Transmitter Setup /Calibration. PARIS v4 power - Choices

Transcription

1 Transmitter Setup /Calibration DO NOT SKIP ANY STEP - the very first thing you must do for your first MultiWiicopter.com pnp PARIS v4r6 board is Calibrate the Tx - Ground yourself (static safety measure) then connect the Receiver (Rx) to the PARIS, connect the PARIS to your FTDI-USB - USB supplies limited 5v power (after installing the FTDI drivers,java - see wiki links - do a cold restart) and then turn on your Transmitter (Tx) and set Mode 2 - ACRO(airplane) & PPM(not PCM). Do NOT connect anything else to the PARIS! - then Launch the matching 2.2p->2.2p Config or 2.2p->2.2p Application/program on your PC or Mac (requires java) press com/start (see page 2 for full details) and whilst looking at your PC screen - you will see that changes made on the Tx are sent to the PARIS via your Rx - and the critical usec readings such as 1095/1500mid/1905 can be set. PARIS is a 5v digital interface and the software running invisibly inside requires very specific digital PWM usec numbers to come out of your Transmitter - to hover 100% level, to arm, to disarm etc. So this may seem a bit weird but you will be using/ pressing buttons on your Tx whilst your eyes are looking at your PC or Mac. So USING TRAV ADJ (JR) - END POINTMENU (futaba) move each stick to the low position and set end point to 1095; then move each stick/switch to the high position and set Do this for all sticks and switches. Then, move all sticks to the centre - set all Tx trims to neutral - Now use SUB TRIM MENU on your Tx to set all mid points of Live links to downloads on the Wiki page at Multiwiicopter.com If you are stuck - stay calm - DO NOT LOAD Default/ new code - this will wipe all the code installed/tested in your board, disable the sensors and cause you real problems - relax - power the board with 5v (USB hiout) and read these instructions fully - slowly Orientation - the light blue bars (above) MUST move in the same direction as the stick you are moving - If they do not then REVERSE that Ch in your Tx. So if you move the throttle stick up - then the blue Throotle bar should move up. If you move your rudder right then the YAW bar should move right. - then - ESC THROTTLE LEARNING - NOW go back and do/re-do the ESC calibration one by one for each esc - THORTTLE-LEARNING (an ESC function - nothing to do with Multiwiisoftware) This is especially important if reusing KK ESCs or ESCs used in other copter controllers. PARIS v4 power - Choices PARIS v4.o boards offer a split DC bus to prevent noise from entering the CPU and sensor section if you wish using the noise bridge in the open position. This noise bridge is supplied soldered closed (if you have a soldering iron you can open the bridge - if you don t have a soldering iron the board is still PNP ready) So you can choose how to build your system depending on the quality of your electronics - There are 4 ways to power a multicopter PARIS board; Rx; Servos; CPU and sensors 1. With a separate switching ubec - all ESC red wires isolated - bridge closed - all powered supplied by the External ubec 2. Without an external ubec - All our HobbyWing ESC linear BECs red wires connected - bridge closed - all power supplied by FlyFun ESC linear BECs - in parallel 3. With a separate switching ubec - With power split - bridge open - both the DC buses powered separately - CPU and Sensors fed via the switching ubec. ESC and Servos fed via the ESC BECs - all ESC red wires connected - parallel 4. With a separate switching ubec - With power split - bridge open -both the DC buses powered separately - CPU and Sensors fed via the switching ubec. ESC & Servos fed via the ESC BECs - ONLY one ESC red wire connected - parallel We recommend option 2 (above) for most copters if you are using our HobbyWing ESCs - not running high curent gimbal servos. monitor the temp of the ESC in post flight inspection. We recommend option 3 if running a bigger copter with a gimbal. Do not connect +12v ever! only connect 5v to the PARIS and set all ubecs to 5v (not 6v). Some switching ubecs have been reported to be very noisy and conflict with PARIS 3v3 ic. If this happens revert to ESC linear BECs. option 2. above Ground yourself/the board to the airframe to reduce static risk - KEEP PARIS DRY pitch roll Sensors - Care BARO is sensative to light & airflow - keep shaded - use a dome cover - NOT FOAM Pg 1

