Large Quad built around the Bolt
Posted: Sun Oct 04, 2020 8:33 pm
Hi,
in case anyone's interested: I've recently built a large quadcopter using the Crazyflie Bolt flight controller board. Here are the basic specs of this build:
Frame: F450 (i.e. 450mm diagonal hub-to-hub "wingspan")
Motors: BLDC A2212/13T, 1000KV
ESCs: 30A
Props: 1045
Battery: 4S, 100C, 1300mAh LiPo (a bit small but I wanted to keep the weight down until the PID gains were tuned, see below)
Total flying weight: approx. 850g
Tuning the inner (rate) and outer (attitude) PID loops was a bit of a challenge since the flight dynamics differ considerably from the original CFs. By now I managed to obtain a good set of gain parameters and the quad flies pretty stable. Next step is tuning the velocity and position PID loops. I've attached some pics.
Regards
Tintin
in case anyone's interested: I've recently built a large quadcopter using the Crazyflie Bolt flight controller board. Here are the basic specs of this build:
Frame: F450 (i.e. 450mm diagonal hub-to-hub "wingspan")
Motors: BLDC A2212/13T, 1000KV
ESCs: 30A
Props: 1045
Battery: 4S, 100C, 1300mAh LiPo (a bit small but I wanted to keep the weight down until the PID gains were tuned, see below)
Total flying weight: approx. 850g
Tuning the inner (rate) and outer (attitude) PID loops was a bit of a challenge since the flight dynamics differ considerably from the original CFs. By now I managed to obtain a good set of gain parameters and the quad flies pretty stable. Next step is tuning the velocity and position PID loops. I've attached some pics.
Regards
Tintin