRoll - dPitch + dYaw + dThrottle) = throttle - pid_output_pitch - pid_output_roll + pid_output_yaw);
Is it correct, Joop?
And Question 2:
" if (battery_voltage < 1240 && battery_voltage > 800){ //Is the battery connected?
esc_1 += esc_1 * ((1240 - battery_voltage)/(float)3500); //Compensate the esc-1 pulse for voltage drop.
.............."
Why do you divide with "3500"?
I don't get the point of the first question. w4 is missing yaw while all motors react on yaw?
The 3500 values makes the quad hover at the same throttle position when the battery voltage is dropping during flight.
Yes. I typed some missing word :
"w4 = K (-dRoll - dPitch + dYaw + dThrottle ) = throttle - pid_output_pitch - pid_output_roll + pid_output_yaw)"
Your answer is helpful for me. Thanks Joop :D
Well, the two look the same except for other variable names.I don't know what dPitch means but if it is the same as pid_output_pitch they are the same.
+Joop Brokking dPitch = Pitch_dot or Deriration of Pitch
www.slideshare.net/corradosantoro/quadcopter-31045379?next_slideshow=1
I found it in the above web (slide 17 to slide 23).
Then, I demonstrated again with your coordinates. (ESC 1 - FR, ESC 2 - RR, ..etc)
thanks a lot for this particular video, We are creating a drone for a project at my school using your code, but a structure different that yours. We've had a lot of problems, but I think video is the one going to fix everything. Guess I just didn't see it before
Thanks for the awesome tutorial - Really enjoy your work. But I have a Question for you: Can I use the codes you provided in your official website to small quadcopter, e.g. using 8520 coreless DC motor with diy brushed ESC?
I have chosen 1800 kv motor and 10 inch propeller. When armed, the propeller starts running at high speed and increases gradually. Not all propeller spins and some times the quadcopter makes a somersault. Is there any change to be done in code for choosing 1800 kv motor. Kindly Reply. Thanks for your informative video lectures.
🥲🥲SIR, i am trying to make a brushed coreless mptor drone using atmega328p and a MPU6050 .
Here is the problem : - when i use only gyro data to calculate the angle and implement to the system the balancing quite stable
But when i add the accelerometer values , the drone become unstable and the angle reading also give some error ( i think it causes the vibration of those motors)
AND i am also feed PWM to each motor drivers by using the function (analogWrite()) is that right ??
SIR , can you please help me to figure it out PLEASE🙏.
Hey j, I'm so excited, my quadcopter is finish cant wait to fly , you codes are genius I'm about to take over the world , what you doing later?..
Hi Joop, My Motor 3 (pin 6) works fine without propellers and when i install propellers and trying to fly my quad-copter my third motor always stops and thus my quad-copter is not lifting from ground. Please reply me.
up Hello Joop, I have been trying to build this project for a while now and have been having issues. I use the Gyro L3G4200D, it is identified in the setup file without a problem but it fails in the ESC calibration. The pitch and yaw numbers are nan, and 0 Is the esc calibration file made for the MPU-6050 gyros only? If so How can I make it work with the L3G4200D? Thanks in advance
Hi,Joop I Know that Atmega328 is very slow compared to that of STM32F103C8T6 and i Wanted to know that Can we Implement features like Altitude Hold , GPS to arduino and will that interfere with the main loop resulting in time delay or will there be any down side because of these features? Thankyou.
Hey, I'm done with the setup. The setup went well. The ESC calibration isn't responding when I send 'r' or 'a' through the serial monitor. It stops at "reading receiver signal" and does not proceeding any further. What should I do?
NUS Tesla, I had the same problem. A new version that corrects the problem is now available on the website. :)
Please make some updates in code which provides safe landing provision without GPS, when drone went out of transmitter range
my center poitions off:
Center positions stored.
Digital input 08 = 1096
Digital input 09 = 2096
Digital input 10 = 3960
Digital input 11 = 5748
pls how can I make adjustments?
