I started singing…

Fly, Fly, little Raspberry Pi
Reading sensors, driving motors
Spinning propellers thereby…
Lifting you up, soaring into the sky
While the camera really proves you can fly,
The camera really proves you can fly!

First untethered, successful, safe take-off, hover and landing from Andy Baker on Vimeo.

With my sincere apologies to Don McLean for corrupting his original far superior lyrics

If you ignore the yaw, this represents a successful take-off, hover and land.  It’s programmed to be a 9s flight, 3s takeoff, 3s hover, and 3s land.  The drift is just due to the trampoline not being completely horizontal, and I’m not at all worried about the bouncing as that’s what trampolines do when something lands on them.

The yaw was unsurprising as I’d turned off it PID for this testing. And now I have a safe secure test platform, and code to get the drone in a good position for yaw testing (i.e. off the ground!), I’m now relishing the chance to tune the yaw PID.

Finally I also have some cracking stats to look at too to allow the drone to this autonomously – in this test, the spin speeds for take-off, hover, and landing were all hard coded during the testing so I could get an idea of acceleration produced by them.

And no crashes 🙂

3 thoughts on “I started singing…

  1. Thanks both! I’m really excited too – now the quad is safely airborne, I’m hoping over the next two days to sort out the yaw, and get it flying outside of the trampoline for a much more impressive flight video – and hopefully with the PiCam working too! And finally I actually feel that’s achievable!

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