Arduino Ornithopter Flight Controller

Features:

• PPM-to-PWM converter
• Flightcontroller with 3 stabilization modes (balance/stabilize/manual)
• Glide control system for ornithopter

Part list:

1x Arduino Pro Mini
1x Hall Sensor
1x 10K Ω Resistor
1x MPU-6050
(1x BEC e.g. 5V)
few connector pins and wires
solder and soldering iron
solderable prototype board

Circuit

...

Required Libraries:

Copy these libraries into ~/Documents/Arduino/libraries if necesary.

• DigitalServo (default, it is the same as default Arduino Servo library but with different default pulse value. Included in this repository)
• Wire (default)
• PPMReader

Setting Modes

Enter Calibration Mode:

1. Hold model in equilibrium position unmoving
2. Move left stick to left bottom, right stick to right bottom:

   |    _____        _____    |
   |   /     \      /     \   |
   |  |   .   |    |   .   |  |
   |  |  /    |    |    \  |  |
   |   \˚____/      \____˚/   |
   |                          |
   

3. Continue to still hold model unmoving for about 2 seconds

Enter Glide Throttle Setting Mode:

1. Hold model in air ensuring that wings can move freely
2. Move left stick to right bottom, right stick to left bottom

   |    _____        _____    |
   |   /     \      /     \   |
   |  |   .   |    |   .   |  |
   |  |    \  |    |  /    |  |
   |   \____˚/      \˚____/   |
   |                          |
   

3. Let go of right stick and move throttle quickly to desired position, which is set after two exact seconds

TODO:

• save calibration and glide setting in EEPROM
• add circuit diagram ...

Additional Notes / Tribute:

• Glide Controller inspired by GLDAB. For information about original glide device and ordering one see http://ovirc.free.fr/GLDAB_Historique.php . Lighter version of GLDAB and further explanations can be found at http://kakutaclinic.life.coocan.jp/GLDABE.htm .
• See a test demonstration of this glide controller: https://youtu.be/4Quc2F3qK30