Page 53 - Build Your Own Quadcopter_ Power Up Your Designs with the Parallax Elev-8

32 Bu il d Y o ur O w n Q u a d c o p t e r

Figure 2.20 Screenshot of the Untethered Quadcopter.vi.

simulation actually provides a bit of insight into the skills needed to pilot the real quadcopter,
although I believe the simulation is more sensitive than the real item.

Summary
Because it is important to have a good foundation for studying the particulars of quadcopter
aerodynamics, I began with a discussion of the basics of normal airplane aerodynamics. The
four principal flight forces were introduced along with the concepts of weight and balance
and the closely allied concept of center of gravity (CG).
Basic flight axes were than described along with the corresponding rotations about these
axes: pitch, roll, and yaw. A diagram showed how these axes and rotations applied to the
quadcopter.
Some of the basic quadcopter configurations were shown, including the X configuration,
which is the type used in the Elev-8. The two types of propellers used in this and other
configurations were also described.
The detailed discussion that came next focused on quadcopter flight control because
it differs significantly from normal airplane control. I presented a series of basic equations
that encapsulate how the flight-control system translates normal airplane flight-control
commands to the type needed by a quadcopter. A brief discussion was also presented on the
MEMS 3-axis gyroscope that the HoverflyOPEN controller uses to sense actual quadcopter
movement.
Two sections on proportional-integral-derivative (PID) control and theory were given,
as that is the key technology to ensure smooth and positive control for quadcopter operations.
The chapter concluded with two demonstrations of LabVIEW, the first running a single-
axis PID simulation and the second an untethered quadcopter flying simulation.
As a reward for making it through this chapter, I will now put aside the heavy theory
and go on to show you how to build your own Elev-8 quadcopter.