Category Archives: Multicopter

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Gopro Karma recalled

Gopro Karma is recalled after only a few days on the market.
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Collective pitch quadcopter

Impressive collective-pitch-quadcopter demonstrated on Flite Test
I was really impressed when I saw a collective pitch quadcopter on Flite Test. A guy named Curtis Youngblood had built the collective pitch quadcopter called Stingray 500. The collecti… Continue reading

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OpenPilot Countdown

There is a huge countdown at OpenPilot. Exciting!
Today I noticed that there is a huge countdown covering the start page at
I also noticed that the Revo board -thread is closed for upcoming news. One can’t be certain, but t… Continue reading

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Servo BMS-385DMAX on tricopter replaced with MG945 servo

Tail servo on tricopter using airframe of version 3 , which has been written here,  actually can not work normally because of an accident as I have written here. I’ve replaced the servo of BMS-385DMAX with the MG945 servo from towerpro. 

Actual size of the servo is too big and strong torque. But since I have had it before, I have to put it on tricopter. I still maintain to use a mechanical thrust vector system, because it has proven very robust and sturdy. This mechanical system uses direct coupling. Later I will add the coupling between the servo and mechanical axis, servo axis is not easy to shake. Thus if an accident occurs on the tail tricopter, the servo will not be exposed to strong pressure.

Direct coupling of Tail servo mechanical system 

Action at low altitude flying

Replacing tail servo of tricopter

TowerPro MG945 servo

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How to change reponses of throttle stick on ER9X firmware for tricopter

Previously, I was driving my homemade tricopter with a linear throttle response settings. For me this is too linear response caused when the throttle is reduced, tricopter down quickly.

I tried to change the response of the throttle stick to using the curve. I am using the firmware ER9X flysky radio that has this facility. 

I let the Expo remains 0%. I try to just affect the throttle response, and make it more comfortable to pilot. Rapid response is made from low throttle 0-50%, at 50% above the response is reduced.

Throttle curve setting as in the video below.

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Tricopter maneuvers testing in futsal field

This time I test my ability as a pilot of tricopter. Also aims to test the stability of tricopter made by me. I’m still too difficult to control and often disoriented when I was not behind tricopter. I tried doing the twist slowly, with a combined roll and yaw stick. Finally I can do though is often disoriented.

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Tricopter hover test

I try to test again my handmade tricopter on hover performances.

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An easy way to see the responses of ENC-03 gyro chip

Chip Gyro of ENC-03 is often used as a sensor to stabilize the aircraft or multicopter using RC. To learn seriously need to know the workings and characteristics of this chip. Data sheet for this sensor can be downloaded here. Chip is famous for its resistance to vibration and is easy to use because it has an analog output. 

The sensor works because of the angular velocity, analog output voltage will depend on the angular velocity applied to the sensor.  Sensor output voltage will follow the following equation: 

V0 is the static output voltage at angular velocity = 0 deg/s. 

From datasheet . Thus the magnitude . Sv is scale factor in mV/deg/S = 0.67V. And .


This circuit is the simplest. Voltage source connected to the RC tap, 100 ohms and 47uF to eliminate the ripple in the voltage source.

Gyro output voltage tap connected to the RC, 6.8KOhm and 0.68uF, serves as a simple lowpass filter to eliminate the output voltage caused by vibration. 

Vref is the output that generates a voltage as a reference that may be required by the circuit on the outside. 

At Vref is necessary to add capacitors of 4.7uF.


 To read the response of the output voltage of the gyro, so easy to do I use nano Arduino board. This board contains a microcontroller type ATMega 328p. Because it already has an internal ADC, it will be easy to record responses.

In my Arduino programming using A0 as the ADC to convert the voltage output come from the gyro into digital numbers. Hereinafter ADC conversion result is sent serially to be recorded by using hyperterminal on windows.  I decided to process the data and plotted using Scilab.

Board of ENC-03 Gyro

I got this gyro board by removing the yaw gyro on kkboard. However, it should be added 100ohm resistor and 47uF capacitor on the power supply VCC. And 0.68uF capacitor also needs to be added to the gyro output.

In accordance with the data sheet, this board is placed upright and moved radially. Can also be placed upright and inverted, but the gyro output voltage changes will be reversed as well.  

To be able to move freely in the radial, required a dish to put this gyro board. To connect with pin of the Arduino board, can be soldered directly  using  cables. 

Additional compenents of resistor and capasitor can be soldered into header pins of this board. 


 In order gyro board can be moved radially with ease, need a dish to put the gyro board. The dish is made using styrofoam plate. At the center of the dish, bamboo as a holder mounted to rotate the dish. Arduino board and gyro board placed on this dish.  Furthermore, the Arduino board is connected with usb cable to the computer to record the results of Gyro responses of the radial motions.

This method is the most inexpensive and easy to make because it uses materials easily obtained is styrofoam.

Other Dish

Because I can do the job using mechanical equipment such as lathes, milling machines, drilling machines, welding machines and so forth. I prefer this dish using iron material, because it is more robust and stable during use.

