2022-04-01     Rescue Quad         Build # 14        Last Post         My Journal             
  
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I live in the USA where all airspace and all aircraft is regulated by the FAA
including UAS (Drones) of any size and all airspace including over private land. 

Since this craft weighs over 250 grams, it must be registered with the FAA and
have an operational remote ID device attached (as of Sept. 16, 2023). 

Edit 2023-12-11:

As of this date, I have received three (3) different Remote ID modules: FlightTest
FT EZ ID, Spektrum SkyID, and a Holy Stone RID module. I hope to be back to building
quads sometime after Christmas and this project will be resurrected, fitted with a RID
module, and continued. This will be the FIRST of my quadcopters fitted with a Remote
ID module. 

==============================

The Rescue Quad, which will be named Rescue-1, is build #14 and is intended 
to be a sort of heavy lifter or maybe "medium" lifter and designed for the sole purpose 
of Rescuing other quads from higher altitudes such as trees or in areas that are not readily 
accessible to humans. Specifically, I am going after the Unsanctioned-1. For this one, 
I am NOT limiting the weight to 250 grams since the purpose will override the weight 
restriction. This craft will be limited to specific situations which I hope do not happen often. 

       NOTE:  As of  Sept. 16, 2023, this quad is grounded pending FAA 
                    registration and remote ID installation.

       NOTE:  As of 2023-12-11, I have three (3) Remote ID modules. On of these
                    will be attached to Rescue 1, this project continued, and the quad
                    will be flown. Since I only fly for my own personal recreation and
                    FUN and do not post videos to YouTube, I will be registering with
                    the FAA as a Recreational Pilot. Although I only need the single
                    registration number and one (1) remote ID, I will register all three
                    of my units as I intend to experiment with all of them.

To begin, I am not sure what this quad should be or look like. The only real thing that I know 
at this point, is that it will need at least 2 cameras; one for flight and one to use for surveillance,
reconnaissance, and targeting. The other criteria will be some type of "release" mechanism 
to handle the rescue contraption in the event that it becomes entangled and the quad is not 
able to "lift" it out. Of course, it will also need some type of "attachment" or pick up contraption 
that will attach to the downed quad.

This post will be informational and include the parts list, the concepts, project direction, 
and some pictures of parts, designs, fabrications, etc.

At this point, I expect the electronics package might be similar to my standard components
that have the higher Amp rating. I am not really sure that it will need a GPS at this point, but 
I will wire the FC for it anyway. 

      2022-04-07
       Yes, it will need a GPS and a compass so the Flight Control system will need 
       to have extra UARTS and break outs for SDA, CLK for the compass.

I will, however, need a camera switcher and some type of servo or mechanism to release the 
rescue line should it become entangled. 

This post will be the Main Project Reference and Index.

Comments and Suggestions are requested and welcomed. Anyone have any thoughts ??



Last Update:    2022-04-15 

_______________  PARTS LIST ___________________________

Frame:                    Eachine Tyro119   <------- Thank You Lemonyleprosy  
Motors:                   Eachine 2407 1850Kv  <-- Thank You Lemonyleprosy      

                                         Motor Amp Draw Post #59     44 Amps

Cam Brace:  
    
FC:                         JHEMCU GH743 40A AIO whoop mounting format.             
                        
VTX:                       JHEMCU VTX02-600  20x20                
VTX Antenna:          Dipole included with above VTX                                          
Camera:                  Foxeer Razer Nano 1200 TVL   (two)   
Camera Switcher:     ViFly Cam Switcher (for 2 cameras)                                   
Rx Receiver:            FrSky XM+ (ACCST)
RX Antenna:            included with receiver                    
GPS:                       Matek M8Q-5883                                                             
Capacitor:                1000 uf 35V   

Cam Mount:         Custom fabricated mount for second (Targeting) camera. 



Update:    2022-06-07     

Since the crash of the Surveillance-1 resulted in a broken frame, 
I have decided to use the electronics pack from that build in this build.
Most of the things are already wired including the dual camera set up
and the on-board DVR. The motor wires will need to be changed and
I will need another VTX as that one got damaged.

