TMR Flight Controller

V1.0

http://code.google.com/p/tmr/

The IMU For TMR - 6A

I have got this 10DOF IMU for my TMR-6A and the features of this IMU is following.

IMU 10DOF - MPU6050 gyro & accelerometer + HMC5883 magnetometer + MS5611 altimeter 

The MPU-6050 Motion Processing Unit from Invensense is the world’s first motion processing solution with integrated 9-Axis sensor fusion using its field-proven and proprietary MotionFusion™ engine for handset and tablet applications, game controllers, motion pointer remote controls, and other consumer devices. TheMPU6050 has an embedded 3-axis MEMS gyroscope, a 3-axis MEMS accelerometer, and a Digital Motion Processor™ (DMP™) hardware accelerator engine with an auxiliary I2C port that interfaces to 3rd party digital sensors such as magnetometers. When connected to a 3-axis magnetometer, the MPU-6050delivers a complete 9-axis MotionFusion output to its primary I2C. 

The Honeywell HMC5883L is a surface-mount, multi-chip module designed for low-field magnetic sensing with a digital interface for applications such as low-cost compassing and magnetometry. The HMC5883L includes our state-of-the-art,high-resolution HMC118X series magneto-resistive sensors plus an ASIC containing amplification, automatic degaussing strap drivers, offset cancellation, and a 12-bit ADC that enables 1° to 2° compass heading accuracy. The I2C serial bus allows for easy interface. These anisotropic, directional sensors feature precision in-axis sensitivity and linearity. Honeywell’s Magnetic Sensors are among the most sensitive and reliable low-field sensors in the industry. 

The MS5611-01BA is a new generation of high resolution altimeter sensors fromMEAS Switzerland with SPI and I²C bus interface. It is optimized for altimeters and variometers with an altitude resolution of 10 cm. The sensor module includes a high linearity pressure sensor and an ultra low power 24 bit ΔΣ ADC with internal factory calibrated coefficients. It provides a precise digital 24 Bit pressure and temperature value and different operation modes that allow the user to optimize for conversion speed and current consumption.A high resolution temperature output allows the implementation of an altimeter/thermometer function without any additional sensor.

Tx/Rx Systems

Futaba T8FG SUPER

New 8FG Super features:

• Expanded with 14 total transmitter channels — 12 proportional and two switched.


• Included R6208SB receiver's PWM (Pulse Width Modulation) channels support up to 8 standard analog or digital servos — and it handles up to 18 channels when used with an S.Bus system.


• Gyro menu supports 3-axis gyros and is perfectly tailored to the CGY750.


• User menu allows pilots to customize and display frequently used functions.


• VPP (Variable Pitch Propeller) compatibility can be set to three conditions for throttle and pitch curve.


• Swash trim can be adjusted from the swash screen.

Flight Attitude Control System

Free Flight FF Auto Balance Controller with 3D Acceleration Sensor For QuadCopter


Free Flight FF Auto Balance Controller with 3D Acceleration Sensor
Description:
- 100% brand new four axis Free Flight FF Auto Balance Controller,it can be used without debugging.
- Support 8 channel PWM input and Six channel PWM output
- Adopts three axis digital gyroscope and three axis digital accerleration sensor.
- Auto-balance,quadcopter X or+mode
- Support commercial ESC and I2C ESC 
- Support aerial photography and Dual axle stabilization PTZ
- with beep function when voltage is lower than 10.8V
- recommend work with GWS 3-blade paddles or other high performance balance paddles
Wire Connection:
- Input CH: 1, Aileron/ flap 2 Lift and down 3,accelerograph 4,Heading Direction 5,Remote control calibration( Switch channel) 6,PTZ pitch angle 7, PTZ pitch angle trimming(ratio CH input)

- Output CH(PWN): 1, PTZ Pitch angle servo 2, PTZ roll servo, 3, No.1 motor input 4,No.2 motor input 5, No.3 motor input 6,No.4 motor input 

Dual axis PTZ:

- It maintains verticality mode under 6CH Auto-mode.It can be trimming by button 7 to adjust angle.

Software Tool

在國外網站看到的~真是個 Good idea !!!


http://www.rcdon.com/html/mr1_hexacopter_project.html

下面內容引用作者敘述


Because the MEMS type sensors used on this board use vibrating structure technology to sense movement they generally require a low vibration surface to mount to. Any high frequency vibrations can throw off the sensors and disable the control board. This is why I must devise a vibration absorbing system for the board which will isolate the sensors from any disruptive vibration caused by the brushless motors.

For this I am going to use a set of silicone tubing pieces to make a set of shock absorbers that will hopefully null out any vibration from the motors of the copter. I am going to use some plastic tubing “studs” to attach the board to the tubing pieces as seen below.

  

Power System

APC Propellers

S

 Sunny Sky 880 KV

Mechanism

        
        為了製作屬於自己的多軸飛行器使用了Solid Works 做了下面的組裝模擬圖, 這套軟體真的是很棒很方便, 幾年沒用了還是很容易上手, 透過 3D 建模後就可以很容易地產生加工圖給零件製作廠, 這次主要設計的零件是 "多軸固定板" 及 "BLDC 馬達安裝板" , 經過幾番思考及修改考終於確定好要使用的圖檔了!!

"多軸固定板" 和 "馬達安裝板" 的材質是選用 Carbon Fiber (3K) 厚度 2mm 價格高但相對的強度重量比也高, 初期設計也可先用玻璃纖維材料節省製作費, 板型確定後再以碳纖材料製作.

四軸安裝示意圖 :

    ( Solid Works 繪製 )

    450 碳纖圓管 ( 12mm x 200mm )

方鋁管 ( 10mm x 10mm x 200mm )

六軸安裝示意圖 :    


( Solid Works 繪製 )

     450 碳纖圓管 ( 12mm x 200mm )

方鋁管 ( 10mm x 10mm x 200mm ) 

馬達安裝示意圖 :


    ( Solid Works 繪製 )

    BLDC Motor : Sunny Sky X2216 880 KV

 

 

    450 碳纖圓管 ( 12mm x 200mm )

    

    方鋁管 ( 10mm x 10mm x 200mm )

多軸固定板 :

( Solid Works 繪製 )

馬達安裝板 :


( Solid Works 繪製 )

Update [2012/02/15]
今天收到順風從中國遼寧寄來的包裹了!!  裡面是切好的碳纖及玻纖中心板還有 馬達安裝板 ,先放上圖片~

碳纖中心板 :

玻纖中心板 :

碳纖馬達安裝板 :

 玻纖馬達安裝板  :