User Manual

22/06/2016 MicroduinoQuadcopterTutorialMicroduinoWikipedia
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MicroduinoQuadcopterTutorial
Contents
1Outline
2Principle
2.1SystemStructure
2.2FlyingPrinciple
2.2.1VerticalMotion
2.2.2Front&LateralMotion
2.2.3YawingMotion
2.2.4PitchandRollMotion
2.3ControlProcedure
3BuildupandDebugging
3.1BillofMaterials
4ProgramDownload
5Programming
6OperatingInstructions
6.1GuidanceofCorrectingtheFourAxes
6.1.1Autocorrection（Recommend）
6.1.2ManualCorrection
6.2GuidanceofJoypadRemoteController
6.2.1Joypadunlockthefouraxes
6.2.2JoypadControlstheQuadcopter
7ProgramDescription
8Attention
Outline
Quadcopterisonekindofaircraftthatisequippedwithfourpropellers.Similartothehelicopter,itcanfinishtheactionofhoverand
flight.Atraditionalhelicopterusesamainrotortogeneratethrustandatailrotortooffsetthetorquefromthemainrotor,namely,
lockingthetail.Whilethequadcopteradoptspositiveandnegativepropellerdesignandtherefore,needsnoextrastructuretolock
thetail.Fourpropellersdistributesymmetricallyintheshapeofacross.TheNo.1andNo.2propellersrotateanticlockwisewhile
theNo.3andNo.4rotate
clockwise.Whenthefourpropellersgeneratethesamethrust,theantitorqueimposedonthebodybythetwogroupsoffset,
balancingintheverticaldirection
andmakingsureflightstability.
Accordingtotheuserdefinedforeandaftdirectionoftheaircraft,thequadcoptercanbedividedintothecrossmodeandXmode.
Thecrossmodemeansthattheforeandaftdirectionpointsto
acertainpropellerandtheXmodereferstothattheforeandaftdirectionpointstothemiddleoftwopropellers.
FormostaircraftadoptingXmode,theXmodeishardertocontrolbutmoreflexible.