Basic ArduPiratesNG32 PreFlight Check.
Index:
- Pre Requisite .
- Configure your Radio.
- Compile and Upload the firmware.
- Setup your Drone.
- Pre Flight Check on your prefer Arducopter Configurator.
- Check your sensor.
- Check Radio.
- Connect ESC and Motor.
- Check the motor feedback using Stick or IMU.
Prerequiste for this webinar.
Software :
- VRide 0.0.3 Alpha (07-03-11) installed.
Hardware:
- MP32
- IMU OilPan
- RC Trasmitter
- RC Receiver 6 Channel.
- 4 x ESC
- 4 x Motor
- Magnetometer. (Optional)
- Gps (optional)
Configure your Radio :
Open the Radio Example :
Open Example AP_RC MP32_Radio_RC :
Build it
Upload on MP32 .
Result will be on Serial port 3 , telemetry port:
MP32 RC library test
CH:1504,1500,1508,1495,1500,1500,1500,1500,
CH:1504,1500,1508,1495,1500,1500,1500,1500,
CH:1504,1500,1508,1495,1500,1500,1500,1500,
CH:1504,1500,1508,1495,1500,1500,1500,1500,
CH:1504,1500,1508,1495,1500,1500,1500,1500,
CH:1504,1500,1507,1499,1500,1500,1500,1500,
CH:1504,1500,1507,1499,1500,1500,1500,1500,
CH:1504,1500,1507,1499,1500,1500,1500,1500,
CH:1504,1500,1507,1499,1500,1500,1500,1500,
0 1 2 3 4 5 6 7
So now move your stick and identify the follow cahnnel :
RUDDER = [channel that you see move when move YAW stick]
THROTTLE = [channel that you see move when move THROTTLE stick]
PITCH = [channel that you see move when move PITCH stick]
ROLL = [channel that you see move when move ROLL stick]
AUX = [channel that you see move when move switch or poti of AUX ]
AUX1 = [channel that you see move when move switch or poti of AUX ]
The working channel on MP32 are only 6 in standard PPM input :
Ch1
Ch2
Ch3
Ch4RESERVED
Ch5
Ch6 RESERVED
Ch7
For example my configuration is :
RUDDER= 3
THROTTLE = 0
PITCH = 1
ROLL = 5
AUX = 4,6 -> CH_5
AUX2 = 2 -> CH_6
At this point open ArduPiratesNG32
In file ARDUCOPTER.H find this :
copy the configuration :
// Radio related definitions
#define CH_ROLL 5
#define CH_PITCH 1
#define CH_THROTTLE 0
#define CH_RUDDER 3
#define CH_1 0
#define CH_2 1
#define CH_3 2
#define CH_4 3
#define CH_5 4 ‘AUX
#define CH_6 2 ‘AUX2
#define CH_7 6
#define CH_8 7
#define CH_9 8 // PL3
#define CH_10 9 // PB5
#define CH_11 10 // PE3
At this point recompile the code and try if the new configuration is ok using Arducopter Configurator
Compile and Upload the firmware.
Check this link where you can found usefull information about upload the code :
Setup Your Drone.
Connect your Terminal to Serial 3
When you power on your drone if all it’s ok you see flashing the led on oilpan. When the led finish to flash then appear on terminal this text :
ArduPirate v2.010000
You will find serial data on the Telemetry port.
No commands or output on this serial port, check your Config.h if you need to change this.
2.010000
ArduPirate
Type '?' to activate the CLI Menu.
if you tipe ‘?’ appear the settings menu .
MP32 Reply :
ArduPirate v.2.010000 CLI Menu - Main
----------------------------------------------
1 - Initial Setup
2 - Camera settings
3 - Show settings
4 - PID Tuning
5 - Reset...
9 - Save settings to EEPROM
0 - Exit CLI menu
Type your choice, followed by Enter;
Type 5
MP32 rely :
ArduPirate v.2.010000 CLI Menu - Main
----------------------------------------------
1 - Initial Setup
2 - Camera settings
3 - Show settings
4 - PID Tuning
5 - Reset...
9 - Save settings to EEPROM
0 - Exit CLI menu
Type your choice, followed by Enter;
. . . .
ArduPirate v.2.010000 CLI Menu - Reset...
----------------------------------------------
1 - Reset settings and set default values
2 - Erase logs
Type 1Y then push send
MP32 reply :
9 - Back to main menu
Type your choice, followed by Enter;
Reseting EEPROM to default!
Hit 'Y' to reset factory settings, any other and you will return to main menu!
Reseting to factory settings!
Saving to EEPROM
Done..
Now the new setting is saved in eeprom …
after this selection is important to POWER OFF
and POWER ON your DRONE .
