Quadcopter frame (optional override)
Not needed any more: every board is a rigid body, and motors with propellers on it lift and turn it at their places on the PCB, its motion sensors measure the motion. This part only overrides the body of its board (kept for older documents): with "params" it flies with the mass, inertia and symmetric X below (defaults: Crazyflie 2.0, 28 g, 46 mm arms, measured inertia); its spin list sets the turn of the motors it names; its push torques act on the board while it flies. Not a part on the board.
Key data
- Category
- Modules
- Simulation model
- Behavioural mixed-signal model
- Reference prefix
- FR
- Pins
- 0
Simulation model
A behavioural model implements the interface of the chip (registers, protocol, timing) at its pins. The pins are connected to the analog circuit like CMOS pins.
- Model
- quad_frame
- Supply pins
- /
Pins 0
| Pin | Name | Use |
|---|
Parameters 13
motorsreference designators of the motors with propellers, front-right first, clockwise seen from above
spinper motor, same order
imureference designator of the MPU-6050 that rides on the frame
massFromboard: from the board outline and the placed parts (mass, centre of mass, inertia, motor positions); params: the values below. Without placed motors the values below apply.
massCrazyflie 2.0 measured (Förster 2015)
armcrazyflie-firmware ARM_LENGTH
ixxFörster 2015, eq. 2.18
iyyFörster 2015, eq. 2.18
izzFörster 2015, eq. 2.18
dragderived from Förster 2015, eq. 4.2 at hover
txlivea gust or a finger on the frame, while it flies (1 mN·m tilts it noticeably)
tylivetzlivePCB
No land pattern: the part is not placed on the board.