2 Your board is running v Use GUI JAVAConfig 2.2 Boards requires 5v - USB or UBEC/ESCbec power - Check polarity - it will blow above 6v or reversed! DO NOT CONNECT 12v to this board ever e13 a1 e10 e11 c6 e12 b5 b4 a3 a2 d9 d8 c7 GUI (above) - What does it mean? (Pg1 do b4 first) Load the USB ftdi drivers (PC or Mac - cold restart) and download the GUI software (above) - links on Multiwiicopter.com wiki Note Quit Arduino 1.0 software if running (two applications cannot share the ftdi -connection) - Do not reload default code! Stay calm. Your pnp PARIS has already been tested and calibrated. Open (or search for) the java App called MultiWiiConf2.2p app (PC apps end in.exe) Start this application (program) a1) After pressing the COM link - wait 2 secs - then press Start a2 -> then wait 2 secs -> press READ a3 ; Your GUI is now connect live to your PARIS - don t rush the clicks or you may wipe the eeprom to zeros. Make a note of all your values e10 - do not change PIDs until after the maiden flight (Screen Capture/ Print Screen) - just incase you have to go back to them (general rule is never change more than one thing at a time) It should look like the values from my screen capture above b4 - Transmitter Calibration - covered on Pg 1 - connect your Tx - Rx and USB-> You will now importantly see the values for low stick / mid stick / high stick VERY IMPORTANT - using your Tx - alter the travel (futaba call these end points) to first get 1095 for low stick ; then 1905 for high stick - then use mid-point (different menu on your Tx) to set 1500 mids. ESC THROTTLE LEARNING - NOW go back and do the ESC calibration one by one for THORTTLE-LEARNING (an ESC function - nothing to do with Multiwiisoftware - KK pilots must re-do) b5 - check the values in this area are all even (the same) at low throttle settings - if not then make sure - again - that you are in ACRO mode and the mid stick is at see b4 c6 - Click and hold the boxes (top left of each box) to change them - then press write c7 If you got a PNP board D8 & D9 are already done for you. with the PARIS ACC perfectly level and still press calib_acc d8 - then wait 4 secs - then press Calibrate_MAG d9 - the LED blinks rapidly - you have 30secs to rotate the board 360 degress in all axis X, Y and Z - when the LED stops blinking it will save all the MAG tilt errors to eprom. The actual heading shown is not used in 2.0.4p yet for Nav - and is set in software offset - at a future time. If your Copter is not flying stable or close to stable on default PIDs, as shown above e10 then do not alter the PIDs like a madman - The electronics/software will not save you from un-balanced props - or a bad combination of PROPS/ ESC/MotorWindings. Light weight props and Medium/high timing are required. Balance your props on a magnetic balancer until they run silky smooth...then balance them one at a time on a hand-rig for dynamic balance. With a motor on a boom run each one atdifferent RPM to check the running (dynamic ) balance of that prop - use electrical tpe to balance them ---- to change values in e10 - click-hold-drag ; then press write. e11 - Trottle PID attenuation is for advance full pwr climb outs - dampens PIDS at high throttle settings >50% if needed. Ch5 Rx = Gui Aux1 = blue wire Ch6 Rx = Gui Aux2 = purple wire. Select at e12 above - the baro - WRITE Never change more than one value at a time - then fly - then change it again then fly - make small changes - sometimes a change of 0.1 will make the difference between too soft; and oscillations. NOTE: You cannot ever save the values stored in your 328CPU (e13) ; nor can you read back OUT the Arduino software in it - so what we recommend - is save the Arduino Sketch in a new folder each time you load it in (essentially a back-up) ; then do a screen capture of the GUI (e13) (above) and put that into the folder on your PC as well. WinGUI saves all settings. Pg 2

3 Your board is running v Use GUI JAVAConfig 2.2 Boards requires 5v power to run - it will blow above 6v! 5.0v only correct polarity only! All testing with PROPS OFF - then install last Failsafe is DISABLED in software - use Tx failsafe Using the Tx sticks to operate the PARIS Wii CPU is looking for THRO <1100 and YAW ~ The GUI shows actual values from Rx and is a valuable guide to trouble-shoot a CPU which won t apparently arm. Set the Throttle to OFF - After connecting the LiPo - The ESCs will beep to indicate they are powered but not armed - ESC s cannot arm on power-up with PARIS Wii boards. The embedded PARIS software prevents this and requires you arm with a stick combination below The red LED comes on (steady) on the CPU board showing the board has power. After connecting the LiPo (or USB) the green CPU LED will flash for 5 secs then go OUT If the LED blinks green (fast) but won t stop blinking - then the Rx is not powered by 5v (an Rx cannot get sufficient PWR from