Contents Download INAV Connect to INAV Reset Default Configuration Binding the Receiver to the Radio...

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2 Contents Download INAV... 1 Connect to INAV... 1 Reset Default Configuration Binding the Receiver to the Radio Verify the RX (receiver) Channel Mapping Verify AUX Channel Mapping Configuring AUX Switches Verify LED Configuration Verify Motor Rotation Calibrate ESC s...23 Calibrate The Accelerometer...24 Set Magnetic Declination...26 Troubleshooting Guide...27

3 Download INAV RubiQ comes pre-configured and almost-ready-to-fly. These settings can be verified and customized in INAV, an open source flight controller software. INAV is a Chrome extension, so you will need to have Chrome downloaded as a web browser. RubiQ s firmware is compatible with version of the INAV - Configurator, which is available for download directly from the Edventures website. The INAV - Configurator is also available from the Chrome Web Store. However, the version downloaded directly from the Chrome Web Store auto-updates, which may make the Configurator incompatible with RubiQ s current firmware. To get started: Download the Configurator file from the Edventures website at Start Chromium or Google Chrome. Click the three stacked dots in the top right corner and choose More Tools > Extensions. Drag the INAV - Configurator file anywhere onto the Extensions screen to download the extension to Chrome. INAV - Configurator will appear in the Chrome Extensions tab already open. From there, click Launch to open INAV. Connect to INAV WARNING! Remove props before connecting the drone to INAV. INAV can be opened directly from the Google Chrome Apps menu by clicking the Apps waffle in the top left corner of the browser and clicking the INAV icon. Connect RubiQ to your computer via the micro USB cable. Look for the port on the side of Rubi s PCB. Press the Connect button in the top right corner to connect to RubiQ. Then, navigate to the Configuration tab along the left hand side of INAV. If you have trouble connecting to INAV, check to make sure the port dropbox in the top right is set to the correct option. The exact name of the port depends on the computer being used. Common names include USBtoUART and COM3. Click the Connect button to restart the connection process. 1

4 If you re on a Mac and INAV is not recognizing your board, download VCP drivers directly from Download VCP for Mac OSX, open the files to complete the download and then restart INAV. SLAB_ USBtoUART should now show as an option in the dropdown menu.if you re on a Mac and INAV is not recognizing your board, download VCP drivers directly from Download VCP for Mac OSX, open the files to complete the download and then restart INAV. SLAB_USBtoUART should now show as an option in the dropdown menu. 2

5 Reset Default Configuration From the Setup tab in INAV, click Reset Settings at any point to return to the default settings that come pre-flashed to the flight controller. As a backup, these original settings can also be manually restored from the Firmware Flasher tab in INAV. To access this tab, make sure you ve disconnected RubiQ from INAV: Download the hex file to your computer from Select Full Chip Erase. Choose Load Firmware [Local] (found towards the bottom of the Firmware Flasher tab) and select the RubiQ hex file. Make sure RubiQ is connected to the computer through the micro USB cable, then click Flash Firmware to restore RubiQ s original settings, which can also be referenced in the screen captures shown below. 3

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11 1 Binding the Receiver to the Radio WARNING! Remove props and attach the antenna before binding the receiver to the radio. RubiQ comes with a PPM receiver, which means it s compatible with FrSky Taranis radios. To establish the connection between the drone and the radio, follow the Taranis binding procedure: Start with RubiQ disconnected from the battery and from the computer. Turn on your Taranis with the On/Off switch located in the middle of the controller. Press the MENU button on the left side of the Taranis video screen to open the MODEL SELECTION screen. Use the + and buttons on the right side of the screen to highlight RubiQ as a model. Press ENT to select RubiQ. If RubiQ isn t available, the radio needs to be configured. Visit to flash a RubiQ Radio Configuration file directly to the Taranis or consult your radio s user guide for manual set-up instructions. Hit the PAGE button to open the MODEL SETUP screen. With the + button, navigate to the RECEIVER field located beneath Internal RF. Select the BIND option. To enter bind mode, press the ENT button. When the BIND field flashes and the Taranis chirps, the radio is in bind mode. While the Taranis is chirping, press and hold the small button on RubiQ s RX, which can be found on the underside of the PCB. Then, while still holding the button down, connect the LiPo battery. (This maneuver may be easier with a friend and a tool.) The chirping should continue. Make sure the cable connecting RubiQ to the computer is unplugged, so the RX isn t receiving power from the computer before the battery is plugged in. Wait to release the button until the lights come on and the beeps from the drone stop. Unplug the battery from RubiQ. Press ENT to complete the binding, and move on to the next step to see if the bind was successful. 9