Cincopa WordPress plugin

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Basic Recording

The basis of recording the response of the gyro output is done by reading through the adc conversion. I am using the Arduino programming with nano board. Arduino program as follows:

void setup() {

void loop() {
 int sensorValue = analogRead(A0);

Recording steps:

  1. Turn on Arduino by plugging USB’s arduino board to the computer.
  2. Open hyperterminal, set baud to 115200 baud, 8bit, No parity, 1 stop bit.
  3. Connect communication by clicking “Call” icon. You must ensure that the serial channel selection is correct. You will see the data receive by hyperterminal
  4. Rotate the dish, you’ll see a change of data in hyperterminal.
  5. To record and stored in a file, select the “Transfer -> Capture Text”. Then asked to fill in your name and the file folder.
  6. Turn the dish as the fourth step in accordance with your wishes.
  7. Stop record by select the “Transfer->Capture Text->Stop”.

Processing of data

The file name of the data is capture5.txt. Further data will be read and processed using Scilab program. Use the console to process manually. Scilab commands as follow:

-->// read data file into sh matrix

// convert sh matrix string content into d matrix as numeric

// convert adc data (0-1024, 10bit) into analog voltage

// how big is the size of data
 ans  =

    694.    1.  

// make t matrix as time (axis plot) 0 to 693

// plot data

The results of the graph are shown as follows.


Posted in aeromodelling research, Electronics, hobby, Multicopter, RC Model, Sensor | Tagged , , | 2 Comments

Multicopter Navigation Lights

Navigation lights for my multicopter. The multicopter is upside down in the photo but it's red on the left, green light on the right and white light in the back.
I have now made some navigation lights for my large Y6 multicopter. There is a standa… Continue reading

Posted in Hexacopter, Multicopter, Y6 | Comments Off

Robot Quadcopters Perform James Bond Theme

Some very talented quadcopters perfomed the James Bond theme music at a TED2012 conference.
I use my multicopters for aerial photography. Some use it to conduct an orchestra. This video shows a good piece of music performed by a robotic quadcopter band.

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My different multicopter flight controllers compared

Multicopter flight controller comparison. From the left: Arducopter, Open Pilot and KKmulticopter.
I have tried some different flight controllers for my different multicopter projects. I have only used open source flight controllers, and none of the c… Continue reading

Posted in Arducopter, Arducopter 2 Mega, CopterControl, KKmulticopter, Multicopter, OpenPilot, Reviews | Comments Off

Large Y6 multicopter for aerial photography

My large Y6 multicopter after the maiden voyage, without the camera mount.
My large heavy lift Y6 multicopter, that I have built for aerial photography and videography, is now finished.
First time I flew it I used my KKmulticopter board which I have no… Continue reading

Posted in Arducopter 2 Mega, Hexacopter, KKmulticopter, Multicopter, Multicopter Motors, OpenPilot, propeller, Y6 | Comments Off

New multicopter motor – MT 3506 650kv from Tiger Motors (T-motor)

MT 3506 650kv brushless motor
Today I found a very interesting multicopter motor, the T-motor 3506 650 kv from Tiger Motors. This multicopter motor is from their MT series, which is specially developed for multirotors. The other two multicopter motors … Continue reading

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Open Pilot Copter Control ordered

Openpilot flight control board
Today I have pre-ordered an Open Pilot Copter Control flight control board from FlyingWings. I am very excited about this control board. As far as I have seen it performs perfectly well. Hopefully it will be sent in about… Continue reading

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DJI Wookong M – multicopter platform

DJI Innovations Wookong M, a new multicopter flight controller.
DJI Innovations has an interesting platform for multicopters called DJI Wookong M. In these videos it’s performing very well. As I understand it’s not too expensive either, may… Continue reading

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eCalc – Multicopter Calculator

eCalc calcutates all the data for your multicopter.
eCalc is a very useful tool when calculating on weight, motors, batteries, ESC, propellers and more for your multicopter. It provides a huge database with different parts and hardware for your multico… Continue reading

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My micro Y6 multicopter

The Y6 hexacopter with short arms. I will build a solution so I easily can change between long and shot arms.
My small Y6 hexacopter compared to the large Y6 carbon frame.
I’m not done building my large carbon Y6 multicopter. Until then I will fl… Continue reading

Posted in Carbon, Hexacopter, KKmulticopter, Multicopter, Multicopter Frames, Multicopter Motors, propeller, Video, Y6 | Comments Off

Review: XL Y6 carbon frame

This is a quick review and my first impressions of the XL Y6 carbon frame from RC-carbon. I will write a more detailed review when I have my Y6 up… Continue reading

Posted in Camera Mount, Carbon, Hexacopter, Multicopter, Multicopter Frames, Reviews, Y6 | Comments Off

Open Pilot and Copter Control multicopter platform

Open Pilot is a new flight control platform for multicopters. As I understand it has a faster and generally better performing hardware than e.g arduino based platforms such as Arducopter… Continue reading

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Y6 carbon hexacopter frame

Yesterday I ordered the multicopter frame for my larger multicopter that I will use for aerial photography and videography. After analyzing my needs I decided to buy a foldable Y6… Continue reading

Posted in Aerial Photography, Carbon, Hexacopter, Multicopter, Multicopter Frames, Y6 | Comments Off