DIY - ZMR H250 Quadcopter

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Information

This is the build log for my ZMR H250 Cloneout Quadcopter. This is the first multirotor I have ever attempted to build and as such it will be documented and treated as a learning experience. All of the information contained here-in has been gathered and processed into the information you see here.

Websites

• RC Groups : ZMR 250 (Blackout Clone)
• RC Groups : PDB for ZMR 250 Mystery Carbon Fiber Frame
• RC Groups : FrSky Taranis "Howto" Thread
• RC Groups : FrSky Taranis with OpenTX 2.0 and Beyond
• RC Groups : Afroflight Naze32 Setup Guide for Dummies
• RC Groups : Get Your Technician's License. It's Easy. Here's Why And How.
• RC GRoups : DYS BE1806 2300KV - Thrust Tests
• NazeWiki : Naze Wiki Howto FrSky Telemetry

Parts List

Radio Transmitter (Tx)

• FrSky Taranis - 16 Channel, Full Telemetry Transmitter    Manufacturer
  172.25  —  HobbyKing (Purchased: 2014/08/15)

• OrangeRX DSMX/DSM2 2.4Ghz Transmitter Module (JR/Turnigy compatible)    Manufacturer
  29.99  —  HobbyKing (Purchased: 2014/10/13)

Radio Receiver (Rx)

• FrSky D8R-XP 2.4Ghz 8CH Receiver (w/telemetry)    Manufacturer
  27.23  —  HobbyKing (Purchased: 2014/08/15)

• FrSky D4R-II 4ch 2.4Ghz ACCST Receiver (w/telemetry)    Manufacturer
  18.71  —  HobbyKing (Purchased: 2015/02/05)

• FrSky USB Cable    Manufacturer
  7.74  —  HobbyKing (Purchased: 2015/02/05)

Radio Accessories

• FrSky AC/DC Charge Adapter US Version    Manufacturer
  6.95  —  HobbyKing (US) (Purchased: 2014/08/15)

• Alloy Anti-Slip TX Control Sticks Long (Red)    Manufacturer
  1.99  —  HobbyKing (Purchased: 2014/08/15)

• Alloy Anti-Slip TX Control Sticks Short (Red)    Manufacturer
  1.89  —  HobbyKing (Purchased: 2014/08/15)

• USB Simulator Cable All in One    Manufacturer
  8.99  —  HobbyKing (Purchased: 2014/08/15)

• 3ft USB 2.0 A Male to Mini-B 5pin Male 28/24AWG Cable w/ Ferrite Core (Gold Plated)    Manufacturer
  1.17  —  Monoprice (Purchased: 2014/10/14)

• CNC Metal Transmitter Stand, JR & Futaba    Manufacturer
  5.48  —  HobbyKing (US) (Purchased: 2015/02/15)

Battery Charger

• Turnigy Accucel-6 50W 6A Balancer/Charger w/ Accessories    Manufacturer
  24.10  —  HobbyKing (US) (Purchased: 2014/08/15)

• Lithium Polymer Charge Pack 25x33cm JUMBO Sack    Manufacturer
  2.94  —  HobbyKing (Purchased: 2014/10/13)

• HobbyKing Power Supply 100~240v 5A    Manufacturer
  9.49  —  HobbyKing (Purchased: 2014/08/15)

Case

• Condition 1 Watertight 100801 Hard Case (Black)    Manufacturer
  73.99  —  B&H

• Turnigy Transmitter Bag / Carrying Case    Manufacturer
  12.50  —  HobbyKing (US) (Purchased: 2015/02/15)

Frame

• H250 ZMR250 Carbon Fiber Mini Quadcopter Frame Kit    Manufacturer
  35.29  —  Banggood (Purchased: 2014/08/29)

• PDB for ZMR 250 Mystery Clone    Manufacturer
  17.54  —  RCGroups.com (Purchased: 2014/08/29)

