====== chAIR - Manned Multirotor Quadcopter ======

This page should document the published progress of Axel Borg, a Swedish engineer building his own DIY quadrocopter.

Demo Video on Youtube: https://www.youtube.com/watch?v=wDJC99mb0SU

===== Specs =====
  * **Flightcontrol:** 5x KK 2.1 running stock 1.6 firmware
  * **Motors:** 76x Multistar Elite 5010 274Kv
  * **Motor Controllers:** 76x afro 20A HV ((with one extra 63V 330uF low ESR capacitor fitted to each ESC to handle the long current path from battery to ESC))
  * **Propellers:** 17x5 or 18x5.5 Quanum DJI style CF ((432mm/5° or 460mm, 5.5° pitch)) ((In Video Part 16, he speaks about 17"x5°, 18x5.5 is from his comment on the motors, see [[#motors]]))
  * **Batteries:** 80x Multistar 4S 5.2Ah, 6.18kWh ((4 modules: 20 pieces of 5.2Ah,4S; first 2 of these in parallel, then in series -> 5 groups in each with 8S,10.4Ah))
  * **Remote Controllers:** 5x Turnigy TGY-i6S Digital Proportional Radio Control System
  * **Weight:** 
    * Vehicle: 58kg excl. batteries
    * Battery: 35kg
  * **Load:** Tested with 93kg ((https://www.youtube.com/watch?v=v78LQJQF7yk))

===== Construction =====
  * Aluminum tubing 6063 T6
  * Aluminum rod 6082 T6
  * 4.5kN break kevlar rope for Chair
  * Bridge nylon 3D printed parts
  * Aluminum pop rivets

===== Battery =====
  * 80 packs, each 5.2Ah, 4x3.7V
  * 4 sub assemblies
  * super plugs with 15 XT60 connectors, forced by a screw with bearring
  * each pack is balanced individually
===== Charger =====
  * 20x Turningy 35W balance chargers
  * 2x Turningy 540W power supply
  * 2x50-Pin D-Sub Connectors for each of the 4 Packs


===== Motors =====
    * 274 rpm/V
    * 28A
    * 22-30V
    * 630W
    * 4mm shaft


Comment from axbor22 on Hobbyking:\\
Love this motor. I run them on 8S, 20A Afro HV controllers and a 18x 5.5 Quanum DJI style CF prop
  * 1000g thrust at 9.8g/w 
  * 2000g around at 7.7g/W 
  * 4600g peak thrust (!) at 4.7g/W 
with newly charged batteries, two 4S 8000mAh zippys in series. Amazing that the Afro 20A ESC seems to be able to withstand the 31A peak current draw. First time I found HobbyKing products to be underrated :-)

===== ESC - Motor Controller =====
  * Current Draw: 20A Continuous
  * Voltage Range: 3-8s Lipoly
  * BEC: N/A OPTO
  * Input Freq: 1KHz
  * Firmware: afro_HV.hex
  * Discharge wire/plugs: 16AWG/Male 3.5mm
  * Motor wire/plugs: 17AWG/Female 3.5mm
  * Weight: 28g (Included wire, plug, heat shrink)
  * Size: 65x27x11mm (with capacitor)

===== Dynamics =====
==== Tilted Motors ====
The motors are tilted by 6° to get a better handling, see video part 18. 

==== Redundancy ====
My assumption: \\
Electrically the whole thing is split into 5 more or less equal quadrocopters
  * 5 remote controlls, potentiometers on a DIY 3D-Printed Joystick, mechanically couppled
  * 5 RC receivers
  * 5 Flight controllers
  * 76 Motors: Each of the 4 "super rotors" has 19 Motors, where 4 flight controllers controll 4 motors, and 1 flight controller controlls 3 motors. 

===== Videos =====

Sorted: newest on top:\\

  * [[https://www.youtube.com/watch?v=5zoP9f-ebm4|Part 25 - Round flight]]
  * [[https://www.facebook.com/orebrokommun/videos/1598769980165428/|Professional video footage and interview (swedish this time -sorry)]]
  * [[https://www.youtube.com/watch?v=wDJC99mb0SU|Demo Video]]
  * [[https://www.youtube.com/watch?v=tZnqbGwqahw|Part 23 Media Day 1]]
  * [[https://www.youtube.com/watch?v=sGMTMZB0tNY&t=163s|Part 22 - Second Flight, Pilot View]]
  * [[https://www.youtube.com/watch?v=WIS_SlMA6to&t=15s|Part 21 - Flying and Turning]]
  * [[https://www.youtube.com/watch?v=ffb_F7Agqv4&t=1046s|Part 20 - First Flight]]
  * [[https://www.youtube.com/watch?v=v78LQJQF7yk|Part 19 - Load Test 93kg, Reduced Motorset (60 vs. 76)]]
  * [[https://www.youtube.com/watch?v=5_xSN9fIQfI&t=429s|Part 18 - Tests, tilted Motors, Joystick]]
  * [[https://www.youtube.com/watch?v=zrT6SEBF7QI|Part 17 - Pictures, Cabeling, Ropes]]
  * [[https://www.youtube.com/watch?v=JysS4d8trk4|Part 16 - Construction and Tools]]
  * [[https://www.youtube.com/watch?v=2yG4nbLRG3k|Part 15 - Charger, Battery Connectors, Chair]]

{{tag>english technical quadrocopter flight project}}