The mini is airborne!

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The Shrediquette DLXm micro-tricopter flies better than I ever expected. New control loops make it very stable in fast flights, during aerobatics, when there is wind or when it is flying in it's own downwash/ the ground effect.

Watch the DLMx presentation in HD:
Shrediquette DLXm - Self Stabilizing & Aerobatic Micro-Tricopter. The Movie.



Thanks to Stefan for milling the frame (in carbon fiber, hehe) and to Eric for borrowing the ESCs!

Specs Shrediquette DLXm
Motor shaft distance: 132 mm 
Max. dimension: 259 mm
Weight: 230 g
Props: 5x3 3-blade GWS
Motors: Roxxy 2216-25
ESCs: Turnigy Plush 6A with I²C->PWM converters
Battery: 3S, 800 mAh
Max thrust per motor: 237 g
Thrust to weight ratio: 3.1:1
Total current during hover: 4 A
Endurance: 11 mins

The control loop now processes angular acceleration in acro and hover mode: I finally managed to calculate "up to date" angular acceleration with only little noise. As a result, the gain of the gyroscopes could be increased by 100% which results in a much better stabilization. The new firmware still has to be tested with a standard size Shrediquette, but I am very optimistic.

-> Update: Some test have already been done,I am not yet satisfied with the results of the new firmware on the standard size copter, but I keep on testing...

Comments

  1. timo21 April 2010 at 17:35

    Awesome. Just awesome.

    I have a ways to go on my heli.

    ReplyDelete
  2. Anonymous21 April 2010 at 21:49

    bellissimo William

    Giuseppe lugano

    ReplyDelete
  3. Anonymous22 April 2010 at 22:59

    very cool!

    ReplyDelete
  4. Anonymous23 April 2010 at 10:25

    Bravo William!!!

    Fantastic achievement ;-)))) I am still in process of getting my "Shred" together - working on getting Rec-Enc from Tobias. Everything else is in place, including new frame from Stefan (what a great guy!!!) .........How great it would be to have a straight connection to the board (no converters).

    Best Regards,
    Max

    ReplyDelete
  5. Unknown23 April 2010 at 10:30

    Great William! And it can load a Hero HD on it :-) twice as cool

    ReplyDelete
  6. Unknown24 April 2010 at 01:34

    It's so awesome !!
    I read the entire blog in one time !
    Do you plan to add gps why waypoint fonctionnality ?

    ReplyDelete
  7. Anonymous26 April 2010 at 12:17

    Salut William


    Formidable machine,bonne contination.

    A+ Vincent.be

    ReplyDelete
  8. Anonymous19 May 2010 at 20:15

    Hallo William, echt fantastisch.
    Ich bin begeistert. vor allem dass es noch so einen spinner wie mich gibt und das ganze mit BasCom durchzieht. Ich bin den ähnlichen weg gegangen wie du, nur bin ich jetzt enttäuscht wie gut deiner schwebt, und wie unruhig meiner ist. Ich habe auch um einen normalen regler nehmen zu können einen "CoProzesser Mega8" genommen der mir aus einem seriellen stream 9 Byte also acht kanäle und ein steuerzeichen die PWM für max 8 regler oder servos ausgibt. Warum bringe ich meinen nicht zum ruhigen schweben? Als gyro habe ich 2x lpy530 mit 2 achsen (ein signal also überflüssig) und einem mma7260 3xAcc. Gyro liefern sauberes signal, mma flattert bei laufenden Motoren fürchterlich. Bekomme Acc nicht geglättet. Oder ist meine serielle Verbindung (50Hz) zw Haupt und CoProzi zu langsam. Wie kann ich mit BasCom über I²C an einen zweiten Prozi daten schicken?
    Aber noch mal alle Achtung. Tolle Arbeit mfg MiGo

    ReplyDelete
  9. Anonymous27 May 2010 at 13:46

    Hallo William~~
    Can you tell me who sing the song in this movie background music ?? :)

    ReplyDelete
  10. William Thielicke27 May 2010 at 16:55

    Hi, it is: The Faint - Birth

    ReplyDelete
  11. Anonymous23 June 2010 at 20:33

    William,

    I am very intrigued by this project. After looking at your design, I've got a couple of suggestions you might want to think about:

    1) A spring-loaded 3-point landing gear with rubber half-sphere feet. This will allow for somewhat harder landings without component damage, and will raise the shrediquette up off the surface by a couple of cm.
    2) Utilize both ends of the motor shafts by mounting a second propeller (with the same directional lift as the upper blade) underneath each motor, but mounted 90 degrees off of the upper motor. This will provide a better lift coefficient, and improve stability in high speed flight.
    3) Re-build the body of the shrediquette with hard-anodized aircraft aluminum. That will increase the strength and reduce the weight even further.
    4) Shroud the center components with a nose-cone like cover to reduce wind drag during high speed flight.

    Best of luck with this project. Sorry I can't donate anything other than suggestions at this time.
    Cordially,
    Paul
    pwhitmer57@yahoo.com

    ReplyDelete
  12. Jin'15 April 2011 at 14:08

    Hallo William,

    bin begeistert von der Größe (naja, eher ..."Kleinigkeit") dieses Copters. Ich habe versucht es auf WiiMotionPlus aufzubaun, allerdings habe ich die Arme etwas länger machen müssen, dank meine ungünstigen Aufbauten (Empfänger, Prozessor...). Meine Frage, ist das angegebene Gewicht von 230g mit, oder ohne Akku? Ich komme auf ca 360g mit 1350mAh Akku und nur ca. 6min Flugzeit :( Noch eine Frage, wie sieht es mit Vibrationen aus? ich musste sowohl die Roxxys als auch die Propeller drastisch auswuchten, sonst bekomme ich keinen ruhigen Flug. Bild ist hier: http://www.rcpicture.de/review.php?sid=4586

    ReplyDelete
  13. William Thielicke15 April 2011 at 14:20

    Hi,
    die 230g sind mit Akku, aber ohne Kamera und Videolink. Ich nutze einen 800mAh 3S Akku und komme auf maximal 10-11min Flugzeit. Ich verwende GWS 3-Blatt Propeller und die haben von Haus aus eine grauenhafte Unwucht. Auch wenn die von mir verwendeten ADXRS Sensoren relativ wenig Probleme mit Vibrationen haben, ist Fliegen ohne wuchten nicht zu empfehlen. Wenn du Propeller wuchtest, solltest du aber unbedingt das Klebeband auf die Unterseite der Propeller kleben, sonst verschenkst du Energie.

    ReplyDelete
  14. Jin'15 April 2011 at 15:11

    Danke für die schnelle Antwort und die Tipps. Ja ich verwende genau die gleichen Propeller, die sind wirklich derartig unwuchtig. OK, die Klebstreifen werde ich nach unten verlagern. Und am Frame werde ich wohl mal noch einiges absägen müssen oder 1mm statt 1,5mm GFK verwenden (CFK ist für mich einfach unerschwinglich:) - 230g mit Akku werde ich dennoch niemals erreichen, aber wenn ich auf 300g kommen würde, wärs schon nicht schlecht für mich... naja, und vielleicht M2 Gewinde/Nylonmuttern...

    ReplyDelete
  15. Jin'15 April 2011 at 15:49

    Was mir noch so einfällt, eigentlich müsste deine Sofware doch auch mit den Wii-Teilen gehn, oder?

    ReplyDelete

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