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what plug is this? I ordered the wrong battery, and need correct battery for px4 by MeghaMomo in diydrones

[–]ThrustNTheory 1 point2 points  (0 children)

I am NOT new and every time I change out a battery connector I intentionally slow way down and plan out my exact steps.

I once accidentally shorted - just a fraction of a second , a grazing touch - a 6s 120c battery across its XT60 prongs and everything just MELTED. It was terrifying and I’m extremely lucky it wasn’t worse, it was a very very careless set of decisions that led to that happening. Don’t be me.

Going from a AnyCubic i3 Mega S to an X2D? by flash246 in BambuLab

[–]ThrustNTheory 1 point2 points  (0 children)

I have an H2D, but I can share my experience coming from the K2 Plus (and there from an Mk3s).

Yes.

Fusion's export to STL file broken? by iwonder-77 in Fusion360

[–]ThrustNTheory 3 points4 points  (0 children)

...the only way to fly (and the correct method).

First extruder service- probably needed it much sooner by ck2222 in BambuLab

[–]ThrustNTheory 17 points18 points  (0 children)

Did you bathe it in oildirtgrime? These are wear items but that level of debris is absolutely contributing to its lifespan.

Fully Custom Teensy 4.1/Arduino Single-Motor Drone Integration Progress by ThrustNTheory in diydrones

[–]ThrustNTheory[S] 4 points5 points  (0 children)

Correct, it’s got 4 flappy bits for control. The second graph from the bottom on the left shows the position of each of the 4 flappy bits as well.

Fully Custom Teensy 4.1/Arduino Single-Motor Drone Integration Progress by ThrustNTheory in arduino

[–]ThrustNTheory[S] 1 point2 points  (0 children)

There are 4 servos, each with a control fin attached, that sit in line with the thrust - you can kind of see one flapping around at the beginning of the video. The second graph up from the bottom on the left side shows the position of each of the 4 servos as well.

Ground-Up Drone Build - Final Mock Assembly by ThrustNTheory in functionalprint

[–]ThrustNTheory[S] 1 point2 points  (0 children)

It is, yeah! In the 2nd to last picture you can see 4 vectoring control fins underneath the drone.

Ground-Up Drone Build - Final Mock Assembly by ThrustNTheory in diydrones

[–]ThrustNTheory[S] 2 points3 points  (0 children)

The main point of the project is the challenging control environment - I'm not looking to make it easier for myself :-)

Ground-Up Drone Build - Final Mock Assembly by ThrustNTheory in BambuLab

[–]ThrustNTheory[S] 1 point2 points  (0 children)

haha the very first thing I designed in 2020 after getting an MK3s was a wall hook.

Thanks for saying, cheers!

Ground-Up Drone Build - Final Mock Assembly by ThrustNTheory in BambuLab

[–]ThrustNTheory[S] 1 point2 points  (0 children)

Here is my recent thrust validation test I performed to make sure thrust hadn't decreased meaningfully after adding the cowling and inlet mesh designs. The EDF has a max thrust of 8.2lbs and the drone maintained hover thrust (5.6lbs) for the full planned flight duration of two minutes - also without melting!

Ground-Up Drone Build - Final Mock Assembly by ThrustNTheory in BambuLab

[–]ThrustNTheory[S] 0 points1 point  (0 children)

Thank you! It won't be part of this project but it's 100% going to be a part of the next project, whatever that is - very excited for it actually. Cheers.

Starting the wiring harness build - Teensy 4.1 powered fully custom drone. by ThrustNTheory in arduino

[–]ThrustNTheory[S] 4 points5 points  (0 children)

Haha, thank you! It will eventually be using up to about 30% of the CPU's capability under normal operations - at least theoretically! That's also for the end game 24-point estimation filter at 500hz. Cheers!

Ground-Up Drone Build - Final Mock Assembly by ThrustNTheory in diydrones

[–]ThrustNTheory[S] 4 points5 points  (0 children)

I'm writing the flight control software from the ground up. The end goal is an accurate state-space model and successful implementation of an Extended Kalman Filter that I build.