NOTE:  I am replacing the "X" brace with a custom fabricated plate
             from the LEXAN plastic that will have the extra 20x20 mounting 
             in the rear for the DVR + VTX.

             I will also cut a GPS mount from the LEXAN.

             The dual camera mounting will be a set of stationary plates
             rather than any type of swing contraption. 

Update:    2022-06-09     

I have attached pictures of the motors with the MR30 connectors and
some of the adapter mount plate cut from 1/8 inch, 3.175mm, Lexan plastic.
Although it is a bit heavy, the bias was for strength rather than weight. The
thinner 1/16 inch, 1.5875mm, Lexan would have been half the weight. Also
I did not cut out the sides and skeletonization was kept minimal. I have shown
the plate sitting on the original CF bottom plate. Yeah, it ain't perfect, however,
I don't have precision tools so it will just have to do. I only care that it works.
Notice that there is a little "notch" in the upper left corner. That is an orientation
mark so that I can tell which way it goes. Yeah, the stuff is almost crystal clear
and you can't tell which way is up. 

Also, the original carbon fiber frame was cut back and notched to allow access
to the whoop FC mount bolts and the 30x30 M3 press nut bolts.



2022-08-22     Re-Build # 4  starts with Post # 172.
 .  

The BUILD continues:                                                                Last Post
 

2022-06-09

The FC adapter plate has been fabricated and the frame assembly was
dry fitted to ensure that the bolt holes were correctly aligned. Now, the
I am assembling the bottom of the frame and then mounting the electronics
package which should be pretty much plug and play. 

2022-06-14

It took me three attempts to get the top plate where it needed to be. The 1st
plate did not have sufficient space to mount the camera   !  The 2nd plate
fit nicely and had plenty of space for the piloting camera. Upon mounting the
plate with the electronics fitted, I discover that I can not connect the USB cable.
Bummer   !  Ok, easy solution, move the standoff over a bit. The adapter plate
just need to be drilled, however, I had a cutout on the top plate right where the
standoff would go. Grrrrr !  The 3rd plate fits good and appears to work just fine.

Yes, the 7 inch props fit   . With the relocation of the standoff columns, there is
nothing on the frame that the props will hit; plenty of clearance. The tips of the props 
did appear to have less than 1mm clearance, if at all. Easy solution, just raise the motors 
on one of the diagonal set of arms which provides a bit of vertical space between the props. 
Now, I have done this in the past with spacers. This time, I used 6mm male/female standoff 
spacers. The male end was a bit long, so I also used an M3 nut...works like a charm. Since 
I am screwing the standoffs into the motor mount, they are solid. Next, I am mounting the
motor normally (ok, with longer bolts). I like this method better than anything else that I have 
used. It works well and is solid. I will do this again.

Both cameras are mounted with TPU cam mounts that slide onto M2 standoff columns.
Nope, I didn't print them. These are parts that either came with a frame kit or that I purchased
for specific builds. I have box full of these things in different sizes and colors. 

With the bottom plate mounted upside down, the arms mount with the bolts from the top
rather than the bottom. The other arm bolt is also oriented down and is longer than the
thickness of the sandwich in order to allow mounting standoff columns as landing gear.

Now, I am working on the actual final assembly. I haven't decided on a VTX yet. Most
of the ones that I have are 16x16 or 20x20. I had intended to use a 20x20 unit mounted 
above the DVR, but I now thing it will be better to use a whoop format VTX and mount
it above the FC. I also need to fabricate a GPS mount as well. 




Optional Accessories:

      Attachment / Pick Up devices and contraptions.

           Mantis Claw - Drone pick up device. 
           Magnets - Will attach to Drone motors.   <== Will try this 1st.  

. 

The RE-Build and more pictures:                                                  Last Post


On the first build, there was a malfunction with the FC JHEMCU GH743 40A AIO FC board.
I believe that the 5 volt regulator was bad which somehow seemed to result in blowing
something in the ESC part of the board. Anyway, I had and extra "identical" FC board so
I decided to use that and be SUPER CAREFUL and TEST everything as I go.

