Dualcopter build...

[west0618]

This build was inspired by this video...

https://www.youtube.com/watch?v=AI4LI4DgiOw

It seemed the perfect vehicle to deploy a parachute...or other droppable items...that I felt I could actually fly successfully.

I figured if I could get the motors set up, the rest should be easy. With Derek picking out the parts, it was simple enough to machine the custom parts and make the needed modifications. We are waiting on the propellers so I am at a standstill on the one propeller mount but I thought I had enough to start this thread.

motor01.jpg (115.54 KiB) Viewed 4999 times

Here's the two motors awaiting the propeller so I can finish the bottom propeller mount.

motor mount01.jpg (138.79 KiB) Viewed 4999 times

This doesn't look like much yet but it will next time. This will allow tipping of the motors on the two axes controlled by two servos.

body01.jpg (66.7 KiB) Viewed 4999 times

And lastly...a very bare fuselage. Again...not too impressive, but it is early in the build.

[Derek]

Very cool, Dad!

[Graham Lawrie]

Looking good:) cant wait to see the finished result:)

[Derek]

Hey guys...we need your counsel. Dad is going to be adding a servo release mechanism to the bottom of this dual copter because he wants to be able to carry a small paratrooper up and drop it. The thing is, he would like to have altitude hold and position hold. Will the Full Naze32 FC do this without a bunch of added accessories or is there a better option? Dad is trying to keep the cost down, so we can't spend lots of green...that's why I think the Full Naze is a good option. However, I've never messed with a Full Naze32 so I don't know if there are "other" needed components to be able to use the Full Naze32.

THanks!

[Graham Lawrie]

Cant see anything that will allow that on the Full Naze?
http://www.dronetrest.com/t/naze-32-ver ... t-for/1580

[Derek]

well, the Full Naze32 has a barometer and magnetometer. What are those used for?

[Graham Lawrie]

It works to a fashion Derek but not as good as the likes of the DJI or similar systems:)
https://www.youtube.com/watch?v=UB2YuISkqgo

[Derek]

Thanks Graham! I appreciate that. No, it's definitely not a solid as a DJI nor Mavik. Now, Dad isn't wanting to spend a great deal of money on this project, so he and I need to find a some-what inexpensive solution. Although the Full Naze32 isn't "perfect," it may be what he's looking for. When it comes to position hold and altitude hold, I am way out of my league. If there would be any possible solutions that you could offer us, we are "all ears." With the Full Naze32 at $50ish, Dad isn't really wanting to go much more expensive than that and if we wander too far from a Cleanflight option, I am going to be less and less help, lol. I consider myself lucky that I know how to do what I know how to do, lol

[Stambo]

Full Naze will still not get you position hold unless you add a GPS and use a different firmware, I think it's Cleanflight Inav.

[Derek]

Stambo!!! Where the devil have you been? I hope all is well with you and Jacob and it's very good to see that you've checked in!

I've been doing some reading and I've been watching a few videos (mostly Painless360 on YouTube) and I fully understand, now, that a GPS unit is going to be REQUIRED for position hold. I was under the impression that the magnetometer, on the Full Naze32, was for position hold. In fact, the magnetometer is simply used to keep the nose pointed in a particular direction (kinda of an "anti-yaw" feature). So, with that all understood, we are going to try to move on. I'm going to be pricing some GPS units that can be used with the Full Naze32. Painless360 spoke about a particular unit that he uses frequently, so I'll be looking at that first. He also goes into a bit of detail on how to configure the GPS unit, using an FDTI adapter (which I do have one), and how to connect it to the board.

[west0618]

Moving forward...or upward, depending on your point of view. LOL
As far as I can tell...the business end of this copter is complete as you can see in the picture below. I tried to make the aluminum adapter for the bottom prop the way he did in the video but had issues with adding the bearing inside the motor housing. So I redesigned it so the aluminum adapter is actually two parts which allows for the second (lower) bearing to rest just above that motor...not inside. I like this much better so as not to weaken that housing by reducing the wall thickness by over half. Both motors turn very nicely now.

a001.jpg (76.02 KiB) Viewed 4961 times

I'm ready to add the two servos and linkage to control the tip of each axis on the next to the top black tray..

