Difference between revisions of "Microduino-Quadcopter Tutorial"

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(title enhanced,one of the makers added)
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==Outline==
 
==Outline==
−
*Project: Microduino Quadcopter
+
Quadcopter is a kind of aircraft that is equipped with four propellers. Similar to the helicopter, it can finish the action of hover and flight. A traditional helicopter uses a main rotor to generate thrust and a tail rotor to offset the torque from the main rotor, namely, locking the tail. While the quadcopter adopts positive and negative propeller design and therefore, needs no extra structure to lock the tail. For propellers distribute symmetrically in the shape of a cross. The No. 1 and No. 2 propellers rotate anticlockwise while the No.3 and No.4 rotate clockwise. When the four propellers generate the same thrust, the anti-torque imposed on the body by the two groups offset, balancing in the vertical direction and making sure flight stability.  
−
*Purpose: To control quadcopter via Microduino Joypad.  
+
|-
−
*Difficulty: High
+
|According to the user-defined fore and aft direction of the aircraft, the quadcopter can be divided into the cross mode and X mode. The cross mode means that the fore and aft direction points to a certain propeller and the X mode refers to that the fore and aft direction points to the middle of two propellers.
−
*Time-consuming: Six-hour
+
|-
−
*Maker: Microduino Studio-PKJ & Microduino Studio-Joseph Leung
+
|For most aircraft adopting X mode, the X mode is harder to control but more flexible.
  
−
==Bill of Materials==
+
[[File:_Pitchd_Roll.jpg|center|400px]]
 +
 
 +
==Principle==
 +
===System Structure===
 +
[[File:jiagou.PNG|center|300px]]
 +
As the picture shows, the quadopcter consists of a remote controller, a flight controller and four motors. And for the flight controller includes a microcontrller, a remote control signal reciing module, a sensor(A gyroscope, an accelerator, an electronic compass and a GPS module.) and a motor driving module.
 +
===Flying Principle===
 +
====Vertical Motion====
 +
Vertical motion includes rising or falling vertically. As the text mentioned previously, the quadcopter can keep balance horizontally by four motors maintaining the same rotation rate. As you can see from picture 2.2.1, if the four motors increase to the same speed, the generated thrust will be large enough to overcome the quadcopter weight and rise, and vice versa. Under the condition of no surrounding interruption, the four motors can generate enough thrust to overcome the weight and therefore, the quadcopter can suspend in the air.
 +
|-
 +
|The quadcopter can fly steadily in the vertical direction as long as the four motors maintain the same speed. 
 +
[[File:chuizhi-sport.jpg|center|300px]]
 +
 
 +
 
 +
====Front & Lateral Motion====
 +
The motor 1 is the head of the aircraft and the motor 2 is the rear.
 +
<br>How does the quadcopter move forward?
 +
Get a thrust in the horizontal direction: By increasing the speed of the motor 2 and the thrust increases in the rear. By decreasing the speed of the motor 1, the thrust will get reduced in the head. In this case, the aircraft will move forward. At the same time, by maintaining the speed of the motor 3 and 4 to keep the anti torque balance, the aircraft will fly forward steadily and vice versa. 
 +
<br>Since the quadcopter is symmetrical in the middle, the action of controlling the quadcopter forward or laterally is similar. Just keep in mind, the control of the two groups of motors should be reversed while trying to fly the aircraft laterally. For example, by keeping the speed of the motor 1 and 2 the same, increasing the speed of the motor 4 and decreasing the speed of the motor 3, it will generate horizontal thrust to the left and the aircraft will move left. 
 +
<br>
 +
<br>
 +
{| style="width: 800px;" | colspan="2" |
 +
|-
 +
| style="width:300px" align="left"|
 +
<br>
 +
[[File:head-back-sport.jpg|enter|300px]]
 +
 
 +
| style="width:500px" align="left"|
 +
<br>
 +
[[File:right-left-sport.jpg|center|300px]]
 +
|-
 +
|
 +
|}
 +
<br>
 +
<br>
 +
 
 +
====Yawing Motion====
 +
The three kinds of motion mentioned above all happen in the directions of the three axes. Next, we'll introduce the motion around the three axes.
 +
|-
 +
|Yawing motion is the rotation in the horizontal direction, nanely rotation around the Z-axis.
 +
During the rotation, it will form an anti-torque opposite to the rotation due to air resistance. Yawing rotation is realized by using the reverse torque.  When the aircraft suspends, the speed of the four motors is the same, which can offset torque in both horizontal and vertical direction, and achieve balance. When the speed of the four motors is different, unbalanced anti-torque will cause horizontal rotation and the aircraft will deviate from the route.  As the picture shows, by increasing the speed of the motor 1 and 2, and decreasing that of the motor 3 and 4, the clockwise anti-torque generated by the motor 1 and 2 will be larger than the counter clockwise anti-torque generated by the motor 3 and 4, causing clockwise rotation of the aircraft horizontally  and generating no vertical displacement when there is no change in the thrust upside.
 +
 
 +
====Pitch and Roll Motion====
 +
Pitch motion refers to the rotation in the Y-axis direction while the roll motion refers to the rotation in the X-axis direction.
 +
|-
 +
|As the picture shows, by increasing the speed of the motor 1 and decreasing that of the motor 2, and keeping the same of the variable quantity as well as the speed of the motor 3 and 4: The thrust of the head is larger than that of the rear. The unbalanced torque makes the body rise. Similarly, the roll motion is realized by reducing the speed of the motor 1 and increasing that of the motor 2, generating a torque forward.
 +
|-
 +
|The principle of the roll and pitch motion is the same due to symmetry in the middle. By keeping the speed of the motor 1 and 2 unchanged, and changing the speed of motor 3 and 4, it'll generate unbalanced torque and make the aircraft rotate around the X-axis direction.
 +
{| style="width: 800px;" | colspan="2" |
 +
|-
 +
| style="width:300px" align="left"|
 +
<br>
 +
[[File:headback-sport.jpg|enter|300px]]
 +
 
 +
| style="width:500px" align="left"|
 +
<br>
 +
[[File:turn over-sport.jpg|center|300px]]
 +
|-
 +
|
 +
|}
 +
<br>
 +
<br>
 +
 
 +
===Control Procedure===
 +
The remote controller sends out control command, such as take-off or flying left. The control signal is received wirelessly.
 +
* A remote control signal receiving module receives a control signal, which is converted into PWM, PPM or other signals and then transmitted to the flight controller.
 +
 
 +
* Micro controller uses the remote control signal and the sensor's value (the current state of the aircraft, such as acceleration, direction and other information) to control the four motor and achieve the desired action through the PWM.
 +
|-
 +
|Since the four-motor combination control can only reach to six directions, which is an under actuated system. So here we must have a flight controller to control the whole system.
 +
|-
 +
|In the flight controllers, sensors such as gyroscope and accelerator are dispensable. Micro controller can calculate data from the two sensors, get the current aircraft's attitude and then adjust the rotation rate with algorithms such PID to keep the stability. Sure you can add an electronic compass to get the direction or a GPS module to get the geographic location. Simply speaking, the quadcopter is system with two closed-loops to control---the large loop gets input volume from the remote receiving device and the small loop aquires input volume from the attitude sensor. 
 +
|-
 +
|Generally speaking, the quadcopter kit includes an aircraft and a remote controller, the two of which controls instructions through the CoreRF transmission.
 +
|-
 +
|The quadcopter is composed of a frame, Microduino-CoreRF , Microduino-Motion and other modules. For Microduino-motion, it integrates a three-axis gyroscope + a three-axis accelerator(MPU6040), a magnetic field intensity sensor(HMC5883L) and a digital pressure sensor(BMP180), and have communication through IIC.
 +
|-
 +
|MPU6050 is the most important attitude sensor with a three-axis accelerator and a three-axis gyroscope integrated inside, which not only offsets adjustment errors for the combination of a three-axis accelerator and a three-axis gyroscope, and also has a built-in low pass filter.
 +
 
 +
==Buildup and Debugging ==
 +
===Bill of Materials===
 
*Microduino Equipment  
 
*Microduino Equipment  
 
{|class="wikitable"
 
{|class="wikitable"
Line 16: Line 96:
 
|Module||Number||Function  
 
|Module||Number||Function  
 
|-
 
|-
−
|Microduino-Core||2||Core Module
+
|Microduino-CoreRF||1||Core board
 +
|-
 +
|Microduino-USBTTL ||1||Program download module
 
|-
 
|-
−
|Microduino-USBTTL ||1||Program Download
+
|Microduino-Motion ||1||Attitude adjustment
 
|-
 
|-
−
|Microduino-10DOF ||1||Position Stabilization
+
|Microduino-QuadCopter||1||Quadcopter driver
 
|-
 
|-
−
|Microduino-BT||2||Wireless Communication
+
|2.4G Antenna||1||  
 +
|}
 +
 
 +
*Other Equipment
 +
{|class="wikitable"
 
|-
 
|-
−
|Microduino-Joypad ||1||Remote Control
+
|Component||Number||Function
 
|-
 
|-
−
|Microduino-TFT||1||Display
+
|USB Cable||1||
 
|-
 
|-
−
|Microduino-QuadCopter||1||Four-aix Motor Drive
+
|Frame ||1||
−
|}
 
−
*Other Equipment
 
−
{|class="wikitable"
 
 
|-
 
|-
−
|USB cable ||1||Program Download
+
|Battery||1||Power supply
 
|-
 
|-
−
||Framework of Quadcopter||1||Quadcopter Buildup
+
|Screw||8||
 
|-
 
|-
−
|Battery||2||Power Supply
+
|Screwdriver||1||
 
|}
 
|}
 +
[[File:四轴物料1.jpg|center|600px]]
  
−
==Document==
+
*'''Step 1'''：Install the four propellers as shown below:  
−
*Download the Quadcopter control program:  
+
[[File:Quostep1.jpg|center|600px]]
−
https://github.com/Microduino/Microduino_Tutorials/tree/master/Microduino_Advanced_Tutorial/Microduino_Joypad_QuadCopter/MultiWii
 
  
−
*Download MultiWiiConf PC Software:
+
*'''Step 2'''：Put the battery into the right place on the bottom of the frame.
−
https://github.com/Microduino/Microduino_Tutorials/tree/master/Microduino_Advanced_Tutorial/Microduino_Joypad_QuadCopter/MultiWiiConf
+
[[File:Quostep2.jpg|center|600px]]
  
−
*Download PID Configuration File:
+
*'''Step 3'''：Put the module base into the top of the frame and then insert the wires into the corresponding interface. 
−
https://github.com/Microduino/Microduino_Tutorials/tree/master/Microduino_Advanced_Tutorial/Microduino_Joypad_QuadCopter/%E9%85%8D%E7%BD%AE%E6%96%87%E4%BB%B6
+
[[File:Quostep3.jpg|center|600px]]
 +
*'''Step 4'''：Connect the antenna to the CoreRF, and then stack them to the Microduino-Motion on the base plate.
 +
[[File:Quostep4.jpg|center|600px]]
 +
*'''Step 5'''：Connect the base module and the battery with wires.
 +
[[File:Quostep5.jpg|center|600px]]
 +
*'''Step 6'''：Paste the antenna on the CoreRF to the back of the frame. Congratulations! You just finished the Quadcopter buildup.
 +
[[File:Quostep6.jpg|center|600px]]
 +
**Please be noted of the electrode of the two wires, which is "red wire connects to red wire" and "black to black".
 +
**Make sure all wires are connected well in order to prevent accident while flying.
  
