The Firmware was developed in C over a self-developed RTOS.
Electronics based on Microchip ICs and standard components found on eBay.
The PC side has several GUI applications: AHRS, FCU, Motor-Controller & 3D-Display.
They were developed using Python 2.7, wxPython, VPython, and PyGame.
The custom mechanical parts were designed with FreeCAD and printed with the RepRap Delta-Fisher 3D printer.
Chassis: Based on the Tarot-120 chassis (80x80mm) that I extended to 130x130mm.
Motors: Original Tarot BLDC MT-4000KV.
ESC: 3S/6A
Prop: Original Tarot 3020.
AHRS: Self developed SmartAHRS (in C with the PIC24F32K302).
FCU: Self developed (in C over the dsPIC30F6012/14).
Communication: Bluetooth 2.1 (Serial) or self developed long-range module over IEEE802.15.4.
Battery: Designed for 3S LiPo (But I am using external power supply during development)
Most interesting! Demands knowledge, experience & understanding is many fields.
Not easy! I found it very difficult and complicated in all fields (Maybe less on the electronic side because all of the critical sensors have digital interface).
The price tag of $15 for these toys does not represent at all the amount of engineering and science that they are base on.
Go ahead and review the "Quadol" project.
The original Tarot-120 chassis with the designed extenders to 130x130mm (Using Freecad)
The Cockpit application runs on the PC side (Ground station). It is written in Python using the Pygame library. It provides a Real-time graphic display of most telemetry data coming from the Quad-Flight-Computer and AHRS.
The assembled QuadTan. The bottom PCB is the FCU. The upper PCB (left side) is the Smart-AHRS (embedded version).
First Test flight!!
1st Outdoor Test-Flight (with some wind):
The ground station arrangement:
- Laptop (my old eeePC).
- Joystick.
- My Smart-RF-Switch/Bridge (RS232 to IEEE 802.15.4)
Indoor Test-Flights and Altitude-Lock control test:
Indoor Test-Flights and Altitude-Lock control test: