Someone else building a Yellow boat in Blue Coroplast

Someone else  building a Yellow boat in Blue Coroplast

Blue Boat 1 a single piece of Coroflute

Yellow boat 1 and 2

Yellow Boat 3 

Yellow Boat 4 Balsa ply Epoxy Fiberglass tape

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Yellow boat 4 Arduino code with HK TR6 A V2 RX PPM interface

Im lowering the top BTW

The build here

The engineering in the boat the cooling fan circulates air blowing it out between the motors. This wee fan moves lots of air on 7.4 Volts

Arduino Inputs from RX

Ch3   Throttle                       Arduino pin 4

Ch1   Steering                       Arduino pin 5
Ch5   Throttle limit                Arduino pin 6
Ch2   Steering on Throttle       Arduino pin 7

Arduino analogue inputs

Anin 0  Ambient temp sensor                      Anin 1  Hall effect current sensor

Arduino outputs

Pin 8    Left jet

Pin 9    Right jet

Pin 10  Cooling fan speed

Pin 11  Steering

Mixing of the outputs

    
  //SteeringBias
  
  int SterringOnThrottle = (long)map((int)ch4v, 1500, 1100, 0, 1000); 
  
  if(SterringOnThrottle < 0) SterringOnThrottle = 0;
  
  SteeringBias = (long)map((int)ch3v - (int)ch3vWOZ, 0, 1000, 0, SterringOnThrottle); 
    
  int SteeringAngle = (long)map((int)ch3v, 1100, 1900, 1000, 2000);
  
  //Limit fan speed for 11.1 V
  FanSpeed = map(FanSpeed, 1100, 1900, 1000, 1500);
  
  //Update the outputs
   
  Servo1.writeMicroseconds((int)Throttle - (int)SteeringBias);
  
  Servo2.writeMicroseconds((int)Throttle + (int)SteeringBias);
     
  Servo3.writeMicroseconds((int)FanSpeed);
   
  Servo4.writeMicroseconds((int)SteeringAngle);