I have the 6S battery on my switched cable and connected to a smoke stopper. I am also
testing as I go. At least as much as I can. When a USB cable is connected, I get a Red and 
flashing Blue light. When I disconnect the USB and power with the battery, the Red light
is on, but the Blue light is NOT. Interestingly, the XM+ will power on with the USB connection,
but NOT with the battery connection. OK. I installed the 5Volt BEC between the battery and
the capacitor and connected the 5Volt output to the XM+ receiver leads. This is a "T" in type
of connection so that it will also back feed the +5 Volt rail. Success. NOW, everything appears
to work normally. OK, finish putting it together and "stuff" the wires where I can. Now, I take
her outside and proceed with the flight test. Success !!

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At 384.6 grams dry weight, it is a little heavy for me.  That said, I don't know how this compares
to other 7 inch builds. Being a little "gun shy" after the first FC went south, I have been  a little 
cautious and have used extra long wires since I wasn't sure how this would all fit together and 
actually work. 

===========================================================

2022-07-05     Re-Build # 2  ... after the 2nd bad JHEMCU GH743 40A AIO.

New FC is a JHEMCU GHF722 40A AIO in 30x30 mounting format.

I have attached the wiring diagram for the new GHF722 FC board. Yeah, I use connectors
for EVERYTHING. It just makes it easier when you need to swap stuff out or replace a
component. On this one, I am NOT using a separate power connector for the GPS nor the 
VTX. I will just deal with what ever time it takes to acquire GPS Sat Fix. 

The soldering went as expected, no issues. Yep, I used the same conical tip for everything
from the tiny pads to the huge battery pads. No problems; use the point for the pads; lay
the tip flat on the large pads...tinned right up, place wires and heat...yeah, it takes more 
than a couple of seconds for those large pads and wires. Yep, used my $ 15 USD 60 Watt
AC powered soldering iron. With the soldering done, it is time for a cold beverage {Beer}.

2022-07-06

I have added a couple of more pictures. The one picture shows the ViFly Cam Switcher
and where it connects to the FC. All of the other connectors are marked as well.

The other picture is a wiring diagram without the DVR. This is a good basic wiring diagram
for the ViFly Cam Switcher.

2022-07-08

Added two pictures of the completed Re-Build # 3 . One is a close up of the electronics 
package which is basically just the FC and the VTX. The other is an overview of the
completed quad. The dry weight is now 400 grams...AUW with 6S 1100 mAh GNB
battery is 532.7 grams. Yeah, she is a bit on the heavy side.

2022-08-22     Re-Build # 4  starts with Post # 172.

Notice that I changed the (top) piloting camera mount to Armattan Tadpole aluminum cam braces.

Will it’s first mission be the Unsanctioned-1?
Gpa might be helpful for position hold.

If you were willing to go well over 250g, a coax 8 prop design would be able to do some heavy lifting/pulling.

Checks date...

Thought: Work on arborist throw bag technique?

I’m picturing a mini version of this:




But if I recall correctly you can’t legally trim the trees and bushes where you fly- so maybe something more like 100 pound test fishing line and small weight. I don’t know if it’d be possible to hook it, and then unspool fishing line while you flew back to the ground so that you pull by hand?

One continuous movement servo for slowly lowering and positioning, one servo to unlatch the spool so that it can freely unspool, another one to completely disconnect the spool in case it gets caught up? And probably some sort of guide bar to keep it out of the props.

(02-Apr-2022, 01:48 AM)Lemonyleprosy Wrote: Will it’s first mission be the Unsanctioned-1?
Gpa might be helpful for position hold.

If you were willing to go well over 250g, a coax 8 prop design would be able to do some heavy lifting/pulling.

Hi Lemony, You guessed it. I am going after the Unsanctioned-1.

Yes, a GPS "position" hold might be very useful. The ability to hover is sort of paramount. 

Also, I am willing to go over 250 grams, but also don't want a "Monster".
What I am NOT looking to build is some BIG monstrosity. 
I think that I can get the thrust without going to a full blown "Heavy Lifter".

Besides the craft itself, I think it should be able to lift or pull about 500 grams; that allows 250 grams for the weight
of the quad and a 250 gram "pull" strength if it is caught a bit on a twig or vine leaf. 

