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Re: [Paparazzi-devel] ROTORCOPTER FOR 500g camera

From: Simon Wilks
Subject: Re: [Paparazzi-devel] ROTORCOPTER FOR 500g camera
Date: Fri, 16 Sep 2011 15:37:33 +0200


On Fri, Sep 16, 2011 at 3:11 PM, Rui Costa <address@hidden> wrote:
> Hello all,
> Simon, thank you for the info.
> After reading a lot, I will build something like the Mikrokopter Hexacopter
> XL. Have 40min of autonomy, so I think I will be capable of 20 min flight
> for some payload types.
> Maybe we can join efforts to develop one with a paparazzi board (maybe
> Lisa/L with booz IMU or aspirin IMU). What you think? We can create on wiki
> a specific page just for that kind of rotorcraft.

Sure. I have the Lisa/L and an Aspirin IMU. If I recall you don't have
a Lisa/L yet right? Perhaps the Lisa/M is worth a go too (they are in
Once I get a response on the exact list of things I will need for a
hexa I will probably order it. Even if I get a Droidworx frame it will
use MK electronics. Then all I need is to keep finding time here and
there ;)

> I saw a lot of videos on the web with Mikrokopters platforms and the
> stability for video filming is incredible. I was thinking if paparazzi has
> the same stability capability? (I think yes)
> About the I2C controllers. What you think will have a better performance?
> Make the I2C Mikrokopter controlers and modify the paparazzi code to run it
> with I2C bus or buy commercial available ESC's?

It sounds like Thomas might have worked out how to do it:
In particular Felix's response indicates it is probably just a setting
in the config.



> Cheers
> Rui Costa
> On Fri, Sep 16, 2011 at 9:59 AM, antoine drouin <address@hidden> wrote:
>> Hola
>> On Fri, Sep 16, 2011 at 11:20 AM, Christophe De Wagter
>> <address@hidden> wrote:
>> > [...] control matrixes in your motors.
>> aka asctec v1 protocol
>> On Fri, Sep 16, 2011 at 11:02 AM, Simon Wilks <address@hidden> wrote:
>> >The discussion around Y6 (tricopter coax) vs Hexa goes on an on but
>> >the high level summary seems to be if you want something portable and
>> >need a large field of view go for the Y6. For more stability the
>> >larger hexa is the better bet as you have more props evenly
>> >distributed around the center. Some think the coax setup causes a
>> >touch more vibrations but opinions on this vary widely.
>> In my opinion, the main concern about coax configuration is the
>> efficiency of the lower rotors, which, from working in the wash of the
>> top rotors is greatly reduced. The scilab script I made for computing
>> the mixing matrix assumes equal efficiency for all rotors. In the case
>> of a coax configuration, you'll probably need a different Ct for the
>> top and bottom rotors.
>> hth
>> Poine
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