Flight Controller

• AfroFlight Naze32 Acro FunFly Controller - Soldered version (Vertical Pin)    Manufacturer
  29.99  —  HobbyKing (Purchased: 2015/01/06)

Electronic Speed Controller (ESC)

• Afro ESC 12Amp Ultra Lite Multi-rotor Motor Speed Controller (SimonK Firmware) Version 3    Manufacturer
  9.99  —  HobbyKing (Purchased: 2015/01/06)   |   4

• Afro ESC USB Programming Tool    Manufacturer
  7.57  —  HobbyKing (US)

Batteries

• Turnigy nano-tech 1300mah 3S 25~50C Lipo Pack    Manufacturer
  10.86  —  HobbyKing (US) (Purchased: 2015/02/15)   |   1
  * Purchased for FPV gear

• Turnigy nano-tech 1300mah 3S 45~90C Lipo Pack    Manufacturer
  13.45  —  HobbyKing (US) (Purchased: 2015/01/07)   |   4

• Turnigy nano-tech 1500mah 3S 35~70C Lipo Pack    Manufacturer
  16.45  —  HobbyKing (US) (Purchased: 2015/02/05)   |   4

• XT60 Male w/ 12AWG Silicon Wire 10cm (5pcs/bag)    Manufacturer
  6.89  —  HobbyKing (US) (Purchased: 2015/01/06)

• Turnigy Battery Strap 330mm    Manufacturer
  1.75  —  HobbyKing (Purchased: 2014/10/13)   |   2

• On-Board Lipoly Low Voltage Alarm 2s~3s    Manufacturer
  2.17  —  HobbyKing (US) (Purchased: 2014/10/13)

• HobbyKing Cell Checker with Low Voltage Alarm (2S-8S)    Manufacturer
  3.78  —  HobbyKing (US) (Purchased: 2015/02/15)

Motors

• DYS BE1806 2300KV Brushless Motor    Manufacturer
  9.79  —  Banggood (Purchased: 2014/08/29)   |   4

• DYS BE1806 2300KV Brushless Motor - Black Edition    Manufacturer
  12.69  —  Banggood (US)

Propellers

• Gemfan 5x3 Inch Plastic 5030 Propeller CW/CCW For 240 250 Frame    Manufacturer
  2.72  —  Banggood (Purchased: 2014/08/29)   |   5

• Simple Prop Balancer    Manufacturer
  1.58  —  HobbyKing (US) (Purchased: 2015/01/07)

Video Recording & FPV

• Mobius HD Action Camera    Manufacturer
  75.99  —  Banggood (Purchased: 2015/02/05)

• Boscam FPV 5.8G 8CH 200mW AV Wireless Receiver RC305    Manufacturer
  19.99  —  Banggood (Purchased: 2015/02/05)

• Boscam FPV 5.8G 200mW AV Wireless Transmitter TS351    Manufacturer
  19.99  —  Banggood (Purchased: 2015/02/05)

• 600TVL SONY SUPER HAD CCD D-WDR Color Board Camera OSD Menu DNR-US    Manufacturer
  37.00  —  SurveilZone (Purchased: 2015/02/05)

• MinimOSD, Right Angle Soldered    Manufacturer
  14.00  —  MultiRotor Mania (Purchased: 2015/02/07)

• ImmersionRC 5.8 GHz SpiroNET Omni RP-SMA Antenna Set (RHCP)    Manufacturer
  27.99  —  Ready Made RC (Purchased: 2015/02/05)

• Quanum DIY FPV Goggle Set with Monitor (KIT)    Manufacturer
  26.99  —  HobbyKing (Purchased: 2015/02/05)

• RP-SMA Male to RP-SMA Female Coaxial RF Extension Cable RG316 4in    Manufacturer
  7.04  —  ebay (Purchased: 2015/02/06)

Other

• M3 Female x M3 Female 35mm Black Nylon Hex Standoff, 10-pack    Manufacturer
  3.60  —  Ebay (Purchased: 2014/10/11)   |   2