The cooling system

The fan is a 27 mm EDF should keep the air moving with a 10A ESC




There is a big heatsink and fan on the 30 AMp ESCs

#include <Servo.h> int ch1 = 4; int ch2 = 5; int ch3 = 6; int ch4 = 7; unsigned long ch1v; unsigned long ch2v; unsigned long ch3v; unsigned long ch3vWOZ = 999; unsigned long ch4v; unsigned long RightLeft = 0; unsigned long UpDown = 0; long SteeringBias = 0; long Throttle = 0; long Cooling = 0; long FanSpeed = 0; Servo Servo1; Servo Servo2; Servo Servo3; Servo Servo4; #define MAX_CHAN 8 int AnIn[MAX_CHAN] = {0, }; unsigned long PPMtout = 20000; char buf[300] = {0, }; long mS = 0; void setup() { Serial.begin(115200); pinMode(ch1, INPUT); pinMode(ch2, INPUT); pinMode(ch3, INPUT); pinMode(ch4, INPUT); Servo1.attach(8); Servo2.attach(9); Servo3.attach(10); Servo4.attach(11); ch3vWOZ = 999; } void loop() { AnIn[0] = analogRead(A0); AnIn[1] = analogRead(A1); AnIn[2] = analogRead(A2); AnIn[3] = analogRead(A3); AnIn[4] = analogRead(A4); AnIn[5] = analogRead(A5); AnIn[6] = analogRead(A6); AnIn[7] = analogRead(A7); /* RAZU-2 Six turn This device has a gain of 55mV per amp giving a 36 Amp working range, and a resolution of 11.3777 mA per bit with the maximum output at 5 volts which is 1024 bits in the Arduino. By the way I should point out that these devices on a 5 volt rail will sit around 2.5 volts with no current flowing, so at a 2 Volt delta the out put should be around 4.5 V */ mS = micros(); //Get PPM from each RX channel noInterrupts(); ch1v = pulseIn(ch1, HIGH, PPMtout);//Throttle if(ch1v > 0) { ch2v = pulseIn(ch2, HIGH, PPMtout);//Nmax ch3v = pulseIn(ch3, HIGH, PPMtout);//Steering ch4v = pulseIn(ch4, HIGH, PPMtout);//SteeringBias //SteeringBias WOZ if(ch3vWOZ == 999) ch3vWOZ = ch3v; } else//Fail safe { ch1v = 1000; ch2v = 1000; } interrupts(); //ALLOW INTERRUPTS BEFORE UPDATE SERVOS delayMicroseconds(2000); //Calculate motor amps long Motor_mA = ((long)(AnIn[1] - 512) * 11.0f); int Tmax = (int)ch2v; //Set max throttle Throttle = (long)map((int)ch1v, 1000, 2000, 1400, Tmax); //Calc amps long Amps = (long)map((int)Motor_mA, 0, 36000, 0, 36); //Calculate cooling temp RTC on AnIn[0] int cerr = ((int)600 - (int)AnIn[0]); //Integrate temparature Cooling += cerr; if(Cooling < 1000) Cooling = 1000; else if(Cooling > 2000) Cooling = 2000; //Use the temperature integrator plus the motor current //36 Amps gives us 360 bits FanSpeed = (long)Cooling + (Amps * 10); //SteeringBias int SterringOnThrottle = (long)map((int)ch4v, 1500, 1100, 0, 1000); if(SterringOnThrottle < 0) SterringOnThrottle = 0; SteeringBias = (long)map((int)ch3v - (int)ch3vWOZ, 0, 1000, 0, SterringOnThrottle); int SteeringAngle = (long)map((int)ch3v, 1100, 1900, 1000, 2000); //Limit fan speed for 11.1 V FanSpeed = map(FanSpeed, 1100, 1900, 1000, 1500); //Update the outputs Servo1.writeMicroseconds((int)Throttle - (int)SteeringBias); Servo2.writeMicroseconds((int)Throttle + (int)SteeringBias); Servo3.writeMicroseconds((int)FanSpeed); Servo4.writeMicroseconds((int)SteeringAngle); long Cyc_mS = (micros() - mS); //ALLOW SERVOS TO UPDATE BEFORE INTERRUPTS OFF delayMicroseconds(18000 - Cyc_mS); Cyc_mS = (micros() - mS); sprintf(buf, "ch1v_Tmax:%d,ch2v_Imax:%d,ch3v_Aielron:%d,Throttle:%d, SteeringBias:%d,AnIn[0]:%d,AnIn[1]:%d,CoolingError:%d,Cooling:%d,Imax:%d,MotorAmps:%d,Cyc_mS:%d", (int)ch1v, (int)ch2v, (int)ch3v, (int)Throttle,(int)SteeringBias, AnIn[0], AnIn[1], cerr, (int)Cooling, (int)Tmax, (int)Amps, (int)Cyc_mS ); Serial.println(buf); }

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Yellow boat 4 FPV camera view Purau New Zealand 2 1 14

Yellow boat 4 mostly Hobby King bits balsa epoxy fiber glass hull 
http://kiwitricopter.blogspot.co.nz/2012/09/3-hour-yellow-boat.html



Twin Turnigy 450 Series 3800KV Brushless Outrunner Helicopter Motor
RPM: 3800kv
Max Current: 35A
Max Power: 365W

2 X HobbyKing 30A BlueSeries Brushless Speed Controller with shared enlarged air cooled heatsink with an 30mm fan
Cont. Current: 30A
Burst Current: 40A
http://www.hobbyking.com/hobbyking/store/uh_viewitem.asp?idproduct=13429&aff=652823


coupled to modified NQD jet drives with flex shafts and custom 3 blade impellers 

ZIPPY Compact 2700mAh 3S 25C Lipo Pack
Capacity: 2700mAh
Voltage: 3S1P / 3 Cell / 11.1V
Discharge: 25C Constant / 35C Burst
Weight: 203g (including wire, plug & case)
Dimensions: 137x15x44mm
Balance Plug: JST-XH

http://www.hobbyking.com/hobbyking/store/uh_viewitem.asp?idproduct=21349&aff=652823

Purau
https://www.google.co.nz/maps/preview#!q=Purau%2C+Canterbury&data=!4m15!2m14!1m13!1s0x6d322f14fc09c6a3%3A0x500ef868479e4b0!3m8!1m3!1d338144!2d175.3085223!3d-37.6203018!3m2!1i1366!2i642!4f13.1!4m2!3d-43.6390402!4d172.7489035

Yellow boat 4 FPV camera view Purau New Zealand 2-1-14 from nickatredbox on Vimeo.

