Basequad

BaseQuad

Mapping quadcopter build.

Specs

• Frame: HK X666
• Motors: SunnySky X2212 980KV
• ESC: Afro 20A Slim (FW BLHeli 14.1)
• 10" Props
• BAT: HK Nanotech 3S 6000mAh
• FC: RTFHawk (PixHawk clone)
• GPS: UBlox NEO 6M
• RaspberryPi Zero + RPi Camera v1

Weights:

• 1340g with 5000 zippy battery
• 960g bare

Reconstruction

Done with OpenDroneMap.

• https://github.com/OpenDroneMap/OpenDroneMap
• https://github.com/mapillary/OpenSfM
• https://en.wikipedia.org/wiki/Structure_from_motion

Results

Only one successful mapping flight performed so far with promising results.

Number of things will be improved in the future:

• RPi camera calibration (OpenCV calibration)
• Camera vibration isolation
• GPS coordinates from flight controller fed into EXIF of pictures taken