Author Archives: arcranda

Reviving a bricked Arduino ProMini

Something anomalous happened to the ProMini on a flight about a month ago, and the ProMini would not run the sketch that was uploaded to it. I tried to reupload the sketch and got the following errors: avrdude: stk500_recv(): programmer … Continue reading

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Helicopter upgrades and stupid I2C problem

I replaced the stock 11T pinion with a 12T pinion, and replaced the stock E-Flite 800 mAh LiPos (68 g) with Turnigy Nano-Tech 370 mAh (38 g) batteries. The Turnigy batteries are 30 g lighter, and deliver 7.5 to 8 … Continue reading

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Raw IMU data from helicopter flight

I put an IMU (Fabio Varesano’s FreeIMU with the MPU-6050 and HMC5883L) on the helicopter and flew it until I crashed. The y-axis on all the plots below are raw ADC output, not scaled to engineering units, but the obvious … Continue reading

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LIDAR data from helicopter flight

I stripped the helicopter LIDAR setup down to minimum usable form factor and flew during lunch. Setup works pretty well, this time it looks like I got up to 31.8 m. I think the LIDAR malfunctioned for approximately 1 second … Continue reading

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First try LIDAR on helicopter

It’s been a while since I worked on this project in earnest, but this weekend I tried to fly the helicopter with the LIDAR mounted to the tail to record altitude. I bought the original LIDARLite for $90 like 3 … Continue reading

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Altitude control w/ Kalman filter

I incorporated a Kalman filter into the altitude control loop; it estimates altitude and velocity from a model of the helicopter and the altitude measurement from the LIDAR Lite. It doesn’t compensate for tilt errors, so it only works for small … Continue reading

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3 gallon tank burst test

I tested the LRD-3 Aluminum air tank and it burst at 828 psi (57.1 bar). Dry Mass: 2.34 kg (5.16 lbm) OD: 7.271″ (18.47 cm) Wall thickness: 0.097″ (2.46 mm) Ultimate strength: 30,204 psi (208.2 MPa) This ultimate strength is about 10% higher than … Continue reading

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