Project Logs

We have been coding a lot of changes in the flight control, including new PID control code and security measures for in-flight risks. With new code to be tested, we decided to use the date from the receiver and visualize it using ground control station (GCS) system in simpler terms 3d model environment, before testing it in real life.

Swar proposed a new website design, with an interactive model of Ironflake as the main attraction. With some great visuals for photo gallery and log updates. The new website will be more minimal, and COOL. We will surely update when the website goes live.

Check out some sample images of new website design!!

After testing the flight on 26th, Rajas started testing the PID with roll stabilization as the first priority. Mounted on the testing stand, with 10 percent throttle, the ironflake started oscillating, and the PID control system, wasn't working out. With gains and factors tested out, we decided to work on the code again, so that we can stop oscilations.

Video of Flight Testing

We started working on the PID control system and DMP in the MPU for controlling and stablizing our flight. Also we tweaked our joysticks that suited our use-case. Along with that we tried tested the Proportional factoring code in real life, by throttling the vtol at medium levels.

After facing some difficulties in the setup, we will have to do work on PID as it is still in ground 0 level.

After a long break, we have started making the flight testing setup. A new frame for holding the body as we throttle it up. With new BMS and ESCs we start our journey in flight testing.

The new BMS was added in the system and now the power is on point. With these we have no ESC resets as it is calibrated perfectly.

As we faced issues with ESP32 communication with the Arduino, now Arduino Nano will be the receiver and the ESP32 will do all the calculations. With the new code the masters and slaves of the receiver are swapped. Now along with that the buck converter got blown due its lack of reverse polarity protection.

A new BLDC ESC was bought along with the following parts for the thermals:

1. Universal Heat Sink x 2
2. Aluminium Heatsink with Blue Thermal Tape x 1
3. LM2596S with SMD LED DC-DC Step-Down Power Supply x 1
4. Pro Range Cooling Fan x 1

We were having some issues with the BLDC motors spinning. Right now the issue is solved hoping it won't happen again. The thrust was calculated again at 70% power which came out to be 1.2 kgs for each motor.

After buying the batteries Rajas created a battery pack. Along with it he added the oled screen to the remote which will display the battery percentages and other data as required.

After having a hard time integrating the antenna module NRF24 with the new ESP32 on the receiver. Swar successfully established communication and data transfer. Now we need to make a new battery pack.

The following parts were ordered:

1. Orange A Grade ISR 18650 3.7V 1300mAh 15C Li-ion Battery x 6
2. ESP32-CAM-MB MICRO USB Download Module x 1
3. 18650 2x1 Battery Cell Spacer/Holder x 4
4. Battery Connection Welding Strip with 99.96% Pure Nickel 5Pcs

During several motor run tests the holder broke while going into the hovering phase, causing a new design change to cover the stress on certain points on the 3d printed parts. With the new design printed a sturdy and efficient motor holder were swapped in place of the old ones. Along with that ESP32, was soldered on the receiver module. The new ESP32 has more storage and energy capacity helping for more commands to run.

The entire strucutal frame was assembled with the motors and servo placed with the fuselage along with the ESCs and comms holders.

After breaking the 3d printed holder of the motor, Rajas has firmly secured the motor and the entire structure with the 3d printed holder.

Today transition mechanism and vertical to horizontal swivel mechanism was tested.

40(A) BMS for just was bought.

The following parts were purchased:

1. Arduino Nano
2. NRF24 with antenna
3. 2 Switches
4. Display
5. Resistors

The parts arrived and were mounted to the frame. The hop test will be conducted in the 2nd week of December.

The mount for the motors and to make the transition design, a 3d structure is ordered costing 320 INR for the whole order.

And he delivers. Rajas does what he always does. Best soldering work, with clean and simple design. Check this out: Photos of the reciever module

The ordered parts are delivered and now the work of building the receiver pcb starts. The greatest solderer of all time Rajas will now handle the task of putting all the parts together.

Rajas Calibrated the gyroscopic system, which will help the vtol to be stable in mid air, and not lose its balance due to strong winds and other external factors. Now we are waiting for other parts to be delivered like: header pins, bigger servos and voltage regulator.