−
==Introduction==
+
===Program Download Debugging ===
−
===Principle===
+
*Make sure you build Microduino IDE. If not, please refer to: [[Microduino Getting started]]
−
Quadcopter, also called a quadrotor helicopter, is similar to a helicopter, which can fly or be suspended in the air. Like a traditional helicopter, it adopts a main rotor to generate lift and a tail rotor to offset the torque generated by the main rotor (Namely head-locking). Different from that drive method, The diagonal motor of the quadcopter adopts the pros and cons propeller design. So it needs no extra framework to have heard-locking. As it is shown in the picture 1.1, the No. 1 and No. 3 propellers are a pair of diagonal pros and cons propellers, and the No. 2 and No.4 are another pair. When the rotational speed keeps the same, the torque generated by the pro propeller will offset the the torque generated by the cons propeller to keep the direction unchanged (As the arrow shows). In the schematic diagram, the most common quadcopter is the X-shaped. (There is also a kind of cross-like quadcopter, which is easy to recognize but has a poor mobility. ) 
+
*Code: [https://github.com/wasdpkj/MultiWii_for_Microduino/ MultiWii_for_Microduino]
 +
*Stack Microduino-CoreRF and Microduino-USBTTL together, and connect them to the computer with a MicroUSB cable.
 +
*Open Arduino IDE, click【File】->【File】, open the program 【MultiWii_RF】 of MultiWii_CoreRF and select Microduino-CoreRF from the Board under Tools.
 +
*Click "Tools", select the board (Microduino-CoreRF), choose COM-XX  and then upload the program. After that, please click "√" on the top left and compile, then click and complete the programming of hardware.
 +
[[File:Microduino-CoreRF_Pitch_Roll.jpg|center|400px]]
  
−
[[File:Microduino_QuadCopter_Introduction1.jpg||600px|center|thumb]]
+
The Microduino-USBTTL download module can only be used in program download, serial debugging and calibration of the Quadcopter, which needn't be stacked at other times.  
  
−
Quadcopter can finish four basic motions including rise and fall, pitch, roll and yaw. Rise and fall means the aircraft goes up vertically. The rising process is achieved by four motors speeding up at the same time. So does the falling process. Pitch means the aircraft tilts forward or backward, which is achieved by speeding up the No.3 and No.4 motors. Roll is actually that the aircraft tilts leftwards or rightwards, achieved by speeding up the NO.2 and No. 3 motors. Yaw is the deviation of the aircraft’s head, which is achieved by speeding up the No. 2 and No.4 motors. Players can watch and have a better understanding during the process of installing and debugging the quadcopter.  
+
===Quadcopter Adjustment ===
 +
====Preperation====
 +
*Stack the Microduino-CoreRF, Microduino-Motuion and Microduino-USBTTL, then connect them to the base plate.  
 +
[[File:Microduino_QuadCopter_Software11.jpg|400px|center]]
  
−
===Structure===
+
*Open the Quadcopter file and select "MultiWiiConf \application.windows32 \MultiWiiConf.exe" to adjust parameters of the Quadcopter.  
−
The structure schematic diagram is shown below. The simplified system is consist of a remote control signal receiver, an aircraft controller and four motors. The remote control signal receiver converts the received signal to the format of PWM or PPM and send it the aircraft controller. The controller controls the four motors via PWM and achieves its expected motion according to the remote control signal it receives as well as the sensor value. It is necessary for the aircraft controller to contain the gyroscope and the accelerometer. The position of the quadcopter is calculated through the data acquired from the two sensors and controls the rotating rate through algorithm like PID after the calculation. Off cause, you can also locate the aircraft’s head adding an electronic compass and GPS to locate the quadcopter. To be simple, quadcopter is a closed-cycle control system with two loops--the bigger loop is input by a remote control receiver and the smaller one is input by the attitude sensor. 
+
'''Note: The file needs to be opened under JAVA development environment or adopt Microduino_Joypad_QuadCopter\java to install.
−
[[File:Microduino_QuadCopter_Introduction2.jpg||600px|center|thumb]]
 
  
−
For general fixed-wing model aircraft, the controller is not that necessary and some player won’t install it on the fixed-wing model aircraft. Different from that, the quadcopter is an underactuated system with three degrees of freedom and four control input, which needs a control system to take charge.
+
====Sensor Calibration====
−
Off cause, there are some tech details remaining to be designed in the process, such as the reading-in data of the sensor needed to be filtered and the PID algorithm of the pitch, roll and yaw acquired to be adjusted.  
+
*Put the Quadcopter on the desk, click RECONNECT, you'll the curve of the sensor data; Click CALIB_ACC and keep stable of the Quadcopter for 5s, the accelerator will be calibrated; Click WRITE and write the values into the Quadcopter.  
  
 +
*Click CALIB_MAG and take the Quadcopter to rotate around the modules to calibrate the electronic compass. After that, please put the Quadcopter on a smooth place and click WRITE to write values into the Quadcopter after the compass being balanced.
  
−
==Advantages==
+
[[File:RF_Pitch_Roll.jpg|center|600px]]
−
Microduino  adopts the unique U-shaped 27Pin interface standard(UPIN-27) with compact size (25.4mm X 27.95 mm) just like a quarter. All modules can be stacked together through UPIN-27, delivered ready to plug in.
+
−
Microduino-Quadcopter only needs five functional modules and the 330 Rack Mont Kits recommended at the least to work. (Microduino-Core, Microduino-10DOF, Microduino-BT, Microduino-QuadCopter and Microduino-Joypad.) And you only need to stack them together, which is very simple.  
+
====PID Parameter Setting ====
 +
Click LOAD to load setting files and select pku.mwi to input, as shown below:
 +
[[File:Microduino_QuadCopter_MultiWiiConf4.jpg|600px|center]]
  
 +
====Flying Mode Setting ====
 +
|-
 +
|
 +
 +
 +
Click SELECT SETTING on the right side of the PID, we can see various flight patterns and a two-dimensional table corresponding to the auxiliary switch. A combination of a switch or multiple switches can be specified as a flight mode. We recommend that players follow the following chart to set the flight mode.
 +
|-
 +
| The setting method is to click the left mouse button in the square. The gray square will become white, such as the figure below by clicking three white squares (this should be gray).
 +
|-
 +
| This specifies the corresponding flight mode in such a switch position. ANGLE is a steady mode, which helps us to fly the Quadcopter. You can click WRITE to set up the numerical control writing.
 +
 +
 +
[[File:Microduino_QuadCopter_MultiWiiConf_ANGLE.jpg|600px|center]]
 +
 +
Close the MultiWiiConf serial port after setting up the flight mode, you can take down the Microduino-USBTTL module, completing the assembly and debugging of the whole flight controller.
 +
 +
====Troubleshooting with Sensor Values====
 +
This method can help to eliminate the problem of aircraft in direction. It can be used to display the correct direction of the control board installation or if there is no proper control board type in "config.h".
 +
* Tilt to the right side of the fuselage:
 +
**MAG_ROLL, ACC_ROLL and GYRO_ROLL values increase
 +
**MAG_Z and ACC_Z values reduce
 +
* Move the fuselage forward (rear up):
 +
**MAG_PITCH, ACC_PITCH and GYRO_PITCH values increase
 +
**MAG_Z and ACC_Z values reduce
 +
*Turn the fuselage in a clockwise direction (yaw):
 +
**CYRO_YAW numerical value
 +
* body level:
 +
**MAG_Z and ACC_Z values are positive
 +
 +
==Remote Controller（Microduino-Joypad）Buildup & Debugging==
 +
As it mentioned previously, the remote controller is composed of the control board (Microduino-Joypad), the microcontroller (Microduino-CoreRF), thedisplay module (Microduino-TFT) as well as download and debugging module (Microduino-USBTTL).
 +
*Microduino Modules
 +
{|class="wikitable"
 +
|-
 +
|Module||Number||Function
 +
|-
 +
|Microduino-CoreRF||1||Core board
 +
|-
 +
|Microduino-USBTTL||1||Program download
 +
|-
 +
|Microduino-Joypad||1||Remote controller
 +
|-
 +
|Microduino-TFT||1||Display screen 
 +
|-
 +
|2.4G antenna||1||
 +
|-
 +
|TFT cable||1||
 +
|}
  
−
==Buildup and Debugging of the Quadcopter==
+
*Other Equipment
−
===Hardware Assembling===
 
 
{|class="wikitable"
 