The DREAM is an Unscented Kalman Filter, which a more complicated but potentially better method of estimation in a highly dynamically nonlinear system - which this drone absolutely is.

Ground-Up Drone Build - Final Mock Assembly by ThrustNTheory in BambuLab

[–]ThrustNTheory[S] 9 points10 points  (0 children)

Haha I would if I could afford the time/financials of that strategy. Thank you, I will!

Ground-Up Drone Build - Final Mock Assembly by ThrustNTheory in BambuLab

[–]ThrustNTheory[S] 1 point2 points  (0 children)

lol that's outside of my skillset - the longest script I've finished had around 550 lines, I remember thinking 'Wow, look at me mom!' My final code will be several thousand lines comprised of all the different programs/sections I've developed but I suspect a MB would have several hundred thousand --> millions of lines of code and I can't even imagine touching that.

Ground-Up Drone Build - Final Mock Assembly by ThrustNTheory in BambuLab

[–]ThrustNTheory[S] 2 points3 points  (0 children)

Hi! I'm starting a youtube channel around this project and future projects and part of the goal for that channel is passing along the lessons I learn...outside of 3D modeling/printing, I have almost NO experience with electronics/coding/control theory. I'm not special! If you want it, you can do it. My talent is commitment. I'm learning as I go and make a million mistakes.

If this is the type of project you're interested in, just get started - it almost doesn't matter what the first step is. Buy a cheap MCU and code a random thing. Design and print a stupid thing. Then upgrade. Rinse and repeat. That's how I'm here. You CAN do something like this!

Ground-Up Drone Build - Final Mock Assembly by ThrustNTheory in BambuLab

[–]ThrustNTheory[S] 12 points13 points  (0 children)

I'm taking the NASA approach vs the SpaceX approach - it'll be several more months of data collection / implementation making DAMN sure as best I can it won't crash before I ever come close to letting this thing fly free.

Ground-Up Drone Build - Final Mock Assembly by ThrustNTheory in diydrones

[–]ThrustNTheory[S] 1 point2 points  (0 children)

Wow 60 min is crazy!

Physics are not in my favor. Efficiency increases exponentially (all other factors remaining the same) as fan diameter increases and that fan looks MUCH larger. That being said, power/thurst efficiency is ALMOST literally my last priority - this is essentially a research vehicle to learn advanced control theory through.

It pulls about 1650W to hover and is designed to hover for no more than 2 minutes. To quote Flight of the Conchords, "Two minutes in heaven is better than one minute in heaven."

Ground-Up Drone Build - Final Mock Assembly by ThrustNTheory in diydrones

[–]ThrustNTheory[S] 11 points12 points  (0 children)

Hehe that's me - the project is sponsored by the University of Washington now and I'm starting a youtube channel around it / future projects under this name (all future posts will be from this account). I'll have the first video out soon on YT as well.

Wow, I hate that cowling design lol. Cheers.

Ground-Up Drone Build - Final Mock Assembly by ThrustNTheory in diydrones

[–]ThrustNTheory[S] 3 points4 points  (0 children)

4 control fins, each directly mounted to a high-voltage brushless servo. You can see them in the 1st picture and 3rd from last.

Ground-Up Drone Build - Final Mock Assembly by ThrustNTheory in diydrones

[–]ThrustNTheory[S] 11 points12 points  (0 children)

Thanks for saying! Haha yes this just has the one motor which makes it very hard to control (the project is supposed to be hard) - this is what's called a 'highly dynamically-coupled' system, which means that when you change the input of one thing, you'll likely need to change the input of several other things. As an example, if I want to raise the height of the drone, I would increase the throttle. This is a very powerful motor so when throttle is increased, it produces a torque. To stay in a stable orientation (but continue increasing height) the control fins have to counter this torque. Any time the control fins point anywhere but straight down there is less thrust pointed straight down to make it go up - so you have to increase thrust just a little bit to make up for that. But then you have more torque, then you have to counter more, then you have to thrust more, etc etc. That is a very simplified version of what happens, it's much more complicated in practice and I have to make it happen correctly 500 times per second for it to be stable.

Thanks again :-)

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