some USB! It must be powered by 5v from at least one BEC).If the green LED still blinks green (fast) but won t stop blinking -then the Rx is not connected to the correct PARIS/warthox THRO pin correctly. The ESCs cannot calibrate as a multi-engine-group because the default state of the CPU->ESC is Dis-armed for all engines. You need to calibrate ESC throttle-learning range as a separate exercise -below If the ESC s beep-non-stop then they are not connected to the PARIS board ESC pins or the Rx is incorrectly connected or the Rx/PARIS sees you do not have your throttle to zero. Disarming - Learn to DISARM the ESC s before touching or approaching the Copter ESC s/motors can start suddenly and the props can cut - fingers and eyes - permanent injuries With THRO OFF ; Hold the YAW stick LEFt for 1 sec ; then the CPU GREEN LED will go OUT and stay out Gyro Calibration - Disarm the copter (see above) ; Place the Copter on a perfectly LEVEL LZ - it must be completely static - Set Trims to neutral - Stand back - With THRO off, Hold the YAW LEFT and the Cyclic stick Back for 1 Sec ; release - you will see the GREEN LED blinking fast for a few secs then go out - The Gyro is now calibrated for drift (at this ambient temperature) - The Gyro on a PARIS/warthox board is the WiiMP+ You can Ddo this everytime you fly - preferably about 2mins after Powering up - in the outside air temps where you will fly. FAILSAFE - If your copter goes out of radio-range it may cause harm - if still powered - Take the precaution to program in the FAILSAFE condition to protect people/property. Do not skip this step. Bind your failsafe (Read your Radio manual - FAILSAFE) on the Tx with power/throttle set to OFF - Power off failsafe condition. You might decide to set the failsafe power to 1/3 throttle so the aircraft descends in a controlled descent - recommended if understood - For Example on FrSky - set sticks as above (or THRO to 1/3) - then Press the Rx button - 2 green flashes on the Rx itself - done. Failsafe can also be set in Software (NOT recommended - Use only for ultra basic or legacy Tx s - if your Tx has failsafe - use that). When you turn your Tx OFF in a test the Failsafe - should return the Copter to level and min-throttle - NOTE : If you use a 1/3 power (controlled descent setting) be aware that if you switch your radio off while the PARIS armed - then you will initiate a 1/3 powered condition!you must understand this concept fully and realise the word failsafe - does not mean you can be an idiot - sorry - you still need to understand the consequences of your chosen failsafe condition - and You will be deciding what the Radio will do when it cannot receive a signal. You are still the Pilot in command - YOU are responsible to decide how you will handle failsafe above. Accelerometer (Acc) Calibration - Fly the Copter in ACRO mode - Trim the copter using the Transmitter stick sub-trims so it hovers still on STILL air (no wind) - Land - Disarm the copter (see above) ; ensure the Copter is on a perfectly LEVEL LZ - it must be completely static - Confirm the DISARMED LED is OFF - Hold Full THRO/YAW LEFT and the Cyclic stick Back for 1 Sec ; release - you will see the GREEN LED blinking fast for a few secs then go out - The Acc is now calibrated for LEVEL mode (at this ambient temperature) - The ACC on a PARIS/ warthox board is the Nunchuk. Arming - Learn to recognise that your WiiCopter is ARMED. Hold right Yaw (or right cyclic) for 1 sec - you will see the Green LED come on - stays on SOLID If LED does not come on GREEN - then increase YAW travel on the Tx (see Transmitter Calibration procedure - above top) - or Check the THRO is not actually reversed by mistake (Futaba) - then trim down a few clicks on the THRO trim. If it still won t arm connect FTDI and use the JAVA-Config (see below - install JAVA) to make sure the Throttle PWM is below 1100 (normal THRO range is ) - In order to arm - the Accelerometer (Acc) Trimming - Also called auto-level trimming - FIRST do after the GYRO & ACC calibrations and normal ACRO trimming (see above) using the Tx trims. LAND. Switch over to LEVEL mode (Gear Switch). Take off and mentally note the way the copter wants to drift - DO NOT TRIM THE TX - Land - The final ACC trimming procedure (below) is this -DISARM (see above - the Green LED will go OFF) Move the THRO to the Learn Position - full up) - in this example the copter was moving back and right - so ; using stick-banging - move the cyclic (right stick) up once (led blinks) - then left once (led blinks) - these alterations are saved to the CPU memory. ARM again - hover and repeat the process until the copter hovers level. Pg 3