{|class="wikitable"
 
|-
 
|-
−
|Module||Number||Function
+
|Module||Number||Function  
 +
|-
 +
|Rod cover||1||
 
|-
 
|-
−
|Microduino-Core||1||Core board
+
|Key cover ||1||
 +
|-
 +
|Nylon nut||1||
 
|-
 
|-
−
|Microduino-USBTTL ||1||Program download
+
|Nylon screw ||1||
 
|-
 
|-
−
|Microduino-10DOF ||1||Attitude stabilization
+
|Screwdriver||1||
 
|-
 
|-
−
|Microduino-BT||1||Wireless communication
+
|2.4G antenna||1||
 
|-
 
|-
−
|Microduino-QuadCopter||1||Four-axis drive 
+
|TFT cable||1||
 
|}
 
|}
 +
[[File:Joypad物料.jpg|center|600px]]
 +
===Joypad Buildup &Debugging===
 +
====Joypad Buildup====
 +
[[File:Joypad步骤.jpg|center|600px]]
 +
* * Note: The picture is not good because of the effect of the page, please click to see the big picture.
 +
*'''Step 1''': Download program for the Microduino-CorRF of Joypad.
 +
* * open the Joypad_RC program in the MultiWii_CoreRF, select the right board and port for program download after the compiler is finished.
 +
*'''Step 2''': Put the Microduino-TFT on the back of the Microduino-Joypad panel and fixate it with nylon screws, pay attention to the installation direction of Microduino-TFT.
 +
 +
*'''Step 3'''：As it is shown in the picture, you can fixate the Joypad with nylon nuts and screws. Insert the 2.4G antenna into Microduino-CoreRF and connect them to the base plate of Microduino-Joypad. 
 +
 +
 +
*'''Step 4'''：Connect Microduino-TFT and Microduino-Joypad with cables.
 +
 +
*'''Step 5'''：Put the switch on the battery to the side of "Dry bat(1.5V)", install the battery (AAA battery)  to the battery box; Open the switch on the right side of the Joypad to see if it is powered. If not, please use the USB data cable to connect to the left of the MicroUSB interface to activate the system.
 +
|-
 +
|You can also not use the battery. The power supply can also be achieved through a USB cable. 
 +
 +
 +
*'''Step 6'''：Use nylon screws to fix the bottom plate and the panel. The remote sensing cap is installed on the rocker, and the button cap is installed on the button. (If the key is not connected well with the upper plate of the key, you can insert the key into the key interface, and then connect with the bottom button.
 +
 +
 +
*'''Step 7'''：You can open the power switch and see if is the power supply is normal. 
 +
 +
====Joypad Buildup Debugging====
 +
*Key
 +
Press the Key 1 in 4s after opening the Joypad and enter (Config) mode.
 +
[[File:Step1进入设置.jpg|600px|center|]]
 +
*Enter setting mode
 +
Key1 to Key 4 from the left to the right as shown below:
 +
[[File:Step1按键对应.jpg|600px|center|]]
 +
Note: Make sure setting before entering the OS interface. 
 +
*Joystick calibration
 +
Press Key3 and Key4 to move the cursor. The Key 1 refers to "Return" and the Key 2 refers to "Confirm".
 +
Select the first item Joystick Config to enter the setting mode and the Joystick Correct to enter the calibration mode.
 +
After that, you'll see interface shown in the third picture.
 +
At this time, you can swing the rocker to the upmost and watch the results.
 +
[[File:Step2摇杆校准.jpg|600px|center|]]
 +
*Select control mode 
 +
Press Key1 to return to the main interface and select Protocol Config to enter mode selection. 
 +
Choose Mode and then Quadcopter mode, press Key 2 to confirm and return.
 +
[[File:Step3设置四轴模式.jpg|600px|center|]]
 +
*Set communication channel 
 +
Return to the secondary menu, choose Quadcopter Channel and press Key 2 to confirm. 
 +
Select 12, which corresponds to the setting of "#define RF_Channel 12" under MultiWii.
 +
[[File:Step4通信通道设置.jpg|600px|center|]]
 +
At this point, the flight controller and remote control has been assembled and the next is to combine the two and begin to test flying. Not only to practice using the joystick, but also to observe the actual flight of the aircraft to further optimize the parameters of PID.
  
−
Fixate the flight-control backplane on the main frame and set a forward direction before you do that. (The default forward direction of the flight-control backplane is the open end direction of the UPin interface.)
+
===Overall Debugging===
−
[[File:Microduino_QuadCopter_setup1.jpg||600px|center|thumb]]
+
*'''Step 1'''：Open the switch on the Microduino-QuadCopter, put it in a stable place and press the reset button, the system will calibrate the sensor, the LED light will flash on the unfinished board and go out after the calibration. At this time, please wait to unlock. If the LED lamp has been flashing, meaning the four axis is not calibrated well, please re-calibrate.
 +
*Unlock the Quadcopter
 +
**Please dial the Joypad remote control switch to the left side (Close the throttle) to prevent the accident caused by Quadcopter speeding up after unlocking. The switch on the right is allocated to the top (Unlock until reaching the maximum value11).
 +
** Pull the throttle rocker to the lowest level and wait around 2s, and the brightness of the blue LED means successful unlocking.  So you can be ready to fly the aircraft, or put the throttle rocker in the middle and operate again. If you try to unlock for many times and still fail, the n please reset the core module, calibrate the sensor and try to unlock again.
 +
[[File:Microduino12_Joypad1_ config5-quad.jpg|400px|center]]
 +
** And then put the throttle rocker to the bottom and the left upper switch the top (open the throttle switch), For the first use, it is suggested to dial the switch downside and make sure a stable flying.  
 +
[[File:Microdu1ino12_Joypad1_ config5-quad.jpg|400px|center]]
  
−
Fixate the Microduino-Quadcopter on the main frame.  
+
* You only need to gently push the throttle to see the beginning of the four propellers. Keeping speeding up make sure it's flying. A little higher will be OK, just do not close to the ground, and then keep balance through the joystick.
−
[[File:Microduino_QuadCopter_setup2.4.jpg||600px|center|thumb]]
+
[[File:Microduino_QuadCopter_Remote6.jpg|600px|center]]
 +
* In the upper left is the throttle control switch, you can open (dial above) it to control, you can shake the joystick to observe the change of the screen.
 +
* The right switch is a precision adjustment switch.
 +
*The Joystick in the left controls speeding up in the vertical direction.
 +
* The Joystick in the right controls flying in the vertical direction, which controls left and right flying in the horizontal direction.
  
−
Fixate the four motor arms on the main frame and in the process, set the head direction as follows:
+
===Phone Bluetooth Control ===
−
Generally, we set the two orange rotors in the front and the other two black ones in the back so that we can tell the head direction by the color even when the aircraft flies far away. When doing this, you also need to pay attention to the right order of CW and CCW paddle.CW paddles are marked with an A on it and CCW paddles are marked with a B.CW paddles should be fixed at left-front and right-rear.CCW paddles should be fixed at right-front and left-rear.
+
*Get prepared.
−
    
+
**Make sure the serial port of the BT and the Serial0 (D0,D1) of the Quadcopter as well as the baud rate (115200).  
−
[[File:Microduino_QuadCopter_setup2.1.jpg||600px|center|thumb]]
+
:[[file:Microduino-BT-1Big2.jpg|800px|center|Microduino-BT]]
 +
<br style="clear: left"/>
 +
**Download APP.   
 +
[[File:Qua_app.gif|center]]
 +
*Debug.
 +
Connect the BT module onto the calibrated Quadcopter, then put them on a smooth place and wait for Bluetooth connection.
  
−
Attention：The installation methods are shown as follows:
+
Open the phone Bluetooth and the Quadcopter control APP, you'll see Microduino Bluetooth device.
−
[[File:Microduino_QuadCopter_setup2.2.jpg||600px|center|thumb]]
+
[[File:app_microduino.png|center|600px]]
−
[[File:Microduino_QuadCopter_setup2.3.jpg||600px|center|thumb]]
+
Click Microduino, connect the Bluetooth and enter the control interface. After the connection, it'll show "Ready" to remind you to unlock the Quadcopter.
 +
[[File:Qua_app-ready.png|center|600px]]
 +
Unlock the Quadcopter: If the Bluetooth indicator on the bottom of the Quadcopter goes on, it means unlocked successfully. If you see "Unlocked" on the screen, please try to unlock again.
 +
After unlocking, the middle rod can push up to speed up and the Quadcopter can fly.
 +
[[File:Qua_app-ok.png|center|600px]]
  
−
Fixate the four motors on the main frame.
+
==Code & Notes==
−
[[File:Microduino_QuadCopter_setup2.5.jpg||600px|center|thumb]]
+
==Program Description==
  
−
Then connect those connectors to the motherboard. Although we’ve tried our best to make sure everything’s good, it’s still recommend to check those wires--the white and red wires from motors should be connected to the pin marked with a cross(+).The following figure shows a finished work.
+
==Joypad Program & Description==
 +
Joypad_RC.ino
 +
<source lang="cpp">
 +
#include "Arduino.h"
 +
#include "def.h"
 +
#include "time.h"
 +
#include "bat.h"
 +
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
 +
#include "mpu.h"
 +
#endif
 +
#include "joy.h"
 +
#include "key.h"
 +
#include "data.h"
 +
#include "nrf.h"
 +
#include "mwc.h"
 +
#include "tft.h"
 +
#include "eep.h"
  
−
[[File:Microduino_QuadCopter_setup3.1.jpg||600px|center|thumb]]
+
#if defined(__AVR_ATmega128RFA1__)
−
[[File:Microduino_QuadCopter_setup3.2.jpg||600px|center|thumb]]
+
#include <ZigduinoRadio.h>
 +
#endif
  
−
===Make Connection between Two BT Modules===
+
//joypad================================
−
Since we build the wireless remote control through Bluetooth, that makes the two BT modules indispensable. As to the connection method, you can refer to: [[How_to_Connect_Two_Microduino-BT_Modules|How to connect two BT Modules together]]
+
#include <Joypad.h>
 +
//eeprom================================
 +
#include <EEPROM.h>
 +
//TFT===================================
 +
#include <Adafruit_GFX.h>    // Core graphics library
 +
#include <Adafruit_ST7735.h> // Hardware-specific
 +
#include <SPI.h>
 +
//rf====================================
 +
#include <RF24Network.h>
 +
#include <RF24.h>
  
−
===Download & Debug===
+
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
−
Assemble Microduino-Core,Microduino-10DOF and Microduino-USBTTL on the motherboard as the following figure：
+
//MPU===================================
−
[[File:Microduino_QuadCopter_Software1.jpg||600px|center|thumb]]
+
#include "Wire.h"
 +
#include "I2Cdev.h"
 +
#include "MPU6050_6Axis_MotionApps20.h"
 +
#endif
  