12 2 Verify the RX (receiver) Channel Mapping WARNING! Remove props and attach the antenna before verifying channel mapping. To check that the bind was successful, reconnect the USB cable and battery. Then open the Receiver tab in INAV. 10

13 To check the channel map settings, throttle up and down, pitch forward and back, roll and yaw left and right and watch to see that the corresponding bars move on the screen. 11

14 If the channels aren t mapped correctly (for example, the Roll bar moves in INAV when you raise the throttle on the radio), switch the Channel Map to a different setting, save and test the sticks again. 3 Verify AUX Channel Mapping WARNING! Remove props and attach the antenna before verifying channel mapping. In a flight simulator, a pilot only needs two joysticks to control the on-screen drone everything else is already taken care of by the virtual flight program. In real life, a number of other switches are needed to actually fly your drone. You ll need these to set the flight mode, activate safety features and arm or disarm the drone incredibly important features of safe piloting, both for spectators and RubiQ herself. These switches on the radio controller are configured in INAV. The recommended switch inputs and functions for RubiQ are: Channel 5: SG (Arm/Disarm) Channel 6: SE (Flight Mode) Channel 7: SA (Position Hold and Return to Home) Channel 8: SF (Beeper) 12

15 Flight Mode (SE) Beeper (SF) Arm (SG) Position Hold/Return to Home (SA) Power Note: Radios purchased directly from PCS come with RubiQ s inputs pre-configured as outlined above. If your radio has been purchased elsewhere or tinkered with extensively, visit downloads/ to flash a RubiQ Radio Configuration file directly to the Taranis or consult your radio s user guide for manual set-up instructions. 13

16 To check the AUX channel mapping, reconnect the USB cable and open the Receiver tab in INAV. Move each of the four AUX switches on the radio and watch to see that the corresponding bar moves on the Channel Map. The SG switch on the radio should control the AUX 1 bar in INAV. This will Arm and Disarm the drone. Arm (SG) The SE switch on the radio should control the AUX 2 bar in INAV. This will set the Flight Mode. Flight Mode (SE) 14

17 SA controls AUX 3. This will activate Position Hold and Return to Home. Position Hold/Return to Home (SA) SF controls AUX 4. This will be the Beeper. Beeper (SF) If the channels aren t mapped correctly (for example, AUX 1 moves when you flip the SF switch), switch the Channel Map to a different setting, save and test the sticks again. If the channels still don t line up, the radio may need to be reflashed to the original settings or manually reprogrammed. 15

18 4 Configuring AUX Switches WARNING! Remove props and attach the antenna before configuring aux switches. To set the function controlled by each switch, some additional code needs to be added to the CLI in INAV. This code also resets the warning battery voltage to 3.5V to account for the dip that can occur when the drone draws heavily on the battery during flight. Copy the following text: aux aux aux aux aux aux aux aux aux aux aux aux aux aux aux aux aux aux aux aux set vbat_warning_cell_voltage = 35 Open the CLI tab in INAV. Note: be sure the SF switch is flipped away from you. The code you re about to enter sets the SF switch to control RubiQ s Beeper. 16

19 Paste the copied code in the text box towards the bottom of the page, then press ENTER. Type save and press ENTER again. The system will automatically reboot. 17

20 Open the Modes tab in INAV. In order to test the new setting you just programmed, you ll need to have the battery attached. Scroll down in the Modes tab to see all the settings now programmed to the flight controller. Arm State (whether or not the motors can be powered) should be set to AUX 1, which is mapped to the SG switch on the Taranis. Move the switch all the way towards you to arm the drone. You ll hear, Engine On. The blue ticker below the ARM bar should move into the blue range. Because GPS-lock is enabled, the box labeled ARM at the beginning of the bar will not turn blue. That color change indicates that the drone has successfully armed. It will not turn blue until a GPS lock has been established. 18

