Could be possible to use the ADC in free running mode?

sturgessb · Post by **sturgessb** » 30 June 2008, 3:09 AM

For those of you that were interested, here is a short video demo of the ZX copter

http://www.ustream.tv/recorded/509806

This is as it stood a few days ago. Since then I have implemented a sonar minimum height and height hold (works up to 5m), compass for heading hold, and improved pitch / roll stability.

Some stats:
Main processor ZX-128ne (used for main sensor collection and flight code)
Support processor ZX-24n (used for PPM decoding and low priority sensors)

Main control loop is running at 450hz (gyros, angle estimation, flight calculations, motor control)
Second loop is running at 100hz (accelerometer data)
Third loop running as 40hz (Compass, RC input, link to ZX-24)
Fouth loop running at 20hz (Sonar, barometric)
Fifth loop running at 5hz (Serial Downlink)

Ill keep you posted how it goes.

Ben

mikep · Post by **mikep** » 30 June 2008, 8:13 AM

Very cool video Ben.

Getting the PID constants and implementation correct is probably the hardest bit. Always good to put a face to the name as well

liam.zbasic · Post by **liam.zbasic** » 01 July 2008, 21:17 PM

Excellent work. I'm also amazed that you are able to conduct your flight tests in the same place you cook, do dishes, do laundry and make videos. May I ask how much this project has cost you in materials (not time)? Thank you.

Regards,
P.

sturgessb · Post by **sturgessb** » 04 July 2008, 3:00 AM

not much choice with the testing environment, are waiting to complete on a new property, which will mean proper workshop etc. Until then, its the kitchen!

To date I have spent around $3000 on the electronics side of things, although obviously a lot of that was for parts that turned out to be not quite right.

It's certainly not a cheap thing to try.

B