−
Place the quadcopter on a flat surface then connect it to the computer via USB.Select
+
//spi===================================
−
Microduino Core (Atmega328P@16M,5V) in the Arduino IDE，then download the program.
+
#include <SPI.h>
−
Run the config tool in the following path:MultiWiiConf\application.windows32\MultiWiiConf.exe
 
−
[[File:Microduino_QuadCopter_MultiWiiConf1.jpg||600px|center|thumb]]
 
  
−
===Connect PC to Quadcopter===
+
void setup()
−
Click the RECONNECT button to connect.The raw data and some graphs should be shown if everything’s okay.
+
{
−
[[File:Microduino_QuadCopter_MultiWiiConf2.jpg||600px|center|thumb]]
+
  // initialize serial communication at 115200 bits per second:
  
−
====Adjust the Sensor====
+
#ifdef Serial_DEBUG
−
Make sure the quadcopter is on a flat surface,then click the CALIB_ACC button to calibrate accelerometer.DO NOT move the quadcopter in 5 secs.Then click the CALIB_MAG button to calibrate magnetometer.In the coming 30secs,please grab your quadcopter and rotate it in every axis repeatedly.
+
  Serial.begin(115200);
−
Then click the WRITE button to save the data.
+
  delay(100);
−
By clicking SELLECT SETTING,various parameters can be set,and the quadcopter’s status will be shown.
+
  Serial.println("========hello========");
−
[[File:Microduino_QuadCopter_MultiWiiConf4.jpg||600px|center|thumb]]
+
#endif
  
−
====Set PID Parameter====
+
  //---------------
 +
  key_init();
  
−
The quadcopter use proportional-integral-derivative controller (PID controller) to control its movement. With a proper set of PID values,the quadcopter can fly smoothly and stably. We offer the sample PID config file,user can load it and fly the copter in a few minutes: click LOAD,then select file pkj.mwi to load the config file,finally click write to save. If you want to adjust the parameters yourself,just click on the green bar and hold it,then drag it left or right to adjust.For more info, please google Multiwii.
+
  //---------------
−
[[File:Microduino_QuadCopter_MultiWiiConf_PID.jpg||600px|center|thumb]]
+
#ifdef Serial_DEBUG
 +
  Serial.println("\n\r EEPROM READ...");
 +
#endif
 +
  eeprom_read();
  
−
====Set Flight Mode====
+
  //---------------
−
To enhance the experience,we recommend users set several flight modes.Different flight modes can be selected by toggle the switch on the remote.And by using different combinations many flight modes can be chosen.The recommended flight modes settings are shown as below.To set a flight mode,just toggle the switch as your wish and click on the mode you want(the cube).ANGLE mode is the most stable mode,starters can practice under this mode.Don’t forget to WRITE before unplug the quadcopter.For more info,please google Multiwii.
+
#ifdef Serial_DEBUG
−
When everything’s done,remove the Microduino-USBTTL.[[File:Microduino_QuadCopter_MultiWiiConf_ANGLE.jpg||600px|center|thumb]]
+
  Serial.println("\n\r TFT INIT...");
 +
#endif
 +
  TFT_init(true, tft_rotation);
  
 +
  //---------------
 +
#ifdef Serial_DEBUG
 +
  Serial.println("\n\r TFT BEGIN...");
 +
#endif
 +
  TIME1 = millis();
 +
  while (millis() - TIME1 < interval_TIME1)
 +
  {
 +
    TFT_begin();
  
−
==Build & Debug the Remote Controller==
+
    if (!Joypad.readButton(CH_SWITCH_1))
−
Here we adopt Microduino-Joypad as the remote controller. Off cause, you need modules, such as Microduino-TFT, Microduino-Core, Microduino-USBTTL and Microduino-BT to build the remote controller.  
+
    {
−
{|class="wikitable"
+
#ifdef Serial_DEBUG
−
|-
+
      Serial.println("\n\rCorrect IN...");
−
|Module||Number||Function
+
#endif
−
|-
+
 
−
|Microduino-Core||1||Core board  
+
      //---------------
−
|-
+
#ifdef Serial_DEBUG
−
|Microduino-USBTTL ||1||Download program
+
      Serial.println("\n\r TFT INIT...");
−
|-
+
#endif
−
|Microduino-BT||1||Wireless communication
+
      TFT_init(false, tft_rotation);
−
|-
+
 
−
|Microduino-Joypad ||1||Remote control
+
      while (1)
−
|-
+
      {
−
|Microduino-TFT||1||Display 
+
        if (!TFT_config())
−
|}
+
          break;
 +
      }
 +
#ifdef Serial_DEBUG
 +
      Serial.println("\n\rCorrect OUT...");
 +
#endif
 +
 
 +
      //---------------
 +
#ifdef Serial_DEBUG
 +
      Serial.println("\n\r EEPROM WRITE...");
 +
#endif
 +
      eeprom_write();
 +
    }
 +
  }
 +
 
 +
  //---------------
 +
#ifdef Serial_DEBUG
 +
  Serial.println("\n\r TFT CLEAR...");
 +
#endif
 +
  TFT_clear();
 +
 
 +
  //---------------
 +
#ifdef Serial_DEBUG
 +
  Serial.println("\n\r TFT READY...");
 +
#endif
 +
  TFT_ready();
 +
 
 +
  //---------------.l
 +
  if (mode_protocol)  //Robot
 +
  {
 +
    SPI.begin(); //Initialize SPI
 +
 
 +
 
 +
 
 +
 
 +
 
 +
 
 +
    radio.begin();
 +
    network.begin(/*channel*/ nrf_channal, /*node address*/ this_node);
 +
  }
 +
  else          //QuadCopter
 +
  {
 +
    unsigned long _channel;
 +
#if !defined(__AVR_ATmega128RFA1__)
 +
    switch (mwc_channal)
 +
    {
 +
      case 0:
 +
        _channel = 9600;
 +
        break;
 +
      case 1:
 +
        _channel = 19200;
 +
        break;
 +
      case 2:
 +
        _channel = 38400;
 +
        break;
 +
      case 3:
 +
        _channel = 57600;
 +
        break;
 +
      case 4:
 +
        _channel = 115200;
 +
        break;
 +
    }
 +
#else if
 +
    _channel = mwc_channal;
 +
#endif
 +
    mwc_port.begin(_channel);
 +
  }
 +
 
 +
  //---------------
 +
#ifdef Serial_DEBUG
 +
  Serial.println("===========start===========");
 +
#endif
 +
 
 +
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
 +
  if (mode_mpu) initMPU(); //initialize device
 +
#endif
 +
}
 +
 
 +
void loop()
 +
{
 +
  //  unsigned long time = millis();
 +
 
 +
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
 +
  //MPU--------------------------------
 +
  if (mode_mpu)
 +
    getMPU();
 +
#endif
 +
 
 +
  //DATA_begin------------------------------
 +
  data_begin();
 +
 
 +
  //DATA_send-------------------------------
 +
  if (millis() < time2) time2 = millis();
 +
  if (millis() - time2 > interval_time2)
 +
  {
 +
    if (mode_protocol) nrf_send();    //Robot
 +
    else data_send();          //QuadCopter
 +
 
 +
    time2 = millis();
 +
  }
 +
 
 +
  //Node checking -------------------------------
 +
  vodebug();
 +
 
 +
  //BAT--------------------------------
 +
  if (time3 > millis()) time3 = millis();
 +
  if (millis() - time3 > interval_time3)
 +
  {
 +
    vobat();
 +
    time3 = millis();
 +
  }
 +
 
 +
  //TFT------------------------------------
 +
  TFT_run();
 +
 
 +
  //===================================
 +
  //  time = millis() - time;
 +
 
 +
  //  Serial.println(time, DEC);    //loop time
 +
}
 +
</cpp>
 +
BAT.h
 +
<source lang="cpp">
 +
int8_t _V_bat = _V_min;
 +
 
 +
boolean mcu_voltage = true; // 5.0 or 3.3
 +
#define _V_fix 0.2  //fix battery voltage
 +
#define _V_math(Y) (_V_fix+((Y*analogRead(PIN_bat)/1023.0f)/(33.0f/(51.0f+33.0f))))
 +
 
 +
void vobat()
 +
{
 +
  //_V_bat=10*((voltage*analogRead(PIN_bat)/1023.0f)/(33.0f/(51.0f+33.0f)));
 +
  _V_bat = _V_math(mcu_voltage ? 50 : 33);
 +
  _V_bat = constrain(_V_bat, _V_min, _V_max);
 +
 
 +
#ifdef Serial_DEBUG
 +
  Serial.print("_V_bat: ");
 +
  Serial.println(_V_bat);
 +
#endif
 +
}
 +
</source>
 +
data.h
 +
<source lang="cpp">
 +
#include "Arduino.h"
 +
 
 +
byte inBuf[16];
 +
 
 +
int16_t outBuf[8] =
 +
{
 +
  Joy_MID, Joy_MID, Joy_MID, Joy_MID, Joy_MID, Joy_MID, Joy_MID, Joy_MID
 +
};
 +
 
 +
boolean AUX[4] = {0, 0, 0, 0};
 +
//======================================
 +
void data_begin()
 +
{
 +
  Joy();
 +
 
 +
  if (mode_protocol)  //Robot
 +
  {
 +
    if (!sw_l)
 +
    {
 +
      Joy_x = Joy_MID;
 +
      Joy_y = Joy_MID;
 +
      Joy1_x = Joy_MID;
 +
      Joy1_y = Joy_MID;
 +
    }
 +
  }
 +
  else        //QuadCopter
 +
  {
 +
    if (!sw_l)
 +
      Joy_y = Joy_MID - Joy_maximum;
 +
  }
 +
 
 +
  //but---------------------------------
 +
  for (uint8_t a = 0; a < 4; a++)
 +
  {
 +
    if (key_get(a, 1))  AUX[a] = !AUX[a];
 +
  }
 +
 
 +
  outBuf[0] = Joy1_x;
 +
  outBuf[1] = Joy1_y;
 +
  outBuf[2] = Joy_x;
 +
  outBuf[3] = Joy_y;
 +
  outBuf[4] = map(AUX[0], 0, 1, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);
 +
  outBuf[5] = map(AUX[1], 0, 1, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);
 +
  outBuf[6] = map(AUX[2], 0, 1, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);
 +
  outBuf[7] = map(AUX[3], 0, 1, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);
 +
}
 +
 