Any way to use velocity sensor in this quadcopter for better stabilization
Joop, thank you for the best instructional video's on TH-cam. I am fairly recent to Arduino and Multi-copters, but have been working through a design for a variable pitch / constant RPM quad for a while now, and I am so grateful for the source code you have provided which will be a great starting point for my project.
Thank you and good luck with your project.
Hello sir, I am trying to make this Quadcopter but I am having problems with my MPU-6050 module, the problem us that no matter how well I place/calibrate the module it spits out wrong values and thus the FC tries to position the Quadcopter which makes it go crazy and drift on one side.
Like for example if I place the Gyro at 0° the output for the roll value is 46°.
Please help me with this Sir.
Thank You!
Thank you sir. You are great. You are helping lot to all the people who don't know coding
Good day, would this work with an Arduino nano every? Also, is it possible to switch between AL and Manual?
Hello Joop Brokking, I'm so glad that I found your website and youtube channel. It help me a lot with my final year project. I have followed all the steps you had shown including the circuit connection. I have done the set up, but until the ESC calibration i have some issues. If all the four motors and ESCs, i had calibrate it individually with same receiver and transmitter, should i recalibrate it all together again? I trying to calibrate again but the motor beep-beep with one second interval, where in manual said that "check if the throttle wire has been properly plugged into the throttle channel on the receiver". Does this mean there is something wrong with my circuit ? Another question is, before this, my transmitter and receiver is used for fixed wing uav, do i have to do some setting in my transmitter if i want to use it for quadrotor ? Thank you for your time and I'm sorry if my question is too simple for you to answer as I have on less than 1 year experience in this field.
I face the same problem, did you find the solution ?
Hello Joop, just a quick question.
If I want to build this quadcopter and I want to add the FPV and a Gimbal of 3 axis.
Does "Flysky FS-T6 6-CH TX Transmitter" works? or I would need more channels for it?
Thank you in advance!
4 channels are needed for the quadcopter. So you have two channels for the gimbal. Should work.
Joop Brokking As always, thank you for your support! regards
Hi I have made the drone and its flying, can i add GPS to it?... when the signal lost happpen it will retuen bck to home.... can it be done by PID value changing ?
Thanks Joop for your new super great video !
asap I will try it on my quadcopter build following your previous precious video lessons and let you knows.
By now, with old fw I had lot of trouble in calibrating procedure, but watching this new video I see lot of valuable new tools to have more control of what's going on.
Your such a great engineer and youtuber ! Your videos empowered me soo much that I have decided to rewrite my own code , inspired on your but with new flavours of mine. I am now passioned by this Thanks a lot. Currently i am Studying engineering in France. Have a great time in the Netherland.
Hi Joop, I am building this quad and I am done with the building, but I have a spektrum DX8 transmitter and need to know which receiver should I buy, most of the spektrum receiver , power with the positive and negative at channel 1 usually throttle, your´s is different, comes with special port for battery
Sir Mine all the four motors are not running at same speed.i have install succesfully the setup and esc calliberate program of ymfc al but after uploading the esc calliberate program , as i increase t the throttle at the four motors are not running at same speed but they start at same time, two motors are running very fast so that the quadcopter get fliiped or fully tilt , so sir please tell me the solution sir please
I have a couple of questions :D, Why didnt you power the arduino with the 5V that the ESCs outputs? and can i use the L3G4200D with a separate accelerometer like the ADXL345 instead of the MPU6050
Because you need the power for the voltage divider. So it's easier to just provide the 12V to the Arduino. It also reduces EMI.
You can use different sensors but you have to modify the code yourself.
I think my problem with the battery, because i do not use the lipo battery after the charger is broken, now I use a three battery pills of a PC connect on serie (each 3.7V and 2.2A For making a battery of 11.1 V and 2.2A)
This can be the problem of the rotation of the 4 motors at the same time ? Because when I increase the accelerator, one of the four will stop and another after that until a motor runs
i'm really confused about this
Hi Sir, i have two doubts..... 1. its possible to control flysky fs-ct6b.... if suitable pls provide the settings. 2. my drone its functions with any one motor. why sir?
pls give your valuable ideas.....
Thanks for the Very easy tutorial. One question. How can I add a GPS? and also how can I assign flight modes? Thanks!