• M3 Female x M3 Female 10mm Black Nylon Hex Standoff, 25-pack    Manufacturer
  3.80  —  Ebay (Purchased: 2014/10/11)

• M3 Male x M3 Female 6mm Black Nylon Hex Standoff, 25-pack    Manufacturer
  3.50  —  Ebay (Purchased: 2014/10/11)

• M3 x 6mm Black Nylon Philips Head Screw, 25-pack    Manufacturer
  3.40  —  Ebay (Purchased: 2014/10/11)

• M2 x 8mm Stainless Steel Philips Head Screw, 50-pack    Manufacturer
  1.09  —  Banggood (Purchased: 2014/08/29)

• 3 Pin 20cm 2.54mm Jumper Wire Cables DuPont Line For Arduino, 5-pack    Manufacturer
  1.56  —  Banggood (Purchased: 2014/08/29)   |   2

• 3.2mm Polyolefin 3:1 Heat Shrink Tubing Tube Sleeve Wrap    Manufacturer
  1.00  —  Banggood (Purchased: 2015/01/06)   |   2

• 6.4mm Adhesive Polyolefin 3:1 Heat Shrink Tube Sleeve Wrap 1.6ft    Manufacturer
  1.13  —  Banggood (Purchased: 2015/01/06)   |   2

• 7.9mm Polyolefin 3:1 Heat Shrink Tubing Tube Sleeve Wrap    Manufacturer
  1.60  —  Banggood (Purchased: 2015/01/06)   |   2

• 4mm Braided Expandable Auto Wire Cable Sleeving High Density Sheathing (2M)    Manufacturer
  1.38  —  Banggood (Purchased: 2015/01/06)

• 8mm Braided Wire Cable Gland Expandable Sleeving High Density Sheathing (2M)    Manufacturer
  1.50  —  Banggood (Purchased: 2015/01/06)

• HK-171 Thread Locker & Sealant Medium Strength (Blue)    Manufacturer
  5.13  —  HobbyKing (US) (Purchased: 2015/01/07)

• M3 x 12mm Black Nylon Screws, 10-pack    Manufacturer
  1.75  —  MultiRotor Mania (Purchased: 2015/02/07)   |   2

Build Log

Pre-build Checklist 

First pull everything out and make sure you have all the parts necessary.

Then check the frame and PDB to make sure you have all the parts necessary, you might also want to select which of the two bottom plates you are actually going to use as one will be replaced by the PDB.

Motors   

Unbox all of the motors and separate the long vs. short screws.

Install the propeller shaft adapters onto each motor using four short screws per motor.

Finally assemble the motors to the carbon fiber arms. Use 2 long screws and 1 short screw for each motor (unless you want to use a dremel on the arm holes to accommodate all four, however this it is entirely optional) using loctite blue as a sealant. To determine which holes get the long vs short screws look inside the motor where the screw punctures through into the motor shaft you will see the motor lead wires in there as well. If the screw hole is directly above the motor leads you have to use a short screw as in using a long screw you would short out the motor leads.

Battery   

Plug in your soldering iron (medium tip) to get it readyfor the battery connector.

While waiting for the soldering iron, start charging one of the batteries that was bought for the quad. Remember to charge using the balance mode!

Cut down to size (eventually shortened the wire to about 1.5" long, not shown in picture) and then solder the connector to the PDB board.