 +
</source>
 +
def.h
 +
<source lang="cpp">
 +
#include "Arduino.h"
 +
 
 +
//DEBUG-----------
 +
#define Serial_DEBUG
 +
 
 +
//MWC-------------
 +
uint8_t mwc_channal = 11; //RF channel
 +
 
 +
#if  defined(__AVR_ATmega32U4__)
 +
#define mwc_port Serial1    //Serial1 is D0 D1
 +
#elif defined(__AVR_ATmega128RFA1__)
 +
#define mwc_port ZigduinoRadio    //RF
 +
#else
 +
#define mwc_port Serial    //Serial is D0 D1
 +
#endif
 +
 
 +
//nRF-------------
 +
#define interval_debug  2000  //Interval for node checking.
 +
uint8_t nrf_channal = 70;  //0~125
 +
 
 +
//Battery---------
 +
#define PIN_bat A7 //BAT
 +
 
 +
#define _V_max 41 //Maximum voltage for the lithium battery: 4.2V
 +
#define _V_min 36 //Minimum voltage for the lithium battery: 3.7V
 +
 
 +
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
 +
//MPU-------------
 +
#define MPU_maximum 70
 +
#endif
 +
 
 +
 
 +
//Time------------
 +
#define interval_TIME1 2000    //setup delay
 +
#define interval_time2 40      //send interval
 +
#define interval_time3 1000    //battery interval
 +
</source>
 +
eep.h
 +
<source lang="cpp">
 +
#include "Arduino.h"
 +
 
 +
#include <EEPROM.h>
 +
 
 +
#define EEPROM_write(address, p) {int i = 0; byte *pp = (byte*)&(p);for(; i < sizeof(p); i++) EEPROM.write(address+i, pp[i]);}
 +
#define EEPROM_read(address, p)  {int i = 0; byte *pp = (byte*)&(p);for(; i < sizeof(p); i++) pp[i]=EEPROM.read(address+i);}
 +
 
 +
struct config_type
 +
{
 +
  int16_t eeprom_correct_min[4];
 +
  int16_t eeprom_correct_max[4];
 +
  uint8_t eeprom_Joy_deadzone_val;
 +
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
 +
  boolean eeprom_mode_mpu;
 +
#endif
 +
  boolean eeprom_mode_protocol;
 +
  uint8_t eeprom_mwc_channal;
 +
  uint8_t eeprom_nrf_channal;
 +
  boolean eeprom_tft_theme;
 +
  boolean eeprom_tft_rotation;
 +
  boolean eeprom_mcu_voltage;
 +
};
 +
 
 +
//======================================
 +
void eeprom_read()
 +
{
 +
  //EEPROM reads the assigned values.  
 +
  config_type config_readback;
 +
  EEPROM_read(0, config_readback);
 +
 
 +
  for (uint8_t a = 0; a < 4; a++)
 +
  {
 +
    joy_correct_min[a] = config_readback.eeprom_correct_min[a];
 +
    joy_correct_max[a] = config_readback.eeprom_correct_max[a];
 +
  }
 +
  Joy_deadzone_val = config_readback.eeprom_Joy_deadzone_val;
 +
 
 +
  mode_protocol = config_readback.eeprom_mode_protocol;
 +
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
 +
  mode_mpu = config_readback.eeprom_mode_mpu;
 +
#endif
 +
 
 +
  mwc_channal = config_readback.eeprom_mwc_channal;
 +
  nrf_channal = config_readback.eeprom_nrf_channal;
 +
  tft_theme = config_readback.eeprom_tft_theme;
 +
  tft_rotation = config_readback.eeprom_tft_rotation;
 +
  mcu_voltage = config_readback.eeprom_mcu_voltage;
 +
}
 +
 
 +
void eeprom_write()
 +
{
 +
  // Define structure variable "config" as well as the content of the variable.
 +
  config_type config;
 +
 
 +
  for (uint8_t a = 0; a < 4; a++)
 +
  {
 +
    config.eeprom_correct_min[a] = joy_correct_min[a];
 +
    config.eeprom_correct_max[a] = joy_correct_max[a];
 +
  }
 +
  config.eeprom_Joy_deadzone_val = Joy_deadzone_val;
 +
 
 +
  config.eeprom_mode_protocol = mode_protocol;
 +
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
 +
  config.eeprom_mode_mpu = mode_mpu;
 +
#endif
 +
 
 +
  config.eeprom_mwc_channal = mwc_channal;
 +
  config.eeprom_nrf_channal = nrf_channal;
 +
  config.eeprom_tft_theme = tft_theme;
 +
  config.eeprom_tft_rotation = tft_rotation;
 +
  config.eeprom_mcu_voltage = mcu_voltage;
 +
 
 +
  // Save the variable "config" into EEPROM and write in address 0.
 +
  EEPROM_write(0, config);
 +
}
 +
</source>
 +
joy.h
 +
<source lang="cpp">
 +
#include "Arduino.h"
 +
 
 +
#include <Joypad.h>
 +
 
 +
//Joy-------------
 +
//1000~2000
 +
uint8_t Joy_deadzone_val = 10;
 +
#define Joy_s_maximum 200 //MAX 300
 +
#define Joy_maximum 450 //MAX 500
 +
#define Joy_MID 1500  //1500
 +
 
 +
boolean mode_mpu, mode_protocol;  //{(0: 0 is mwc, 1 is nrf),(1: 0 is mpu, 1 is no mpu)}
 +
 
 +
int16_t joy_correct_max[4], joy_correct_min[4];
 +
int16_t Joy_x, Joy_y, Joy1_x, Joy1_y;
 +
 
 +
int16_t s_lig, s_mic;
 +
 
 +
boolean Joy_sw, Joy1_sw;
 +
 
 +
boolean but1, but2, but3, but4;
 +
 
 +
boolean sw_l, sw_r;
 +
 
 +
//======================================
 +
int16_t Joy_dead_zone(int16_t _Joy_vol)
 +
{
 +
  if (abs(_Joy_vol) > Joy_deadzone_val)
 +
    return ((_Joy_vol > 0) ? (_Joy_vol - Joy_deadzone_val) : (_Joy_vol + Joy_deadzone_val));
 +
  else
 +
    return 0;
 +
}
 +
 
 +
int16_t Joy_i(int16_t _Joy_i, boolean _Joy_b, int16_t _Joy_MIN, int16_t _Joy_MAX)
 +
{
 +
  int16_t _Joy_a;
 +
  switch (_Joy_i)
 +
  {
 +
    case 0:
 +
      _Joy_a = Joy_dead_zone(Joypad.readJoystickX());
 +
      break;
 +
    case 1:
 +
      _Joy_a = Joypad.readJoystickY();    //throt
 +
      break;
 +
    case 2:
 +
      _Joy_a = Joy_dead_zone(Joypad.readJoystick1X());
 +
      break;
 +
    case 3:
 +
      _Joy_a = Joy_dead_zone(Joypad.readJoystick1Y());
 +
      break;
 +
  }
 +
 
 +
  if (_Joy_b)
 +
  {
 +
    if (_Joy_a < 0)
 +
      _Joy_a = map(_Joy_a, joy_correct_min[_Joy_i], 0, _Joy_MAX, Joy_MID);
 +
    else
 +
      _Joy_a = map(_Joy_a, 0, joy_correct_max[_Joy_i], Joy_MID, _Joy_MIN);
 +
 
 +
    if (_Joy_a < _Joy_MIN) _Joy_a = _Joy_MIN;
 +
    if (_Joy_a > _Joy_MAX) _Joy_a = _Joy_MAX;
 +
  }
 +
  return _Joy_a;
 +
}
 +
 
 +
void Joy()
 +
{
 +
  sw_l = Joypad.readButton(CH_SWITCH_L);
 +
  sw_r = Joypad.readButton(CH_SWITCH_R);
 +
 
 +
  //------------------------------------
 +
  //s_lig=Joypad.readLightSensor();
 +
  //s_mic=Joypad.readMicrophone();
 +
 
 +
  //------------------------------------
 +
  Joy_sw = Joypad.readButton(CH_JOYSTICK_SW);
 +
  Joy1_sw = Joypad.readButton(CH_JOYSTICK1_SW);
 +
 
 +
  //------------------------------------
 +
  but1 = Joypad.readButton(CH_SWITCH_1);
 +
  but2 = Joypad.readButton(CH_SWITCH_2);
 +
  but3 = Joypad.readButton(CH_SWITCH_3);
 +
  but4 = Joypad.readButton(CH_SWITCH_4);
 +
 
 +
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
 +
  //====================================
 +
  int16_t y[3];        //MPU---------------------------------
 +
  if (mode_mpu)    //MPU---------------------------------
 +
  {
 +
    for (uint8_t a = 0; a < 3; a++)
 +
    {
 +
      y[a] = ypr[a] * 180 / M_PI;
 +
      if (y[a] > MPU_maximum) y[a] = MPU_maximum;
 +
      if (y[a] < -MPU_maximum) y[a] = -MPU_maximum;
 +
    }
 +
  }
 +
#endif
 +
 
 +
  if (Joypad.readButton(CH_SWITCH_R))
 +
  {
 +
    Joy_x = Joy_i(0, true, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);
 +
    Joy_y = Joy_i(1, true, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);
 +
 
 +
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
 +
    if (mode_mpu)    //MPU---------------------------------
 +
    {
 +
      Joy1_x = map(y[2], -MPU_maximum, MPU_maximum, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);
 +
      Joy1_y = map(y[1], -MPU_maximum, MPU_maximum, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);
 +
    }
 +
    else
 +
#endif
 +
    {
 +
      Joy1_x = Joy_i(2, true, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);
 +
      Joy1_y = Joy_i(3, true, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);
 +
    }
 +
  }
 +
  else
 +
  {
 +
    Joy_x = Joy_i(0, true, Joy_MID - Joy_s_maximum, Joy_MID + Joy_s_maximum);
 +
    Joy_y = Joy_i(1, true, mode_protocol ? Joy_MID - Joy_s_maximum : Joy_MID - Joy_maximum,
 +
mode_protocol ? Joy_MID + Joy_s_maximum : Joy_MID + Joy_maximum); //  Robot,QuadCopter
 +
 