After this settings is possible to check che configuration :
if you type T you can have info about the
AP Mode = Normal Stable Mode
Flight Mode = Acrobatic Mode
Airframe = Octa
no new gps data: Lat:0.000000 Lon:0.000000
of if ypu type 3 in menu show parameter you can see a lot of info about the PID configuartion etc
Type your choice, followed by Enter;
ArduPirate - Current settings
--------------------------------------
Firmware : 2.010000
Magnetom. offsets (x,y,z): 0.000000, 0.000000, 0.000000
Accel offsets (x,y,z) : 2048, 2048, 2048
Min Throttle : 1040
Magnetometer : Disabled
Camera mode : 0
Current camera smooth values (Tilt, Roll, Center): 1000, 1140, 1570
Camera Trigger values (Focus, Trigger, Release): 1710, 1780, 1500
Sonar PID: 0.800000, 0.300000, 0.700000
Obstacle SafetyZone: 120.000000
Roll PID: 0.100000, 0.000000, 0.030000
Pitch PID: 0.100000, 0.000000, 0.030000
MaxAngle: 10.000000
Type 0 or ? to show the CLI menu when you're done.
If you want setup the accelerometer you can choose in main menu:
. . . .
ArduPirate v.2.010000 CLI Menu - Main
----------------------------------------------
1 - Initial Setup
2 - Camera settings
3 - Show settings
4 - PID Tuning
5 - Reset...
9 - Save settings to EEPROM
0 - Exit CLI menu
Type your choice, followed by Enter;
Choose 1 (initial Setup)
. . . .
ArduPirate v.2.010000 CLI Menu - Initial Setup
----------------------------------------------
1 - Calibrate accelerometer
2 - Calibrate magnetometer
3 - Toggle magnetometer
4 - Set throttle minimum
5 - Calibrate ESCs
6 - Run motors (test)
7 - View motor debug
9 - Back to main menu
Type your choice, followed by Enter;
And try to choose 1 Calibration Accelerometer.
Initializing Accelerometer..
Sampling 50 samples from Accelerometers, don't move your ArduCopter!
Sample: Acc-X Axx-Y Acc-Z
1: 2049 2012 2471
2: 4095 4026 4938
3: 6143 6039 7406
4: 8191 8053 9875
5: 10240 10066 12344
6: 12288 12079 14813
7: 14336 14092 17283
8: 16385 16106 19752
9: 18434 18119 22221
10: 20482 20132 24690
11: 22531 22146 27159
12: 24580 24159 29627
13: 26628 26172 32097
14: 28676 28186 34564
15: 30722 30200 37033
16: 32770 32214 39502
17: 34819 34228 41973
18: 36868 36241 44443
19: 38916 38255 46913
20: 40964 40269 49381
21: 43012 42283 51850
22: 45058 44297 54319
23: 47107 46310 56788
24: 49155 48323 59258
25: 51203 50335 61727
26: 53251 52348 64199
27: 55299 54362 66668
28: 57347 56375 69139
29: 59395 58389 71608
30: 61444 60402 74077
31: 63493 62415 76548
32: 65543 64428 79016
33: 67593 66441 81487
34: 69642 68455 83957
35: 71690 70468 86426
36: 73738 72481 88896
37: 75787 74494 91366
38: 77836 76507 93834
39: 79884 78520 96303
40: 81933 80533 98773
41: 83983 82545 101243
42: 86032 84558 103712
43: 88078 86572 106181
44: 90126 88586 108650
45: 92174 90599 111119
46: 94223 92613 113588
47: 96271 94627 116057
48: 98319 96640 118526
49: 100367 98653 120997
50: 102415 100666 123469
Offsets as follows:
2048 2013 2062
Final results as follows:
0 0 408
Final results should be close to 0, 0, 408 if they are far (-+10) from
those values, redo initialization or use Configurator for finetuning
Saving values to EEPROM
Saved..
Now you had setting the zero of your accelerometer .
Connect ESC and Motor.
On JP1 connector for Quad + configuration you need to connect :
JP1-1 Right Motor.
JP1-2 Left Motor.
JP1-3 Front Motor.
JP1-5 Rear Motor.
Pre Flight Check on your prefer Arducopter Configurator.
- Check your sensor.
- Check Radio.
- Check ESC and Motor.
- Check the motor feedback using Stick or IMU.
This is the video of first beautifull flight of Multipilot32 with Ardupirates32NG
This is only a starting point of this documents , suggestions and update by the user are welcome.
Best Roberto
Replies
Hi Thomas,
if you are interest to buy MP32 + VRIMU you can send a mail to virtualrobotix@gmail.com , if you are need more technical info we are available in skype and contact virtualrobotix to your skype contacs.
My email is : lasernav@gmail.com
MP32 is compatible with standard Arducopter accessories and firmware . We port to MP32 Ardcopter NG and Arducopter 2.0 . If you use AC 2.0 you can use all ground station that support mavlink protocol.
Best
Roberto