I have thought a little about an octo-quad if that will buy me anything...maybe it will. I have contemplated building
one, but I just could NOT see what benefit it would have, but maybe now I have. I might be able to get the lift thrust in
a smaller prop size package. I would really like to keep the prop diameter no larger than 3 inches and try those new
turbine style props that they use on cinewhoops. That said a 2.5 inch Octo-Quad might be even better.

At this point, I am open to trying just about anything, however, I would like to keep the quad as small as possible.

Another consideration is to try to build a craft that is somewhat resistant to getting tangled up in stuff. So, I have
also been considering ducts. Now, I don't mean prop guards, but rather something more like a tube where it would
be harder for things to get entangled in the props. 

(02-Apr-2022, 02:56 AM)sevro Wrote: Checks date...

Thought: Work on arborist throw bag technique?

Hi sevro, I don't know exactly what the arborist throw bag technique is, but assume that you set some type of bag on
top of the quad. I had a couple of thoughts; 1) use treble fish hooks...maybe a couple on a line. 2) some type of net
that is open enough to snag the quad. Thing about this is that it might also snag leaves or little branches. 3) a magnet
might be a consideration, however, I am not sure that it would be powerful enough to "Pull" the quad if it is stuck. 

(02-Apr-2022, 04:33 AM)Lemonyleprosy Wrote: I’m picturing a mini version of this:

.........

But if I recall correctly you can’t legally trim the trees and bushes where you fly- so maybe something more like 100 pound test fishing line and small weight. I don’t know if it’d be possible to hook it, and then unspool fishing line while you flew back to the ground so that you pull by hand?

One continuous movement servo for slowly lowering and positioning, one servo to unlatch the spool so that it can freely unspool, another one to completely disconnect the spool in case it gets caught up? And probably some sort of guide bar to keep it out of the props.

Hi Lemony, Given that it is in the top of the tree, I don't think pulling it "down" would work; probably just get it stuck more. 

I figure that it will need to be pulled straight up since that is basically how it got there in the first place; kind of like just landing in the tree, but then lodging the props on leafs or something. There really shouldn't be an obstructions straight up. 

So, I was thinking just one release type servo...then attach a line with something on the bottom sort of like the video, 
but NO saw...something a little less destructive 

Rather than dropping the collection mechanism, lower it down with the quad itself, let it hook or connect to the quad, 
then lift it out with the Rescue Quad and bring it home. 

================================================================

Yeah, looks like I am going to need to do some experimenting to get the most thrust in a Sub-Monster package.
Maybe start with a 3 or 4 inch frame, put a 3 inch together and test it, then try a 2.5 inch octo-quad package.
I have an idea for the Octo that is a bit different than you normally see. 

I am also still contemplating some type of sheilding for the props. Maybe take a different approach and "wrap"
the entire quad in a light weight "housing".  

Now, does anyone know how stator volume relates to lower RPM Thrust
I am looking more for torque than acceleration or top end.

Any thoughts 

Figured one of these would be more likely to retrieve with a little luck from turtle mode. I've pulled my quad down a couple weeks ago with one: 

I'll be following along on this one as well, as I fly by a lot of trees. I think you may be onto something with something like a cinewhoop. The ducts will be protective and by nature they are meant to carry GoPros and the like. I've been looking into Inav, seems the position hold is quite accurate, but then you would need a decent F7 FC, and the corresponding GPS module. Matek M8Q 5883 is Inav compatible, but there are others.

With a good F7, i think you could have 2 cameras, perhaps that would be helpful.

(02-Apr-2022, 03:00 PM)JSchubz Wrote: I'll be following along on this one as well, as I fly by a lot of trees. I think you may be onto something with something like a cinewhoop. The ducts will be protective and by nature they are meant to carry GoPros and the like. I've been looking into Inav, seems the position hold is quite accurate,  but then you would need a decent F7 FC, and the corresponding GPS module. Matek M8Q 5883 is Inav compatible, but there are others.

With a good F7, i think you could have 2 cameras, perhaps that would be helpful.

Hi JSchubz,

Thanks for your thoughts. 