21 The second bar controls Flight Modes and should be set to AUX 2, which is mapped to the SE switch on the Taranis. Move the switch all the way away from you for Rate Mode (the blue ticker should be below the gray section of the bar) and to the middle for Angle Mode (this should move the ticker into the blue). The box at the beginning of the bar turns blue when Angle Mode is successfully activated. Scroll down to the NAV ALTHOLD bar, which is also mapped to AUX 2. Move the SE switch all the way towards you to trigger Altitude Hold. Without GPS-lock, the NAV ALTHOLD box will not turn blue. GPS Safety Features should be set to AUX 3. Move the SA switch to the middle for Position Hold and all the way forward for Return to Home/Launch. These boxes will also not turn blue until a GPS-lock has been established. The Beeper should be set to AUX 4, which is set to the SF switch on the Taranis. Flip the switch forward to trigger the Beeper, which will also blue-out the box at the beginning of the bar. Move the SF switch back to stop the beeping. 19

22 To check the warning voltage update, open the Configuration tab in INAV and scroll down to the Battery Voltage section. The Warning Cell Voltage should be set to 3.5 to maximize flight time without compromising long-term battery life. 20

23 5 Verify LED Configuration WARNING! Remove props and attach the antenna before connecting the battery. Connect RubiQ to INAV and scroll down to the LED Strip tab. The wire ordering comes preconfigured to match the placement of the LED s on the drone. The middle strips show the top of the PDB and the two outer arches show the LED s on the bottom, with left corresponding to left and right to right when the drone is facing away from you. Click on any LED to see what function it s been programmed to perform. 21

24 FUNCTIONS: GPS: The corner LED s (0, 5, 6, 11, 12, 17, 18 and 23) show as dark green in INAV, indicating that they re set to show GPS Function. Red light signals No Satellites (which you ll probably see anytime you re inside). Orange signals that Satellites Are Detected but not locked. Green shows that a GPS Connection is established. The number of green flashes communicates the number of connected satellites. Note: since GPS lock is enabled, the drone won t arm without a GPS connection. Arm State: The LED s just inside the GPS Indicator lights (1, 4, 7, 10, 13, 16, 19 and 22) are solid blue in INAV, meaning their function is set to Arm State. When the drone is armed, these lights turn blue. Green lights indicate that the drone is disarmed. Color: The inner LED s (2, 3, 8, 9, 14, 15, 20 and 21) show up in INAV as lime green with a rainbow color border. This indicates that the function is set to show the color green. OVERLAYS Warning: The tiny red dot in the upper left corner of the inner LED s (2, 3, 8, 9, 14, 15, 20 and 21) signals that the Warning Overlay is turned on. With this overlay active, a green flash indicates that Arm-lock is enabled, meaning that the drone will not arm until it has established a GPS-lock (this is enabled by default). Flashing red means the Battery is Low (3.7V is the default warning cell voltage setting). A blue flash means at least one Critical Hardware Malfunction, meaning a component is not working properly. If you see light-blue and yellow, you need to Enable Failsafe. Note: To enable any other LED settings, visit 22

25 6 Verify Motor Rotation WARNING! Remove props and attach the antenna before calibrating the ESC s. Connect RubiQ to INAV. Read the Motor Test Mode Notice at the bottom of the page, then click to Enable Motor Control. Attach the battery. From the Motors tab, move the Master Control slide up just slightly, until the motors are just barely spinning. Observe and gently touch the sides of the motors to make sure their orientation matches the image below. After ensuring proper rotation, slide the Master Control back down and stop the motors. Note: If any motors don t match, go back and check to see that they were installed in the correct orientation. 7 Calibrate ESC s WARNING! Remove props and attach the antenna before calibrating the ESC s. Connect RubiQ to INAV without a battery and open the Motors tab. 23

26 Calibrating the ESC s sets the maximum and minimum throttle values: Read the Motor Test Mode Notice and toggle to verify that the propellers are removed before Enabling Motor Control. Slide the Master Control all the way to the top, then plug in the battery. Don t be afraid! Rather than actually activating the motors, this sets the maximum throttle value for the ESC s. A happy tone will play to signal that the calibration was successful. Move the Master Control all the way down to the bottom. This sets the minimum throttle value and triggers a second happy tone. If you ve set the maximum and minimum throttle values correctly, RubiQ will finish singing and you can unplug the LiPo battery. 8 Calibrate The Accelerometer WARNING! Remove props and attach the antenna before calibrating the accelerometer. Connect RubiQ to INAV and open the Setup tab. 24

