Over the weekend, I finally have repaired the broken ESC (see “Kinetis Drone: Graupner ESC S3055 Failure“). Time to run some first test flights :-).
Kinetis Drone Flying Tests
Initially I had a problem that the rotation direction of two motors were inverse :-(. Easily fixed that with swapping the wires to the brushless DC motors.I have tied the FRDM-K22F with electrical isolation tape on the top of the copter:
Kinetis Drone taped together
Below is a video of some tests in-house, carefully driving the motors.
After that, I did some tests outside with higher motor speeds. To keep things safe, I tied the quadrocopter down to the ground (and this was really a good idea ;-)).
Copter Tied to the Ground
Below is a short video:
The hardware is working, the Graupner remote control is communicating to the FRDM-K22F. I need to think about a better wiring of the FRDM-K22F board with the servos, right now electrical tape is keeping things together. For now, the control loop is very rough and not fine tuned yet. I need to improve that, and I plan to write some articles about the control loop and PID.