 +
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
 +
    if (mode_mpu)    //MPU---------------------------------
 +
    {
 +
      Joy1_x = map(y[2], -MPU_maximum, MPU_maximum, Joy_MID - Joy_s_maximum, Joy_MID + Joy_s_maximum);
 +
      Joy1_y = map(y[1], -MPU_maximum, MPU_maximum, Joy_MID - Joy_s_maximum, Joy_MID + Joy_s_maximum);
 +
    }
 +
    else
 +
#endif
 +
    {
 +
      Joy1_x = Joy_i(2, true, Joy_MID - Joy_s_maximum, Joy_MID + Joy_s_maximum);
 +
      Joy1_y = Joy_i(3, true, Joy_MID - Joy_s_maximum, Joy_MID + Joy_s_maximum);
 +
    }
 +
  }
 +
}
 +
 
 +
</source>
 +
key.h
 +
<source lang="cpp">
 +
#include "arduino.h"
 +
 
 +
uint8_t key_pin[4] = {CH_SWITCH_1, CH_SWITCH_2, CH_SWITCH_3, CH_SWITCH_4}; //Key (1,2,3,4)
 +
 +
boolean key_status[4]; //Key
 +
boolean key_cache[4]; //Detect the key releasing cache.
 +
 
 +
void key_init()
 +
{
 +
  for (uint8_t a = 0; a < 4; a++)
 +
  {
 +
    key_status[a] = LOW;
 +
    key_cache[a] = HIGH;
 +
  }
 +
}
 +
 
 +
boolean key_get(uint8_t _key_num, boolean _key_type)
 +
{
 +
  key_cache[_key_num] = key_status[_key_num]; //Cache as a judge
 +
 
 +
  key_status[_key_num] = !Joypad.readButton(key_pin[_key_num]); //When it is triggered 
 +
 
 +
  switch (_key_type)
 +
  {
 +
    case 0:
 +
      if (!key_status[_key_num] && key_cache[_key_num]) //After pressing down and releasing
 +
        return true;
 +
      else
 +
        return false;
 +
      break;
 +
    case 1:
 +
      if (key_status[_key_num] && !key_cache[_key_num]) // After pressing down and releasing
 +
 
 +
        return true;
 +
      else
 +
        return false;
 +
      break;
 +
  }
 +
}
 +
</source>
 +
mpu.h
 +
<source lang="cpp">
 +
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
 +
#include "Wire.h"
 +
#include "I2Cdev.h"
 +
#include "MPU6050_6Axis_MotionApps20.h"
 +
 
 +
MPU6050 mpu;
 +
 
 +
//MPU-------------
 +
#define MPU_maximum 70
 +
 
 +
// MPU control/status vars
 +
boolean dmpReady = false;  // set true if DMP init was successful
 +
uint8_t mpuIntStatus;  // holds actual interrupt status byte from MPU
 +
uint8_t devStatus;      // return status after each device operation (0 = success, !0 = error)
 +
uint16_t packetSize;    // expected DMP packet size (default is 42 bytes)
 +
uint16_t fifoCount;    // count of all bytes currently in FIFO
 +
uint8_t fifoCache[64]; // FIFO storage cache
 +
 
 +
// orientation/motion vars
 +
Quaternion q;          // [w, x, y, z]        quaternion container
 +
VectorInt16 aa;        // [x, y, z]            accel sensor measurements
 +
VectorFloat gravity;    // [x, y, z]            gravity vector
 +
float ypr[3];          // [yaw, pitch, roll]  yaw/pitch/roll container and gravity vector
 +
 
 +
void initMPU()
 +
{
 +
  Wire.begin();
 +
#ifdef Serial_DEBUG
 +
  Serial.println(F("Initializing I2C devices..."));
 +
#endif
 +
  mpu.initialize();
 +
  // verify connection
 +
#ifdef Serial_DEBUG
 +
  Serial.println(F("Testing device connections..."));
 +
#endif
 +
  if (mpu.testConnection())
 +
  {
 +
#ifdef Serial_DEBUG
 +
    Serial.println("MPU6050 connection successful");
 +
#endif
 +
  }
 +
#ifdef Serial_DEBUG
 +
  else
 +
    Serial.println(F("MPU6050 connection failed"));
 +
#endif
 +
 
 +
  // load and configure the DMP
 +
#ifdef Serial_DEBUG
 +
  Serial.println(F("Initializing DMP..."));
 +
#endif
 +
  devStatus = mpu.dmpInitialize();
 +
 
 +
  // make sure it worked (returns 0 if so)
 +
  if (devStatus == 0) {
 +
    // turn on the DMP, now that it's ready
 +
#ifdef Serial_DEBUG
 +
    Serial.println(F("Enabling DMP..."));
 +
#endif
 +
    mpu.setDMPEnabled(true);
 +
 
 +
    mpuIntStatus = mpu.getIntStatus();
 +
 
 +
    // set our DMP Ready flag so the main loop() function knows it's okay to use it
 +
    //    Serial.println(F("DMP ready! Waiting for first interrupt..."));
 +
    dmpReady = true;
 +
 
 +
    // get expected DMP packet size for later comparison
 +
    packetSize = mpu.dmpGetFIFOPacketSize();
 +
  }
 +
  else {
 +
    // ERROR!
 +
    // 1 = initial memory load failed
 +
    // 2 = DMP configuration updates failed
 +
    // (if it's going to break, usually the code will be 1)
 +
#ifdef Serial_DEBUG
 +
    Serial.print(F("DMP Initialization failed (code "));
 +
    Serial.print(devStatus);
 +
    Serial.println(F(")"));
 +
#endif
 +
  }
 +
}
 +
 
 +
void getMPU()
 +
{
 +
  if (!dmpReady) return;
 +
  {
 +
    // reset interrupt flag and get INT_STATUS byte
 +
    mpuIntStatus = mpu.getIntStatus();
 +
 
 +
    // get current FIFO count
 +
    fifoCount = mpu.getFIFOCount();
 +
 
 +
    // check for overflow (this should never happen unless our code is too inefficient)
 +
    if ((mpuIntStatus & 0x10) || fifoCount == 1024)
 +
    {
 +
      // reset so we can continue cleanly
 +
      mpu.resetFIFO();
 +
#ifdef Serial_DEBUG
 +
      Serial.println(F("FIFO overflow!"));
 +
#endif
 +
      // otherwise, check for DMP data ready interrupt (this should happen frequently)
 +
    }
 +
    else if (mpuIntStatus & 0x02)
 +
    {
 +
      // wait for correct available data length, should be a VERY short wait
 +
      while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
 +
 
 +
      // read a packet from FIFO
 +
      mpu.getFIFOBytes(fifoCache, packetSize);
 +
 
 +
      // track FIFO count here in case there is > 1 packet available
 +
      // (this lets us immediately read more without waiting for an interrupt)
 +
      fifoCount -= packetSize;
 +
 
 +
      // display ypr angles in degrees
 +
      mpu.dmpGetQuaternion(&q, fifoCache);
 +
      mpu.dmpGetGravity(&gravity, &q);
 +
      mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
 +
 
 +
      //Serial.print("ypr\t");
 +
      //Serial.print(ypr[0] * 180/M_PI);
 +
      //Serial.print("\t");
 +
      //Serial.print(ypr[1] * 180/M_PI);
 +
      //Serial.print("\t");
 +
      // Serial.println(ypr[2] * 180/M_PI);
 +
    }
 +
  }
 +
}
 +
 
 +
#endif
 +
</source>
 +
mwc.h
 +
<source lang="cpp">
 +
#include "Arduino.h"
 +
 
 +
#if defined(__AVR_ATmega128RFA1__)
 +
#include <ZigduinoRadio.h>
 +
#endif
 +
 
 +
int16_t RCin[8], RCoutA[8], RCoutB[8];
 +
 
 +
int16_t p;
 +
uint16_t read16()
 +
{
 +
  uint16_t r = (inBuf[p++] & 0xFF);
 +
  r += (inBuf[p++] & 0xFF) << 8;
 +
  return r;
 +
}
 +
 
 +
uint16_t t, t1, t2;
 +
uint16_t write16(boolean a)
 +
{
 +
  if (a)
 +
  {
 +
    t1 = outBuf[p++] >> 8;
 +
    t2 = outBuf[p - 1] - (t1 << 8);
 +
    t = t1;
 +
  }
 +
  else
 +
    t = t2;
 +
  return t;
 +
}
 +
 
 +
typedef  unsigned char byte;
 +
byte getChecksum(byte length, byte cmd, byte mydata[])
 +
{
 +
  //Three parameters including data length, instruction code and the actual data array.
 +
  byte checksum = 0;
 +
  checksum ^= (length & 0xFF);
 +
  checksum ^= (cmd & 0xFF);
 +
  for (uint8_t i = 0; i < length; i++)
 +
  {
 +
    checksum ^= (mydata[i] & 0xFF);
 +
  }
 +
  return checksum;
 +
}
 +
 
 +
void data_rx()
 +
{
 +
  //  s_struct_w((int*)&inBuf,16);
 +
  p = 0;
 +
  for (uint8_t i = 0; i < 8; i++)
 +
  {
 +
    RCin[i] = read16();
 +
    /*
 +
    Serial.print("RC[");
 +
    Serial.print(i+1);
 +
    Serial.print("]:");
 +
 
 +
    Serial.print(inBuf[2*i],DEC);
 +
    Serial.print(",");
 +
    Serial.print(inBuf[2*i+1],DEC);
 +
 
 +
    Serial.print("---");
 +
    Serial.println(RCin[i]);
 +
    */
 +
    //    delay(50);        // delay in between reads for stability
 +
  }
 +
}
 +
 
 +
void data_tx()
 +
{
 +
  p = 0;
 +
  for (uint8_t i = 0; i < 8; i++)
 +
  {
 +
    RCoutA[i] = write16(1);
 +
    RCoutB[i] = write16(0);
 +
 
 +
    /*
 +
    Serial.print("RC[");
 +
    Serial.print(i+1);
 +
    Serial.print("]:");
 +
 
 +
    Serial.print(RCout[i]);
 +
 
 +
    Serial.print("---");
 +
 
 +
    Serial.print(RCoutA[i],DEC);
 +
    Serial.print(",");
 +
    Serial.print(RCoutB[i],DEC);
 +
 
 +
    Serial.println("");
 +
    */
 +
    //    delay(50);        // delay in between reads for stability
 +
  }
 +
}
 +
 
