I chose to name my piDrones Phoebe, Chloe and Zoe as they can all be spelt with an umlaut – don’t ask me why, I have no idea. I ran out of umlaut names (despite research) so I opted for Hermione as the latest, greatest model as it sounds similar although she can’t ever bear an umlaut as she lacks the critical ‘oe’.
Anyway, Phoebe, Zoe and the always short-lived* Chloe have all been merged into the best of each; the result is ‘Ö’ pronounced like the french for ‘yes’. She has Phoebe’s ESCs, motors and props, Chloe’s amazing frame, and Zoe’s Pi0W and PCB.
Ö’s build is virtually indestructible as she weighs just 1kg fully loaded. Because she’s so light, crash torques are tiny compared to the strength of the frame; the only perceivable damage is to broken props and these are cheap from e-bay and I already have a vast stock of them. In comparison, Hermione weighs 4kg; this, and the fact she’s so large means crash torque is huge in comparison, damage always occurs for anything but a perfect landing, and replacement frame parts and props is expensive. Ultimately I still want to have Hermione as queen piDrone because of her X8 format, and use of a B3 4-cores allowing further sensors**, but while I’m still diagnosing the current problems, I think little miss indestructible is better suited financially to the task-in-hand.
Sadly, there’s one problem; Ö’s Pi0W isn’t fast enough to cope with video resolution higher than about 400² pixels, ruling out lawn / gravel etc. This is what she can do successfully:
On the plus side, I think that’s just enough to sort out my understanding of Hermione’s yaw flaws.
*Chloe got retired (again) as the 1.5A regulator on the PCB was insufficient to drive the A+, IMU, Camera and LiDAR-Lite. The same I2C errors I have before returned. Swapping Chloe’s A+ to Ö’s Pi0W resolved this.
** i.e. GPS, compass and Scanse Sweep