ESCs

• Strip the sticker and current heat shrink off of the ESCs.
  <img src="http://kyau.net/img/ZMR250/esc-1.jpg" width="259" height="194" alt="">
• Repeat this for all four ESCs.
  <img src="http://kyau.net/img/ZMR250/esc-2.jpg" width="259" height="194" alt="">
• Plug the soldering iron back in (fine point tip).
• Desolder all of the motor leads from all four ESCs.
  <img src="http://kyau.net/img/ZMR250/esc-3.jpg" width="259" height="194" alt="">
• Cut the motor's lead wires to length for placement of ESCs on arms. Then solder the ESCs to the motors, remember to connect two in a 1:1, 2:2 & 3:3 configuration and the two other motors in a 1:1, 2:3 & 3:2 configuration.
  <img src="http://kyau.net/img/ZMR250/esc-4a.jpg" width="259" height="194" alt=""><img src="http://kyau.net/img/ZMR250/esc-4b.jpg" width="259" height="194" alt="">
• Finally we need to test the motors, for this i used the original ESC leads that we de-soldered previously and soldered two of them to one of the spare battery connectors I had to act as a wire harness to be able to spin up the motors with the receiver and transmitter. This allowed me to mark on each which direction they spin so I can make sure i have two CW and two CCW motors. If not go back and resolder your ESCs accordingly.
  <img src="http://kyau.net/img/ZMR250/esc-5.jpg" width="259" height="194" alt="">
• Heat shrink the ESCs to protect them from the carbon fiber.
  <img src="http://kyau.net/img/ZMR250/esc-6.jpg" width="259" height="194" alt="">

PDB

• With the ESCs prepared lets move on to the Overcraft Power Distribution Board. First you need to solder 2 separate servo leads, one for the vbat and the other for the buzzer. Make sure to cut them to length before hand or you will be re-cutting/re-soldering like I had to.
  <img src="http://kyau.net/img/ZMR250/pdb-1.jpg" width="259" height="194" alt="">
• Mount the flight controller onto the PCB using the nylon standoffs.
  <img src="http://kyau.net/img/ZMR250/pdb-2.jpg" width="259" height="194" alt="">
• Attach all of the arms and the bottom plate using only 2 out of the 4 screws on each for the time being. Then pre-tin the pads on the PDB for the ESCs.
  <img src="http://kyau.net/img/ZMR250/pdb-3.jpg" width="259" height="194" alt="">
• Cut down to length and solder all the ESCs to the PDB.
  <img src="http://kyau.net/img/ZMR250/pdb-4.jpg" width="259" height="194" alt="">
• Cut the power and ground off of ESCs 2-4, leaving the BEC only giving power to the flight controller from one motor (for this I chose motor #1). Then connect all 4 of the motors to the flight controller (motor one starts at the arrow then they count up). You can also connect your receiver at this time (in CPPM mode) with a 3-pin connector as I have in the photo. Plug in the battery to verify all is well (you should hear a series of beeps out of the flight controller).
  <img src="http://kyau.net/img/ZMR250/pdb-5a.jpg" width="259" height="194" alt=""> <img src="http://kyau.net/img/ZMR250/pdb-5b.jpg" width="259" height="194" alt="">

Flight Controller

• Install the USB Driver for the flight controller. If you lack the driver for the Naze32 you can download it here.
• Make sure you have Google Chrome installed, and install the App Baseflight.
• Launch Baseflight and then connect your flight controller to your computer via usb (with the quad powered off).
  <img src="http://kyau.net/img/ZMR250/fc-1.jpg" width="243" height="165" alt="">
• Baseflight will not auto-connect the first time, click on the "Firmware Flasher" and make sure the latest firmware is chosen. Next select "Load Firmware (Online)" and then finally "Flash Firmware". Wait a few moments for your flight controller to update and then click the "Connect" button in the upper left, you should now be connected to your flight controller.
• Navigate to the "Configuration" tab and enable the features: PPM, VBAT, MOTOR_STOP & TELEMETRY according to the screenshot and then click "Save".
  <img src="http://kyau.net/img/ZMR250/fc-2.png" width="243" height="165" alt="">

Pre-FPV Stopping Point

• With the quad now fully working (aside from FPV gear) you can now check the battery voltage alarm by taking it on your maiden flight and running the battery down to low in a hover.
  <img src="http://kyau.net/img/ZMR250/pre-fpv-1.jpg" width="243" height="165" alt=""><img src="http://kyau.net/img/ZMR250/pre-fpv-2.jpg" width="243" height="165" alt="">

Videos

Mobius Maiden Flight

Afternoon in the Backyard

References