Rajas made the battery and bms was integrated in it. The beasty power supply is ready to put on the frame.

Rajas conducted a test by suspending the whole frame to a thread, and tested the motors. The model looked like a dragonfly. The frame looked quite disbalanced due to absence of gyros.

Rajas changed the design by using a modified male-female joint mechanism. It was sturdy, and good to go forward.

The team met on sundays and made upgrades to the design, like trying new design for holding servos and motors, improving radio module and changing the whole body design. The team then tried modelling various transition mechanisms.

To start making the VTOL frame, PVC pipes were bought.

3S 25 Ampere Battery Management System was bought.

Rajas calculated the net thrust to be 600gms of one pair of thrusters. So we have around 600gms to play with!

The following parts were bought today:

1. Lithium Ion cell × 3
2. Load cell
3. Load cell module
4. XP Connector (ESP)

All the parts are now recieved. Rajas and Swar tested all the parts. The propellors and the servos were all running fine. For the next steps a vc will be held tomorrow.

A vc was conducted today, the following parts were purchased:

1. SimonK 30A BLDC ESC Electronic Speed Controller with Connectors × 2
2. A2212 6T 2200KV Brushless Motor for Drone (Soldered Connector) × 2
3. SG90 Micro Servo Motor × 5
4. Quadcopter propellers 10 x 4.5 (1 Pair) × 2
5. Male to Female Jumper Wires (20cm) 40pcs × 1

A vc was conducted today, the topics discussed are:

• The problem with NRF24L01 module with antenaa: The modules of transmtitter and receiver were replaced, as the NRF24l01 module with antenna wasn't transmitting data.Rajas then swapped the module with SMD module with antenaa which was placed in the reciever.
• The purchase of BLDC motor: The team needs to contribute for the money which will be needed to buy the motors. In total 2 motors need to be purchased, and everyone will try and find motors with the required specs and budget.
• Design of the VTOL: Norwin and Sahil will be looking at the designing of the vtol as well as the marterial. They will collaborate with one another for the same.

Rajas with the help of Norwin's and Swar's code has succesfully tested the working of servo. The transmitter is giving the instructions properly while the receiver is capturing the movements of the server and showing proper output. The servo was wirelessly controlled using NRF24L01! Watch this video made by Rajas Naik

Rajas and Swar have achieved complete radio communication. They have successfully assembled transmitter module on PCB board!

Rajas has achieved partial radio communication.

The following parts were purchased by:

1. Data Cable (1)
2. NRF24L01 3.3v Adapter Module (2)
3. 100μF Capacitor (2)
4. 10μF Capacitor (2)
5. GPIO Header pin (8)

Swar has completed the coding of transmitter. He has also completed testing of all the parts he had with him and performed tests by completing the circuit for transmitter.

Today 7 June Swar, Rajas, Sahil went for shopping Parts bought today:

1. Arduino Nano (2)
2. NRF24 with antenna (1)
3. NRF24 without antenna (1)
4. Joystick module (2)
5. Port B to USB cable (1)

Sahil — Today at 10:58 PM: This is the bill of the above mentioned items which mentions the amount 810. The item 5. Port B to USB cable (1) is not mentioned as it was purchased after obtaining Microchip and cuz we didn't check while buying The cost of the item 5. Port B to USB cable (1) is 30/- INR.

Sahil — Today at 11:06 PM: As of now Swar will be testing a few parts from the above mentioned list which include:

• Arduino Nano (1)
• Joystick Module (1)
• Port B to USB cable (1)

Rajas has the remaining parts. He has posted a photo suggesting that the parts need to be cleaned up using "rubbing alcohol". I am "assuming" that he will be doing it by himself as I haven't received any update on it by him at the moment of writing this message.

From today's vc: NR is going to do movement control. A irl meeting is going to be conducted at Eren Jeager's house in the forthcoming days Swar has completed the coding of reciever, and Rajas will be working on the design when he will return home. Sahil will be there to help you all. Till now No one has asked to But I am Here.