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Mad Man Yellow Boat 2 X Turnigy Heli motors 700 Watts 1850 Grams of thrust measured at 78 Amps

Mad Man Yellow Boat 2 X Turnigy Heli motors > 700 Watts 1850 Grams of thrust measured at 78 Amps

Turnigy Heli series outrunner motors are an excellent upgrade for your helicopter. Built with high quality components, tight windings and genuine NMB ball bearings, these motors provide excellent performance and efficiency at a price that cant be beat! 

Specs:
Operating Voltage: 7.4~14.8V (2~4S lipoly)
RPM: 3800kv
Max Current: 35A
Max Power: 365W
Idle Current: 3.5A
Resistance: 0.018ohms
Shaft: 3.175mm

3mm flex shafts 3 blade impellers cutdown props 45mm pitch

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Yellow Boat 4 twin NQD jets driven by P2632 Brushless Outrunner 3800kv Brushless

Yellow Boat 4 

Twin NQD jets modified with brass stern tubes.

I have alternate nozzels which are a little larger than standard also.

Brass impellers made from cutdown brass props

Two P2632 Brushless Outrunner 3800kv Brushless

 

Stern Tubes brass shafts wrapped in PTFE tape until they fit the tubes. Will be setting up air cooling system with small EDF fan.

Will probably run two 2200mAh Lipos and 50 Amp aero ESCs with big heatsinks


For the cooling I may have the Arduino open and close a vent with a servo if the heatsinks get hot, as well as controlling the fan speed. 

Based on yellow boat plans different deck 390 Grams as shown 
Also Ply fiberglass epoxy catamaran build log

Glass and epoxy inside balsa ply, will epoxy the outside too. Its very strong with builders fiberglass tape and epoxy 

The motors will be mounted further forward on a cooled plate 

Spray rails are bamboo barbecue skewers and wood filler  

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Wood and fiberglass hull like yellow boat

Based on yellow boat plans different deck 390 Grams as shown 
Also Ply fiberglass epoxy catamaran build log

Yellow boat 3 http://kiwitricopter.blogspot.co.nz/2012/12/yellow-boat-3-power-test-scratch-built.html

Fit out http://kiwitricopter.blogspot.co.nz/2013/12/mad-man-yellow-boat-2-x-turnigy-heli.html

Sea run a Purau http://kiwitricopter.blogspot.co.nz/2014/01/yellow-boat-4-fpv-camera-view-purau-new.html

Another run at Motunau http://kiwitricopter.blogspot.co.nz/2014/01/yellow-boat-4-motunau.html

Evo 2 http://kiwitricopter.blogspot.co.nz/2014/01/yellow-boat-4-revised-powertrain.html

Glass and epoxy inside balsa ply, will epoxy the outside too. Its very strong with builders fiberglass tape and epoxy 

The motors will be mounted further forward on a cooled plate 

Spray rails are bamboo barbecue skewers and wood filler  

Will be powered with 2 of the following

P2632 Brushless Outrunner 3800kv

The Arduino code will be the same as I ran in the Catamaran I may add differential thrust with steering angle as its a twin

#include  

int ch1 = 4;

int ch2 = 5;

unsigned long ch1v;

unsigned long ch2v;

unsigned long RightLeft = 0;

unsigned long UpDown = 0;

long Trim = 0;

long Throttle = 0;

long Cooling = 0;

long PumpSpeed = 0;

Servo Servo1;

Servo Servo2;

Servo Servo3;

Servo Servo4;

