#QUAD COPTER MANUAL#

This is true but PIDs can drive non-linear systems with more or less success. This would give us motors input values within bounds and maintain the difference between motors.Īs a side note you said in a comment that the thrust vs PWM input is not linear.

We would remove 100 from each motor and get: In order to avoid such a situation we can analyse the higher and the lower of our motors inputs and add a constant to get all the motors within bounds.įor instance if the motor mix formula gave us: One caveat is that depending on the PID values the motor input can exceed the bounds: it could go over 2000us or under 1100us (which is our example motor cut value). Choosing the right P, I, and D constants shall give us values which can stabilise the quadcopter. For instance for my +4 quadcopter the formula is: Only then do we apply the PIDs using the motor mix formula. The constant values are arbitrary and give us a motor value in the 1250-1850 range, other values of the same magnitude would work. My throttle values were between -100 and 100, so I applied the following formula to each motor: motor = 300 * throttle / 100 + 1550. The first step in my quadcopter project was to tune the throttle. There is another variable not mentioned in the question: the throttle. One subtlety of the motors is that there is a value under which the motors stop completely, for instance 1100ms. There are 4 motors input: front, back, left, and right. This means 3 PIDs in total: roll, pitch, and yaw.Īlso the motors input is a PWM high-level time, typically in the 1000-2000us range. For offensive purposes, the QuadCopter is armed with various missile pods built into the hull of the craft as well as a GAU-17/A Gatling Gun mounted on the underside of the cockpit.Let's try to give a comprehensive answer and stay on topic!Īs you said in your question there is one PID per axis. To secure its targets, the craft will hover over the area and deploy an Extraction Claw, which retrieves and returns the victim to the QuadCopter. It possesses four large rotors, one on each wing, for propulsion and takeoff/landing. The HYDRA QuadCopter is an advanced quadrotor VTOL aircraft designed for the quick capture and transport of Inhumans. Years later, Ruby Hale and Werner von Strucker used a HYDRA QuadCopter to journey to a facility in England where the Particle Infusion Chamber was kept by HYDRA. They released the Absolution Virus inside the Playground form the QuadCopter, and then landed in the base's hangar, where they rejoined with Hive.

After he was caught by S.H.I.E.L.D., Hive's servants, Giyera and Hellfire, used the QuadCopter to reach his location in the Playground. With the fall of HYDRA, Hive possessed many of HYDRA equipment, including the QuadCopter. The QuadCopter deployed its Extraction Claw, captured Hinton, and flew off to Gideon Malick. The craft focused its attention to Charles Hinton, the target Inhuman. The QuadCopter fired its missiles as a distraction and destroyed several police cars before killing Abbott with its minigun. Upon arriving in Dyker Heights, New York City, the craft was spotted and fired upon by S.H.I.E.L.D. Believing this to be an Inhuman occurrence, HYDRA sent a HYDRA QuadCopter to investigate. While monitoring emergency response lines, HYDRA was alerted to Edwin Abbott, a man who claimed to have a vision in which he would be killed by HYDRA. The craft captured Lucio in its cargo bay and returned to Gideon Malick's Headquarters. It has a battery with bigger capacity than others have and the package also includes a 1Gb microSD TF. Recently were launched many FPV models but this SKY Hawkeye HM1315 is on top of my wish list.

#QUAD COPTER MANUAL#

The rotorcraft arrived at a station of the National Police of Colombia and deployed an Extraction Claw, using it to drill through the roof. SKY Hawkeye HM1315 user manual download page SKY Hawkeye is a new name on the quadcopter market and their first model is this HM1315 FPV multi-rotor. After receiving reports of Inhuman activity in Bogotá, Colombia, a QuadCopter was dispatched to retrieve the powered persons. In response to Gideon Malick's desire to build an Inhuman army for Hive, HYDRA developed the QuadCopter as a tool for capturing Inhumans.

Quad copter