Here's a bit wider view.

a002.jpg (65.99 KiB) Viewed 4961 times

The four black trays placed between the motors and the bottom can be adjusted up or down as components are added then secured last. The bottom one is designated for the "drop mechanism" and the second from the bottom if for the battery.

a004.jpg (77.06 KiB) Viewed 4961 times

You can see the two ESCs strapped to aluminum heatsinks on top of another tray. The remaining tray is for the flight controller and possibly the receiver.

a003.jpg (71.69 KiB) Viewed 4961 times

I'm actually quite optimistic about this unit fulfilling its purpose...to lift and drop parachutes and foam bombs. What bells and whistles it will end up with is currently the big question. Position hold would be nice but altitude hold would be enough. And that is not a "have to."

[Graham Lawrie]

it will be interesting to see it fly and also how the prop wash effects the layers below if they are not solid but move independantly?

[Derek]

Dad....so far, this is really looking great! One thing though, because you are only going to be using 1 flight battery, we need to join the two esc's into one battery lead.

[west0618]

Agreed. But until the last of the components arrive and the trays can be locked in, any final wiring lengths will have to wait. The remaining parts should be here by, or around, next weekend...hopefully.

[west0618]

Since I have week to wait on parts...here's a few more very preliminary shots of the Drop Mechanism in the bottom tray and the temporary servos holding the motor mount level. The rods are at least 3-4 inches too long now but I do not wish to cut them down until I get the final servos that will be used. I may want to raise the final servos nearly an eighth of an inch in their brackets to gain more control arm travel. That's why these brackets are not bolted in place.

Axis Control1s.jpg (104.13 KiB) Viewed 4877 times

Axis Control2s.jpg (108.45 KiB) Viewed 4877 times

Axis Control3s.jpg (103.28 KiB) Viewed 4877 times

Release Unit-s.jpg (69.83 KiB) Viewed 4877 times

The release mechanism will simply hold a short lead that is attached to the center point of a parachute or foam "bomb" in order to lift it.

[Derek]

Just too cool, Dad!!! The full Naze32 has been ordered and should be here Monday or Tuesday. Stronger servos have been ordered to replace those crappy servos and should be here by next weekend.

[Derek]

I was just over at Dad's house. Got the Full Naze32 flashed and we can see that the board is working, magnetometer and all. Cool! This dual copter is actually quite close to being complete and I'm real happy with the work that Dad has put into it. We talked about how wires will get routed. It's pretty awesome!

Something that I didn't take into consideration beforehand....we want this dual copter to be able to lift a small paratrooper, so Dad has added a servo to the bottom tray with some aluminum bits to make up a drop mechanism. Originally, I was thinking that the dropper servo would be activated by the GEAR channel. Not realizing that the GEAR channel is usually occupied by a Naze connection. I won't know until we get it finished and set up but I'm wondering...if we were to ARM the board with the default method (throttle stick down and right), can we connect the dropper servo to the GEAR channel of the 6 channel rx and be able to activate that servo with the GEAR switch? Even if the GEAR cable (from the breakout cable) is connected, piggy-backed, with the dropper servo...as long as no AUX1 channel is set in the Modes Tab...when the GEAR switch is flipped....wouldn't that activate the dropper servo? I think it will.

I was just hoping to run this past you guys ahead of time. Dad has some fastening to fasten, some routing to route, and some zip-tieing to be zip-tied in the meantime. Once he gets all that done, we'll run through the Cleanflight setup. Hopefully we'll be able to report back some positive results and maybe some initial motor testing.

[Stambo]

That should work fine Derek.
However if you are using PPM (all the channels connected) you could run the servo direct from the Rx rather than running it through the Naze.
Then you don't have the hassle of setting things up in the Naze to get it working.

[Derek]

PPM? Ill have a look at doing that. Thanks Stambo!

[Stambo]

OOPS, I meant PWM, whichever one has all the wires hooked up as opposed to just one wire.
In other words, normal just like an airplane not single wire like many quads.