I’m reaching the stage where I think Phoebe is just about all she can be. I need to get a video to prove it, but her recent flights have been (mostly) safe and consistent.
And I’m already planning what short term upgrades I’ll do next.
- reinstating her legs – the dome ball on the underside has saved me a fortune in broken legs and propellers due to aborted flights, but now her behaviour has improved significantly she can have her legs back – I actually like the soft sponge dome but it stops me from…
- putting her WiFi antenna back between her legs to get better reception – currently she’s on a nano dongle and I only get about 5m coverage
- customizing the RPi.GPIO.wait_for_event() code for performance reasons. This will allow me to wait on the MPU6050 data ready interrupt and hopefully improve the code response to availability of fresh sensor data even if only marginally
- moving to a model A+ when available due to it’s more efficient power usage, and layout which allows…
- fitting a custom PCB akin to a breadboard attached directly to the GPIO pins and the standoff holes. This will reduce weight and lower the MPU6050 nearer Phoebe’s center of gravity which in turn means that rotation doesn’t trigger the accelerometer, and hence greater accuracy.
None of these are radical changes and they are already in progress. I’m hoping I can complete then before early September so I can show her off at the next CamJam.