4 Your board is running v Use GUI JAVAConfig 2.2 TRI.Copter Arming - as TriCopters are fitted with a YAW tilt servo they have a special (alternate) arming procedure in >1.7 MultiWii software. Learn to recognise that your Wii TriCopter is ARMED. SET THRO to Zero - off - Hold Cyclic-right for 1 sec - you will see the Green LED come on - stays on If LED does not come on GREEN - then increase ELEV/AILER travel (see Transmitter Calibration procedure - above top) - Check the THRO is not actually reversed by mistake - and trim down a few clicks on the THRO trim If it still won t arm connect FTDI and use the JAVA-Config (see below) to make sure the Throttle PWM is below 1100 (normal THRO range is ) - In order to arm - the Wii CPU is looking for THRO <1100 and AIL/ ELEV ~ The GUI shows actual values from Rx and is a valuable guide to trouble-shoot a CPU which won t arm. TRI.Copter Disarming - Learn to DISARM the ESC s before touching or approaching the TriCopter ESC s/motors can start suddenly and the props can cut - fingers and eyes - permanent injuries With THRO OFF ; Hold the cyclic stick LEFT for 1 sec ; then the CPU GREEN LED will go OUT and stay out LED s Light emitting diodes Question - What is the meaning of the LEDS on a PARIS board? Answers - different things at different times - The GUI Config on your PC/Mac is far more useful but when your Copter is not connected to the PARIS board the led can provide some limited information - see below - RED LED = power to 328 CPU is ON - should always be on The CPU board gets power from the 5v BUS ; or USB. GREEN smd led /UltraBright White LED = :- 1) GREEN LEDS are on and stay on when the board is armed - are OFF and stay OFF when the board is DISARMED 2) GREEN LEDS blink rapidly 5 times Cal.Sticks.Gyro of the Gyro(MP+) then goes off - wait 10 secs 3) GREEN LEDS blink medium whilst computing a Cal.Sticks.Acc of the Acc(NK) then goes off - wait 10 secs 4) GREEN LEDS blinks during initial power up then goes OFF (the very FIRST time it will not because it s never been calibrated :) (see Cal.1 Cal.2 and Cal.3 procedure - below) 5) GREEN LEDS blink slowly if a problem is detected on start-up - code error (usually calibration NOT done) 6) GREEN LEDS blink slowly if Calibration Cal.1 Cal.2 and Cal.3 not completed (see below) 7) blinks once to indicate the CPU compute s a leveling correction 8) GREEN LEDS blinks rapidly 5 times for each stick-banging throw in ACC trimming learning mode 9) GREEN LEDS blinks slowly after loading Software in Arduino22 and before doing the Cal.GUI.Acc (see below) 10) GREEN LEDS blinks very rapidy for 30 secs when doing MAG calibration - stops by itself when finished 11) GREEN LEDS comes one when disarmed if it detects the PARIS board is tilted >20 or so - goes off again if the board is leveled out pitch roll 5.0v only correct polarity only! Question : My GREEN LED Flashes slowly and my PARIS just won t arm? Answer : The most common reason for not being able to arm is - YOU skipped the Calibration of your Tx (above -top Pg1) - see Transmitter Calibration - PARIS is waiting for Safe arm condition - Tx is sending out the wrong numbers Question : My Copter wont hover level in AUTO LEVEL - goes off to the side re-calibrate - THIS IS ALREADY DONE at the factory - calibration is effected by temperature and Transmitter Mid-Points not on Always load your multicopter with a Cof G in centre - this means you will need hardly any Trimming in Acro mode - then trim using the ACC trimming Pg 3 - then if still needed re-calibrate - with the ACC itself perfectly level & the airframe LEVEL as well - use a bubble level, no vibration or movement - then do Calbration. Balance all Props! Question : My Quad is not flying well on default PIDs - what are the secret PIDs the Pro s use to make it fly perfectly Answer - this is a common myth - Real answers is - the Default PIDs are very close to perfect if you have your copter setup well - by setup I am referring to the airframe(must be super rigid/ stiff - zero flexing Carbon is best see SCARAB - PARIS must be firmly bolted to the airframe) the weight (light) the props (balanced dynamically and statically - nothing is as important as balanced props - when you hold the Quad and go to full throttle above your head - it MUST be silky smooth!) the ESCs (use the recommended ESCs of the correct size - big ESC dont belong on multicopters) the motors (small lightweight motors correctly matched to their prop size - see the gear list and motor pages for matching props/motors, and lastly the pilot (fly smoothly - dont jerk the controls backwards and forwards rapidly - smooth delibrate moves) RC Receiver inputs Motors Ch6=Aux2 }purple HV GPS RUDDER Green Ch5=Aux1 Blue ELEVATOR orange AILERON yelow THRO white/red/black LV GPS or LCD led strip GND Bluetooth Any questions please READ my WIKI - Read the PARIS forum thread/post on RCG then if you are still stuck - contact me - is best - I will ask you for your GUI screen capture and details of your copter - photos of your setup info@multiwiicopter.com Quinton Marais (RCG AlouetteIII) 33 Doubleview Drive, Elanora, Qld 4221 AUSTRALIA, Office hours are 9am-5pm Mon-Friday AU EST time TEL Cell Pg 4

