Old blog entry's

OK got a lot of stuff done:
* soldered up all connectors on motors and esc's
* mounted missile switch on quad copter
* didn't have any 10 awg wire so ended up using 12 awg and 16 strappedaped together just to be safe
* build power cabling system and wired it to missile switch
* tested all motors and esc's this included motors and ducted fans ready for hk-drone robot
* build a simple header so I could run all motors using one servo signal
* mounted electronics in ABS box its not 100% done but will do for now
NOTE: been testing with power supply which dies with all 4 motors on as it just cant supply the needed current. Didn't try battery as want to charge it fully first.
received following from Spark Fun Electronics 
12 x Servo Cable - Female to Female
1 x Triple Axis Magnetometer Breakout - HMC5843 £31.38 
1 x Barometric Pressure Sensor - BMP085 Breakout £12.53 
bought some more parts today from local westborne model shop
4 *  servo extension cables 40cm long male to female £3.40
2 * pack of 10 male servo connectors £6.15 a pack (dam thought they 5male/female so still short a few female to female connectors dam)

may just cut the cables I built in half and solider one end to board for now unless i see some on ebay tonight
had a play with gyro'ss again on configurator and think all the channels are workingi'mma bitt unsure if z-accel if 100% as i seem to be seeing data at topofg graph almost as if half the data being cut off. Think for now ill continue getting everything else wired up and then get back to sorting aref.
im still only measuring 2.24v at zenner but this may be because the arduino has a 32k resistor internal on a-d when using external aref. This is comfusing as data sheet says nothing about this yet arduino site does so going to have to run tests myself at some point to see who is correct. Arduino may make most things simple but the documentation sure makes things hard work like this. PIC micros were so much clearer think my next drone going to be a pic with c compiler.
the following link is worth reading again when i next start playing with z-accel and check readings
things not working so built a simple sketch file to test YAW gyro analog input pin on mega
used a simple hardware setup with a 10k pot like example at
my code
void setup() {
//using internal 5V vref for A/D (no analogReference(EXTERNAL); set)
void loop() {
int anval = analogRead(A5);
Serial.print("Value: ");
Serial.print(anval, DEC);
float v = (anval * 5) / 1023.0;  //NOTE: if you use 1023 it wont work as dont print floats see http://arduino.cc/en/Reference/Float
Serial.print(" Voltage: ");
Serial.println(v,2);  //2 = 2 decimal points
I also hooked up IXZ-500 gyro using internal vref and am still getting same kind of data as with aeroquad configurator so I guess things are working. I wrote ixz500_gyro_test.pde which simple reads gyro data.
also noticed i had  #define Mega_AQ1x still commentedd out and that i didn't have jumper modification on shield that's needed as i copied v1.7 shield design that may have caused me trouble.
set-up new laptop with aeroquad code, arduino ide and aeroquad configurator. Tested that it downloads and that i can read data from Arduini with 'L' command
Did try shield but don't think data is coming out right as I see very little gyro data
In code i noticed the #define Mega_AQ1 not uncommented and that i may need to add some jumpers due to a bug in the arduino core but cant find info on bug and exactly why they done this. Im posting links as i find them
Quate from forum "
If i use an arduino mega with an v1.7 AQ shield I have to place jumpers between D02-07 to Arduino Analog input AI08-13 because of a bug."
working on shield almost complete just missing caps so cant add them but rest of board should work.
* Will need to check receiver power as I connected all 5v lines not sure I needed too.
* 3V zenner only put out 2.15V when i did a test with PSU, I also only had 5.6k resistor not 5k resistor
started trying to build shield on veroboard but harder than i thought as nothing lines up totally to veroboard even the arduino connectors are slightly off. Ill keep going but later will definitely build custom PCB
last three 10x4.7 SFP propellers turned up today so have all my spares now
reading up on shield looks like I should stick to v1.7 and 1.8 using I2C sensors for Duemilanove arduino board and version 2.0 again using I2C but this shield for mega arduino version. 
looks like I have everything accept maybe stackable headers and zener diodes.
just tested my arduino board with blink test and serial test code just to get a feel for it and to make sure IDE setup correctly.
also worked on frame for about 4 hours now almost finished
downloaded latest files from aeroquad site. I will use the following
* AeroQuad Tutorial_v8.pdf (instructions latest as v9 uses new gyros)
* AeroQuad_v1.7.1.zip (arduino code, think after this goes straight to 2.0 which again uses new sensors)
* AeroQuadConfigurator_v2.4.zip (latest pc software)
* AeroQuadFlightSoftwareDevelopersGuide.pdf (dev guide should be very handy to read)
also decided on a name for this project "Grace"
decided to add everything as GPL 3 licence
IMU 5 Degrees of freedom IDG500/ADXL335 (www.robosavvy.com) just turned up now so think i have everything i need fot this project
went to B&Q on way home and picked up three lengths of aluminium to use as brace bars as well as a small selection of bots. There selection of nuts/bolts is crap so may head down hardware store see what they have.
So bought the following:
did more work on frame today for about 2 hours 40 min. Frame now finished but is heavy at 1240g but I can shed a bit of weight by cutting screws down, maybe shortening ends a little, drilling holes, cutting shape in wood etc.
this is a list of weights I measured:
1 x 1240g frame only
1 x 5g hobbyking battery monitor 3S
4 x 25g turngy AE-25A ESC
4 x 91g KD 2217-20T motor + mount + propeller assembled
1 x 357g 20C 4500 mAH (tripple 5C charge) 11.1V battery
1 x 89g 20C 1000 mAH (tripple 5C charge) 11.1V battery
1 x 153g maplin ABS box YN40
1 x 37g arduino mega (board only no shield)
----- 1 x 174g maplin ABS box BZ74Y
----- 4 x 11g propeller 10x4.7 SPF
----- 4 x 71g motor KD 2217-20T
----- 4 x 3g motor mount bracket
think motor gives 900g to 1000g thrust on 10x4.7 prop and 11.1v battery so 3600g to 4000g thrust total
my quad going to way
1240g frame only
5g hobbyking battery monitor 3S
100g turngy AE-25A ESC
364g KD 2217-20T motor + mount + propeller assembled
357g 20C 4500 mAH (tripple 5C charge) 11.1V battery
153g maplin ABS box YN40
37g arduino mega (board only no shield)
total: 2256g
thats not including the following:
1 x [    ] wireing
1 x [    ] bullet connectors
1 x [    ] arduino shield
1 x [    ] shield electronics + sensors
1 x 20g???? radio receiver
1 x [    ] possible a separate RX battery (9V battery 46g ????)
lets say above going to be around 244g a total guess that beans quad final weight is: 2500g. And from what I seen most quads are 1.2kg to 1.9kg that's 600g heaver than most other quads mainly because my frame is so much may redesign to half that. as with camera I could hit 3kg easy at this rate. And while my motors I think can take this will kill battery life
started building my frame today for quadcopter almost finished after around 5 hours just need to buy some small aluminium to act as brace bars on stand to stop them folding up. I could also ideal do with some longer M3 bolts as what I have only just reach and can only fit one nut.
note this first version is just a quick build once I have everything setup and roughly working ill spend lots of time thinking about vibrations, weight, aesthetics, equipment layout, sensor mounting holes, protection etc. Want to get something basic that kinda works first.
propellers turned up today so have almost everything now
Most parts have been ordered now this is a ruff list of parts i bought