Improved algorithms and a more confident operator...
My 15 inch long-range setup for 2020 (with CAD files)
This is my latest 15 inch ultra-long range setup with 50 minutes flight time: Propellers: 15x5.5" Tarot with custom hub Motors: T-Motor MN3110 470 kV Frame: 240g custom carbon structure Lipo: 2x 4S 4000 mAh SLS 20C (parallel) Camera: Micro Runcam micro sparrow Firmware: INAV FC: Holybro Kakute F7 ESC: Tekko32 F3 GPS: BN-180 Compass: QMC5883L Receiver: FRSky R9 slim+ Hovering flight time is 50 minutes at 8.5 Amps and 40% throttle. Current goes up to 12 A when flying 50-60 km/h. Flight characteristics are really good when tuned properly (you'll nee a HUGE D-term). Here is the CAD file of the frame. INAV 2.4.0 PID settings: set mc_p_pitch = 85 set mc_i_pitch = 60 set mc_d_pitch = 150 set mc_p_roll = 85 set mc_i_roll = 60 set mc_d_roll = 150 set mc_p_yaw = 200 set mc_i_yaw = 70 set mc_p_level = 40 set mc_i_level = 10 set max_angle_inclination_rll = 500 set max_angle_inclination_pit = 500 set dterm_...
Like all your other videos, this is yet another very impressive demonstration.
ReplyDeleteDo you use ordinary IR LEDs or are they some special IR LED with wide viewing angles?
Do you use IR-pass filter infront of your web camera?
Thank you.
Roberto
Hi Roberto,
ReplyDeletethese are ordinary high power IR leds (100mA). Each of the markers consists of 5 of these LEDs. I sanded the heads of the LEDs, so that they emit light with a wider opening angle.
My IR-filter consits of a negative photographic film (black, therefore no transmission of visible light, but quite good transmission of IR light).
Dear William,
ReplyDeleteThank you for the explanations.
In a ground based IR tracking experiment, I have also used similar approach; I cut/scratched grid like pattern on the IR LEDs surface.
"LED lenses" on the following link (http://www.cutter.com.au/categories.php?cat=Optics+for+Power+LEDS)may be interesting for you. I did not use those lenses and I don't know if they are transparent in IR wavelength.
Thx
Roberto