 +
/*
 +
if Core RF
 +
[head,2byte,0xAA 0xBB] [type,1byte,0xCC] [data,16byte] [body,1byte(from getChecksum())]
 +
Example:
 +
AA BB CC 1A 01 1A 01 1A 01 2A 01 3A 01 4A 01 5A 01 6A 01 0D **
 +
*/
 +
void data_send()
 +
{
 +
  data_tx();
 +
 
 +
#if !defined(__AVR_ATmega128RFA1__)
 +
  static byte buf_head[3];
 +
  buf_head[0] = 0x24;
 +
  buf_head[1] = 0x4D;
 +
  buf_head[2] = 0x3C;
 +
#endif
 +
 
 +
#define buf_length 0x10  //16
 +
#define buf_code 0xC8    //200
 +
 
 +
  static byte buf_data[buf_length];
 +
  for (uint8_t a = 0; a < (buf_length / 2); a++)
 +
  {
 +
    buf_data[2 * a] = RCoutB[a];
 +
    buf_data[2 * a + 1] = RCoutA[a];
 +
  }
 +
 
 +
  static byte buf_body;
 +
  buf_body = getChecksum(buf_length, buf_code, buf_data);
 +
 
 +
  //----------------------
 +
#if defined(__AVR_ATmega128RFA1__)
 +
  mwc_port.beginTransmission();
 +
  mwc_port.write(0xaa);
 +
  mwc_port.write(0xbb);
 +
  mwc_port.write(0xcc);
 +
#else
 +
  for (uint8_t a = 0; a < 3; a++) {
 +
    mwc_port.write(buf_head[a]);
 +
  }
 +
  mwc_port.write(buf_length);
 +
  mwc_port.write(buf_code);
 +
#endif
 +
  for (uint8_t a = 0; a < buf_length; a++) {
 +
    mwc_port.write(buf_data[a]);
 +
  }
 +
  mwc_port.write(buf_body);
 +
#if defined(__AVR_ATmega128RFA1__)
 +
  mwc_port.endTransmission();
 +
#endif
 +
}
 +
</source>
 +
nrf.h
 +
<source lang="cpp">
 +
#include "Arduino.h"
 +
 
 +
#include <RF24Network.h>
 +
#include <RF24.h>
 +
#include <SPI.h>
 +
 
 +
// nRF24L01(+) radio attached using Getting Started board
 +
RF24 radio(9, 10);  //ce,cs
 +
RF24Network network(radio);
 +
 
 +
#define this_node  0 //Set ID for the machine.
 +
#define other_node 1
 +
 
 +
//--------------------------------
 +
struct send_a //Send
 +
{
 +
  uint32_t ms;
 +
  uint16_t rf_CH0;
 +
  uint16_t rf_CH1;
 +
  uint16_t rf_CH2;
 +
  uint16_t rf_CH3;
 +
  uint16_t rf_CH4;
 +
  uint16_t rf_CH5;
 +
  uint16_t rf_CH6;
 +
  uint16_t rf_CH7;
 +
};
 +
 
 +
struct receive_a //Receive
 +
{
 +
  uint32_t node_ms;
 +
};
 +
 
 +
//--------------------------------
 +
unsigned long node_clock, node_clock_debug, node_clock_cache = 0; // Node running time, node response checking time and node time cache.
 +
//debug--------------------------
 +
boolean node_clock_error = false; //Node response status
 +
unsigned long time_debug = 0; //Timer
 +
 
 +
 
 +
//======================================
 +
void vodebug()
 +
{
 +
  if (millis() - time_debug > interval_debug)
 +
  {
 +
    node_clock_error = boolean(node_clock == node_clock_debug); //Within a certain, if you find the running time of the node returning unchanged, then it has problem.
 +
 
 +
    node_clock_debug = node_clock;
 +
 
 +
    time_debug = millis();
 +
  }
 +
}
 +
 
 +
 
 +
void nrf_send()
 +
{
 +
#ifdef Serial_DEBUG
 +
  Serial.print("Sending...");
 +
#endif
 +
 
 +
  send_a sen = {
 +
    millis(), outBuf[0], outBuf[1], outBuf[2], outBuf[3], outBuf[4], outBuf[5], outBuf[6], outBuf[7]
 +
  }; //Send out the data, corresponding to the previous array.
 +
  RF24NetworkHeader header(other_node);
 +
  if (network.write(header, &sen, sizeof(sen)))
 +
  {
 +
#ifdef Serial_DEBUG
 +
    Serial.print("Is ok.");
 +
#endif
 +
 
 +
    delay(50);
 +
    network.update();
 +
    // If it's time to send a message, send it!
 +
    while ( network.available() )
 +
    {
 +
      // If so, grab it and print it out
 +
      RF24NetworkHeader header;
 +
      receive_a rec;
 +
      network.read(header, &rec, sizeof(rec));
 +
 
 +
      node_clock = rec.node_ms; //Assign values for the running time.
 +
    }
 +
  }
 +
#ifdef Serial_DEBUG
 +
  else
 +
    Serial.print("Is failed.");
 +
 
 +
  Serial.println("");
 +
#endif
 +
}
 +
</source>
 +
tft.h
 +
<source lang="cpp">
 +
#include "Arduino.h"
 +
 
 +
#include <Adafruit_GFX.h>    // Core graphics library
 +
#include <Adafruit_ST7735.h> // Hardware-specific library
 +
#include <SPI.h>
 +
 
 +
Adafruit_ST7735 tft = Adafruit_ST7735(5, 4, -1);    //cs,dc,rst
 +
//-------Set front(Large, medium, small)
 +
#define setFont_M tft.setTextSize(2)
 +
#define setFont_S tft.setTextSize(0)
 +
 
 +
#define tft_width  128
 +
#define tft_height 160
 +
 
 +
boolean tft_theme = false;  //0 is white,1 is black
 +
boolean tft_rotation = 1;
 +
 
 +
#define TFT_TOP ST7735_BLACK
 +
#define TFT_BUT ST7735_WHITE
 +
 
 +
uint16_t  tft_colorA = TFT_BUT;
 +
uint16_t  tft_colorB = TFT_TOP;
 +
uint16_t  tft_colorC = 0x06FF;
 +
uint16_t  tft_colorD = 0xEABF;
 +
 
 +
#define tft_bat_x 24
 +
#define tft_bat_y 12
 +
#define tft_bat_x_s 2
 +
#define tft_bat_y_s 6
 +
 
 +
#define tft_font_s_height 8
 +
#define tft_font_m_height 16
 +
#define tft_font_l_height 24
 +
 
 +
#define _Q_x 33
 +
#define _Q_y 36
 +
#define _W_x 93
 +
#define _W_y 5
 +
 
 +
#define _Q_font_x 2
 +
#define _Q_font_y (_Q_y - 1)
 +
 
 +
int8_t tft_cache = 1;
 +
 
 +
//======================================
 +
void TFT_clear()
 +
{
 +
  tft.fillScreen(tft_colorB);
 +
}
 +
 
 +
void TFT_init(boolean _init, boolean _rot)
 +
{
 +
  tft_colorB = tft_theme ? TFT_TOP : TFT_BUT;
 +
  tft_colorA = tft_theme ? TFT_BUT : TFT_TOP;
 +
 
 +
  if (_init) {
 +
    tft.initR(INITR_BLACKTAB);  // initialize a ST7735S chip, black tab
 +
    //  Serial.println("init");
 +
    tft.fillScreen(tft_colorB);
 +
 
 +
    if (_rot)
 +
      tft.setRotation(2);
 +
  }
 +
 
 +
  tft.fillRect(0, 0, tft_width, 40, tft_colorA);
 +
  tft.setTextColor(tft_colorB);
 +
  setFont_M;
 +
  tft.setCursor(26, 6);
 +
  tft.print("Joypad");
 +
  setFont_S;
 +
  tft.setCursor(32, 24);
 +
  tft.print("Microduino");
 +
  tft.fillRect(0, 40, tft_width, 120, tft_colorB);
 +
}
 +
 
 +
void TFT_begin()
 +
{
 +
  setFont_S;
 +
 
 +
  tft.setTextColor(tft_colorA);
 +
  tft.setCursor(_Q_font_x, 44);
 +
  tft.println("[key1] enter config");
 +
 
 +
  setFont_M;
 +
  tft.setCursor(4, 150);
 +
  for (uint8_t a = 0; a < (millis() - TIME1) / (interval_TIME1 / 10); a++) {
 +
    tft.print("-");
 +
  }
 +
}
 +
 
 +
int8_t menu_num_A = 0;
 +
int8_t menu_num_B = 0;
 +
int8_t menu_sta = 0;
 +
 
 +
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
 +
char *menu_str_a[5] = {
 +
  "Joystick Config", "Protocol Config", "System Config", "Gyroscope Config", "Exit"
 +
};
 +
#else
 +
char *menu_str_a[4] = {
 +
  "Joystick Config", "Protocol Config", "System Config", "Exit"
 +
};
 +
#endif
 +
 
 +
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
 +
char *menu_str_b[4][3] = {
 +
  {"Joystick Correct.", "Dead Zone config"},
 +
  {"Mode", "Quadrotor Channel", "nRF24 Channel"},
 +
  {"TFT Theme", "TFT Rotation", "MCU Voltage"},
 +
  {"Gyroscope OFF", "Gyroscope ON"}
 +
};
 +
#else
 +
char *menu_str_b[3][3] = {
 +
  {"Joystick Correct.", "Dead Zone config"},
 +
  {"Mode", "Quadrotor Channel", "nRF24 Channel"},
 +
  {"TFT Theme", "TFT Rotation", "MCU Voltage"},
 +
};
 +
#endif
 +
 
 +
void TFT_menu(int8_t _num, char *_data)
 +
{
 +
  tft.drawRect(7, 49 + 15 * _num, 114, 16, tft_colorA);
 +
  tft.setCursor(10, 54 + 15 * _num);
 +
  tft.print(_data);
 +
}
 +
 
 +
void TFT_menu(int8_t _num, int16_t _data)
 +
{
 +
  tft.drawRect(7, 49 + 15 * _num, 114, 16, tft_colorA);
 +
  tft.setCursor(10, 54 + 15 * _num);
 +
  tft.print(_data);
 +
}
 +
 