#define MAX_CHAN 8

int AnIn[MAX_CHAN] = {0, };

unsigned long PPMtout = 20000;

char buf[300] = {0, };

long mS = 0;

 void setup() {

   

  

  Serial.begin(115200);

  

  pinMode(ch1, INPUT);

  pinMode(ch2, INPUT);

  

  Servo1.attach(8);

  Servo2.attach(9);

  Servo3.attach(10);

  Servo4.attach(11);

  

}

void loop() {

  

  AnIn[0] = analogRead(A0);

  AnIn[1] = analogRead(A1);

  AnIn[2] = analogRead(A2);

  AnIn[3] = analogRead(A3);

  AnIn[4] = analogRead(A4);

  AnIn[5] = analogRead(A5);

  AnIn[6] = analogRead(A6);

  AnIn[7] = analogRead(A7);

  

  /* RAZU-2 Six turn

  This device has a gain of 55mV per amp giving a 36 Amp working range, 

  and a resolution of 11.3777 mA per bit with the maximum output at 5 volts 

  which is 1024 bits in the Arduino. By the way I should point out that 

  these devices on a 5 volt rail will sit around 2.5 volts with no current 

  flowing, so at a 2 Volt delta the out put should be around 4.5 V

   */

   

  mS = micros();

  

  //Get PPM from each RX channel  

  noInterrupts();

    

    

    

    

    

  ch1v = pulseIn(ch1, HIGH, PPMtout);//Throttle

  

  if(ch1v > 0)

  {

    ch2v = pulseIn(ch2, HIGH, PPMtout);//Imax

  } 

  else//Fail safe

  {

    ch1v = 1000;

    ch2v = 1000;    

  }

    

  interrupts();

  

  //ALLOW INTERRUPTS BEFORE UPDATE SERVOS

  delayMicroseconds(2000);

  

  

  //Calculate motor amps

  long Motor_mA = ((long)(AnIn[1] - 512) * 11.0f);

  

  

  

  int Tmax = (int)ch2v;

  

  //Set max throttle

  Throttle = (long)map((int)ch1v, 1000, 2000, 1400, Tmax); 

    

    

  //Calc amps

  long Amps = (long)map((int)Motor_mA, 0, 36000, 0, 36); 

    

    

    

  //Calculate cooling temp RTC on AnIn[0]

  int cerr = ((int)600 - (int)AnIn[0]); 

    

  //Integrate temparature

  Cooling += cerr;

   

  if(Cooling < 1000) Cooling = 1000;

  else if(Cooling > 2000) Cooling = 2000;

    

  //Use the temperature integrator plus the motor current 

  //36 Amps gives us 360 bits

  PumpSpeed = (long)Cooling + (Amps * 10);

  

  

  

  

  

  

  

  //Update the outputs

   

  Servo1.writeMicroseconds((int)Throttle);

     

  Servo2.writeMicroseconds((int)PumpSpeed);

  

  

  

  long Cyc_mS = (micros() - mS);

  

  //ALLOW SERVOS TO UPDATE BEFORE INTERRUPTS OFF

  delayMicroseconds(18000 - Cyc_mS); 

  

  Cyc_mS = (micros() - mS);

  

  sprintf(buf, "ch1v_Tmax:%d,ch2v_Imax:%d,Throttle:%d,AnIn[0]:%d,AnIn[1]:%d,CoolingError:%d,Cooling:%d,Imax:%d,MotorAmps:%d,Cyc_mS:%d", (int)ch1v, (int)ch2v, (int)Throttle, AnIn[0], AnIn[1], cerr, (int)Cooling, (int)Tmax, (int)Amps, (int)Cyc_mS );

    

  Serial.println(buf);

  

  

  /*

  char incomingByte = 0;

  

   // send data only when you receive data:

  while (Serial3.available() > 0) {

    // read the incoming byte:

    incomingByte = Serial3.read();

    

    Serial.print((char)incomingByte);

    

    delayMicroseconds(1000);

    

    if(incomingByte == 13) break;

  }

  

  Serial.println( );

  */

    

}

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