5 Safety in your Skies Your Multicopter PARIS is controlled 100% by software - NEVER load Dev or hacked software. Use only the fully approved MultiWii software - full versions - approved by the master coder AlexinParis. All Dev or hacked software is potentially dangerous and will void your warranty. When making any changes to the Config section you assume FULL RESPONSIBILITY - never alter code unless you fully understand the code - and the consequences of your actions. Never attempt a maiden flight until first completing a successful hand-held maiden - take safety steps - eye protection - gloves - See Guide to maiden Document. Keep more than 30m from persons, choose an empty sports field for your first flights with soft grass Do not fly near pets, houses or cars Never fly within 3nm of an airfield or above 400ft Never install your props until after the Multicopter is fully tested and 100% correct without props. Engines can start suddenly and without warning IF YOU FAIL to understand how they work or skip any steps. Conduct full pre-flight and post-flight inspections and ground your Multicopter if you notice anything as a risk hazard. such as hot components or unusual operation. Set your Tx/Rx binding FAILSAFE to low throttle 1/3 position so that if the link is lost the copter will descend slowly. Do a full range check and use RSSi Always keep your Copter visual in line of sight LOS for one pilot ops - FPV is only legal in AU with a buddy on a buddybox - 2 person FPV is 100% legal using the buddybox system below 400. See CASA Part 101 Regs RC Flying is a privilege - please enjoy it. Don t show off and don t get over confident Home movies are fine, but in Australia professional paid photography or videos from an RC aircraft requires CASA Part 101 compliance, including exams and approved ops manuals and pilot competency tests by CASA official which will cost several thousand up front. 3 Power off - Only make ESC or Servo connections with ALL power off! ESC off, PARIS OFF - USB - OFF - check correct 3 disconnect the centre red wire if using a separate switching ubec - Pay attention to polarity! Never plug or unplug live wires! WARNING! warranty voided 5.0v only correct polarity only! } WARRANTY 90 day repair/replacement warranty - All products are covered by a 90-day replacement/ repair warranty for normal use. Warranty excludes : - fusion, reverse polarity, over-voltage damage, short-circuit, damage by static charge, connection of live servo or ESCwires, flood, crash damage, impact damage, incorrect tools, reflashing the CPU comms or boot files, software hacks, moisture ingress, trauma damage and misuse. Where a product is considered to be defective in hardware, buyers are required to send a photograph/video showing the hardware problem in detail, accompanied by an accurate description of the fault in the video and photos - multiwiicopter. com will issue an RMA authority number which must be displayed on the returned package/item. Buyer is responsible for the cost of shipping returned items. Where a buyer reloads any software - they assume full responsibility for the software alteration and any subsequent damage/corruption to the hardware - whether caused directly or indirectly by the software. Only full versions of the software are approved and any hacked or dev software is expressly forbidden and will void any and all warranty. RETURNS 7 day refund - Where an item arrives DOA due to shipping damage or manufacturing fault, buyer has 5 working days (7 calendar days) to request a refund. Refund procedure requires that the item is returned in original condition, un-used, un-modified with supporting photographs of any defect/ damage and an RMA number issued as above prior. The refund will only be processed on inspection at multiwiicopter.com of the returned item for normal use. Normal use includes following of all guidelines and safetyrelated instructions in the user documentation. Pg 5

6 Bi-copter (unstable in fast flight) TriiKopta or Avatar Quad X Y4 (not as efficient as a tricopter) Quad +Plus Y6 YSiix HexiiKopta X HexiiKopta Pg 6