27 Hold Rubi upside down, with the camera facing any direction. This is position 1 of the 6-point calibration. To keep track of your progress through the 6 steps, click Show Log in the upper right. INAV will report Accelerometer calibration finished after each step. Press the Calibrate Accelerometer button to activate the advanced calibration and record the first data point (Rubi upside down). You ll need to record 5 more points of calibration. INAV s algorithm will do the rest. To record the other data points, hold RubiQ in each position, then press the Calibrate Accelerometer button to capture the data. It s okay if the drone isn t perfectly aligned, as long as the positions are roughly 90 degrees apart and held stationary when the data is captured. 1. upside down 2. right side up (normal flat) 3. left side 4. nose up 5. right side 6. nose down Rubi will beep twice after each of the first five steps and once after the last if the calibration was successful. The pre-arming check will also show a green checkmark next to Accelerometer Calibrated. If you don t hear the single beep at the end or the green checkmark does not appear, there s no need to reset to default settings. Just disconnect RubiQ from INAV and start the accelerometer calibration again. If the calibration was successful, click Hide Log to return INAV to full screen. 25

28 9 Set Magnetic Declination Go to the Configuration tab and scroll down to the GPS section. Look up the declination for your zip code on the NOAA website at Enter your zip code, click Calculate, and then adjust the degrees in INAV. For example, if the declination is 13 28' enter into INAV. Click Save in the lower right corner to set the new declination. The final step of the magnetometer calibration requires spinning RubiQ in a circle, so it s easier when the drone isn t tethered by the USB cord. Save this step to do outside during the pre-flight check: Use the stick commands on the radio. You ll have 30 seconds of beeping to spin the drone on all three axes. Once you ve calibrated the compass, it doesn t need to be recalibrated unless you take RubiQ to a different city or reset the firmware. CALIBRATE COMPASS 26

29 TROUBLESHOOTING GUIDE The drone is not connecting to INAV. Make sure the USB cable is connected to the port on the PCB, not the flight controller. Check that the port dropbox in the top right is set to the correct option. The exact name of the port depends on the computer being used. Common names include USBtoUART and COM3. After changing the port in the dropbox, click the Connect button to restart the connection process to see if the problem has been fixed. If you re on a Mac and don t see any options other than Bluetooth and Manual Selection in the port dropbox, INAV is not recognizing the board. Download VCP drivers directly from Download VCP for Mac OSX, open the files to complete the download and then restart INAV. SLAB_USBtoUART should now show as an option in the dropdown menu. If INAV suddenly disconnects Rubi while you re configuring, restart the computer and try again. The drone is not responding to radio controls. Make sure the drone is bound to the radio. Be sure the master/main radio controller has switches in the correct position for Return to Home, Angle Mode, etc. Check the radio s power and charge if needed. Check the power on the drone s battery and charge if needed. Verify the channel mapping in INAV. The drone won t arm. Check the GPS indicator lights. Since GPS Lock is enabled, Rubi will not arm unless she s connected to 7 or more satellites. Because satellite signal is blocked inside, the drone won t be able to arm. The drone crashed and needs new parts. Replacement parts can be purchased from the PCS website at LINK. The goggles are not receiving video feed. Adjust the channel on the goggles. Make sure the camera is plugged into the PCB. Be sure the goggles are connected correctly to the power source. Check the battery power of the 2S LiPo connected to the goggles and charge if needed. 27

30 The drone flies erratically. Make sure Angle Mode is engaged to ensure self-leveling. Recalibrate the gyro sensor by setting the drone on a flatter surface and plugging the battery in again. Check the prop orientation. Check the motor/esc orientation. Check all screws and make sure the hardware is tight on each arm. Recalibrate the accelerometer. Check the magnetic declination. Inspect the motors for nicks or severed wires and replace if needed. The drone descends in a spiral when it returns to home. Toilet-bowling is usually caused by a miscalibrated compass. Run through the compass calibration and check the magnetic declination in INAV. 28

31 V: 04/20/17

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