Yes, I have thought about a cinewhoop; maybe that would be a good place to start. The big issue is getting things mounted on the bottom
frame plate. On the other hand, I may be able to utilize standard "whoops" on a custom frame. Having two cameras and a "drop" mechanism
is integral to the project. Consequently, the dual camera setup is one of my first priorities. The "drop" mechanism is a safety device should
the line become "stuck" that is the method to "free" the Rescue Quad. 

Then there is the thrust situation. I am not sure that a 4 motor or 8 motor build will provide the best thrust. 

Now, using iNav is a whole different issue. So far, I have never used iNav so not sure if it is really needed. ??? Maybe ???

Hi Sevro,

Well throwing a weight is interesting. Thing is, I can't "see" the quad from the ground and don't think that I can
sling the weight to the 60 or so feet over the tree. Good idea for lower trees.

I'm not sure Inav is totally necessarily either, but depending if you can see the quad, the position hold, with 2 cameras, and your drop mechanism could be beneficial I think.

I used to fly high power rockets, people have come up with all kinds of creative ways to recover them. Trees love rockets

Actually, I think a magnet might be the best way. A 10 or 20 pound neodymium (rare earth) magnet would have more than enough pull strength, and would be less likely to get caught on a branch than some sort of hook.

Something to consider with ducts is that you’ll want to have a much long string attached to the magnet- if you get to close to the tree those ducts become perfect little quad hangers- don’t ask me how I know.

Once you settle on a frame design and have an idea of the frame weight and accessory weight, I can start plugging motors and props into eCalc and help you figure out the best motor and prop combination, as well as expected flight time and payload capability.

You’re going to have to do the opposite of your usual builds- you’re not going for light and efficient, you’re building for lifting power and stability.

If you want compact but powerful, I still think a coax motor layout is your best bet (8 motors, 4 on top, 4 below).
Someone please correct me if I’m wrong here- I believe you lose less than 10% efficiency by doing a coax setup, but you gain much more thrust and stability than a 4 motor setup, in a much smaller package than an 8 motor all in the same direction setup.

I’ve never built an octocopter in either a flat plane or coax configuration, so this is all conjecture on my part.

Edit- also, stator volume isn’t what you want to focus on for thrust. If I recall correctly, wider stators are more stable at lower rpm. Your props are going to make the thrust, the motor you go with is going to determine the highest pitch and largest prop you can use without overheating a motor. Ducts can be a positive or a negative- proper ducts should direct your thrust more and give you increased thrust, however, if they weigh too much you may end up negating any gain. Also, don’t take my word as gospel on *any* of this. I’m often wrong.

(02-Apr-2022, 08:36 PM)Lemonyleprosy Wrote: Actually, I think a magnet might be the best way. A 10 or 20 pound neodymium (rare earth) magnet would have more than enough pull strength, and would be less likely to get caught on a branch than some sort of hook.

There isn't much on a quad that is magnetic though. The motors are about it, and that may depend as well. Titanium shafts for instance, are non magnetic I believe. Steel hardware perhaps, but a 2 or 3mm bolt won't have much holding power. Lipo? Not sure but doubt it.

I've seen it go both ways in retrieving rockets. Sometimes slow and gentle does it, but usually they ended up getting smashed out of trees. Chainsaws have been used but I know that's not an option, that is.. not in broad daylight wink-wink

Maybe a 40mph hit with a grappling hook on a long string would do it lol.

Or, something like 'claw' like in kids toy machines at the mall? Run a wire down the string to a solenoid that clamps it shut?

The magnets in the motor bells could be enough.
I’ve got some small 10 pound pull magnets, I’ll stick one on a motor tonight and see how well it attaches.

I’m pretty sure we just left our model rockets in the trees if we couldn’t climb it. The big 10+ foot tall ones that the adults used to launch at Hayburner were way to big to ever get stuck in a tree.

Harry- I’ll try to make some time tonight to plug in the specs on one of my 3” and my 5” quads into eCalc to see the thrust to weight ratio and payload capabilities. It’s possible that you might be able to get away with just using a 4” freestyle type build but with a less beefy frame to save some weight.