 +
void TFT_cursor(int8_t _num)
 +
{
 +
  tft.drawLine(1, 51 + 15 * _num, 4, 56 + 15 * _num, tft_colorA);
 +
  tft.drawLine(4, 57 + 15 * _num, 1, 62 + 15 * _num, tft_colorA);
 +
  tft.drawLine(1, 51 + 15 * _num, 1, 62 + 15 * _num, tft_colorA);
 +
}
 +
 
 +
boolean return_menu = false;
 +
 
 +
boolean TFT_config()
 +
{
 +
  tft.setTextColor( tft_colorA);
 +
 
 +
  if (key_get(0, 1)) {
 +
    menu_sta --;
 +
    tft_cache = 1;
 +
 
 +
    if (menu_sta <= 0)
 +
      menu_num_B = 0; //zero
 +
  }
 +
  if (key_get(1, 1)) {
 +
    if (return_menu)
 +
      menu_sta --;
 +
    else
 +
      menu_sta ++;
 +
    tft_cache = 1;
 +
  }
 +
 
 +
  if (menu_sta > 2)
 +
    menu_sta = 2;
 +
  if (menu_sta < 0)
 +
    menu_sta = 0;
 +
 
 +
  return_menu = false;
 +
  //-------------------------------
 +
  if (tft_cache)
 +
    tft.fillRect(0, 40, tft_width, 100, tft_colorB);
 +
 
 +
  if (menu_sta == 2) {
 +
    switch (menu_num_A) {
 +
      case 0: {
 +
          switch (menu_num_B) {
 +
            case 0: {
 +
                if (tft_cache)
 +
                {
 +
                  for (uint8_t a = 0; a < 4; a++)
 +
                  {
 +
                    joy_correct_min[a] = 0;
 +
                    joy_correct_max[a] = 0;
 +
                  }
 +
                }
 +
                for (uint8_t a = 0; a < 4; a++) {
 +
                  tft.setCursor(2, 120);
 +
                  tft.print("Move Joystick MaxGear");
 +
                  int16_t _c = Joy_i(a, false, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);
 +
                  if (_c > joy_correct_max[a]) {
 +
                    tft.fillRect(0, 40, tft_width, 100, tft_colorB);
 +
                    joy_correct_max[a] = _c;
 +
                  }
 +
                  //                  joy_correct_max[a] = constrain(joy_correct_max[a], 0, Joy_maximum);
 +
                  if (_c < joy_correct_min[a]) {
 +
                    tft.fillRect(0, 40, tft_width, 100, tft_colorB);
 +
                    joy_correct_min[a] = _c;
 +
                  }
 +
                  //                  joy_correct_min[a] = constrain(joy_correct_min[a], -Joy_maximum, 0);
 +
                }
 +
 
 +
                for (uint8_t d = 0; d < 2; d++) {
 +
                  tft.drawFastHLine(12 + 70 * d, 80, 33, tft_colorA);
 +
                  tft.drawFastVLine(28 + 70 * d, 64, 33, tft_colorA);
 +
                  //                tft.fillRect(2, 90-4, 20, 12, tft_colorB);
 +
                  tft.drawCircle(44 + 70 * d, 80, map(joy_correct_min[0 + 2 * d], 0, -512, 1, 10), tft_colorA);
 +
                  tft.drawCircle(12 + 70 * d, 80, map(joy_correct_max[0 + 2 * d], 0, 512, 1, 10), tft_colorA);
 +
                  tft.drawCircle(28 + 70 * d, 64, map(joy_correct_min[1 + 2 * d], 0, -512, 1, 10), tft_colorA);
 +
                  tft.drawCircle(28 + 70 * d, 96, map(joy_correct_max[1 + 2 * d], 0, 512, 1, 10), tft_colorA);
 +
                }
 +
                return_menu = true;
 +
              }
 +
              break;
 +
            case 1: {
 +
                if (key_get(2, 1)) {
 +
                  Joy_deadzone_val--;
 +
                  tft.fillRect(0, 40, tft_width, 100, tft_colorB);
 +
                }
 +
                if (key_get(3, 1)) {
 +
                  Joy_deadzone_val++;
 +
                  tft.fillRect(0, 40, tft_width, 100, tft_colorB);
 +
                }
 +
                Joy_deadzone_val = constrain(Joy_deadzone_val, 0, 25);
 +
 
 +
                TFT_menu(0, Joy_deadzone_val);
 +
                TFT_cursor(0);
 +
                return_menu = true;
 +
              }
 +
              break;
 +
          }
 +
        }
 +
        break;
 +
 
 +
      case 1: {
 +
          switch (menu_num_B) {
 +
            case 0: {
 +
                char *menu_str_c[2] = { "Quadro.", "nRF24"};
 +
                if (key_get(2, 1) || key_get(3, 1)) {
 +
                  mode_protocol = !mode_protocol;
 +
                  tft.fillRect(0, 40, tft_width, 100, tft_colorB);
 +
                }
 +
                for (uint8_t c = 0; c < 2; c++) {
 +
                  TFT_menu(c, menu_str_c[c]);
 +
                }
 +
 
 +
                TFT_cursor(mode_protocol);
 +
                return_menu = true;
 +
              }
 +
              break;
 +
            case 1: {
 +
#if !defined(__AVR_ATmega128RFA1__)
 +
                char *menu_str_c[5] = {"9600", "19200", "38400", "57600", "115200"};
 +
#endif
 +
                if (key_get(2, 1)) {
 +
                  mwc_channal--;
 +
                  tft.fillRect(0, 40, tft_width, 100, tft_colorB);
 +
                }
 +
                if (key_get(3, 1)) {
 +
                  mwc_channal++;
 +
                  tft.fillRect(0, 40, tft_width, 100, tft_colorB);
 +
                }
 +
 
 +
#if !defined(__AVR_ATmega128RFA1__)
 +
                mwc_channal = constrain(mwc_channal, 0, 4);
 +
                TFT_menu(0, menu_str_c[mwc_channal]);
 +
#else
 +
                mwc_channal = constrain(mwc_channal, 11, 26);
 +
                TFT_menu(0, mwc_channal);
 +
#endif
 +
                TFT_cursor(0);
 +
                return_menu = true;
 +
              }
 +
              break;
 +
 
 +
            case 2: {
 +
                if (key_get(2, 1)) {
 +
                  nrf_channal--;
 +
                  tft.fillRect(0, 40, tft_width, 100, tft_colorB);
 +
                }
 +
                if (key_get(3, 1)) {
 +
                  nrf_channal++;
 +
                  tft.fillRect(0, 40, tft_width, 100, tft_colorB);
 +
                }
 +
                nrf_channal = constrain(nrf_channal, 0, 125);
 +
 
 +
                TFT_menu(0, nrf_channal);
 +
                TFT_cursor(0);
 +
                return_menu = true;
 +
              }
 +
              break;
 +
          }
 +
        }
 +
        break;
 +
      case 2: {
 +
          switch (menu_num_B) {
 +
            case 0: {
 +
                tft_theme = !tft_theme;
 +
                TFT_init(true, tft_rotation);
 +
                tft_cache = 1;
 +
                tft.setTextColor(tft_colorA);
 +
                menu_sta --;
 +
              }
 +
              break;
 +
            case 1: {
 +
                tft_rotation = !tft_rotation;
 +
                TFT_init(true, tft_rotation);
 +
                tft_cache = 1;
 +
                tft.setTextColor(tft_colorA);
 +
                menu_sta --;
 +
              }
 +
              break;
 +
            case 2: {
 +
                char *menu_str_c[2] = { "3.3V", "5.0V"};
 +
                return_menu = true;
 +
 
 +
                if (key_get(2, 1) || key_get(3, 1)) {
 +
                  mcu_voltage = !mcu_voltage;
 +
                  tft.fillRect(0, 40, tft_width, 100, tft_colorB);
 +
                }
 +
 
 +
                TFT_cursor(mcu_voltage);
 +
 
 +
                for (uint8_t c = 0; c < 2; c++) {
 +
                  TFT_menu(c, menu_str_c[c]);
 +
                }
 +
                //                tft.fillRect(0, 40, tft_width, 100,tft_colorB);
 +
              }
 +
              break;
 +
          }
 +
 
 +
        }
 +
        break;
 +
 
 +
#if !(defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__))
 +
      case 3: { //mpu
 +
          mode_mpu = menu_num_B;
 +
          tft_cache = 1;
 +
          menu_sta = 0; //back main menu
 +
          menu_num_B = 0; //zero
 +
        }
 +
        break;
 +
#endif
 +
    }
 +
  }
 +
 
 +
  /*
 +
    Serial.print(menu_sta);
 +
    Serial.print(",");
 +
    Serial.print(menu_num_A);
 +
    Serial.print(",");
 +
    Serial.println(menu_num_B);
 +
  */
 +
  //----------------------------
 +
  if (menu_sta == 1) {
 +
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
 +
    int8_t meun_b_max[5] = {1, 2, 2, 1, 0};
 +
#else
 +
    int8_t meun_b_max[4] = {1, 2, 2, 0};
 +
#endif
 +
    if (!meun_b_max[menu_num_A])
 +
      return false;
 +
    else {
 +
      if (key_get(2, 1)) {
 +
        tft.fillRect(0, 40, 5, 100, tft_colorB);
 +
        menu_num_B--;
 +
      }
 +
      if (key_get(3, 1)) {
 +
        tft.fillRect(0, 40, 5, 100, tft_colorB);
 +
        menu_num_B++;
 +
      }
 +
      menu_num_B = constrain(menu_num_B, 0, meun_b_max[menu_num_A]);
 +
 
 +
      TFT_cursor(menu_num_B);
 +
 
 +
      if (tft_cache) {
 +
        for (uint8_t b = 0; b < (meun_b_max[menu_num_A] + 1); b++) {
 +
          TFT_menu(b, menu_str_b[menu_num_A][b]);
 +
        }
 +
      }
 +
    }
 +
  }
 +
 
 +
  //main menu
 +
  if (menu_sta == 0) {
 +
    //custer
 +
    if (key_get(2, 1)) {
 +
      tft.fillRect(0, 40, 5, 100, tft_colorB);
 +
      menu_num_A--;
 +
    }
 +
    if (key_get(3, 1)) {
 +
      tft.fillRect(0, 40, 5, 100, tft_colorB);
 +
      menu_num_A++;
 +
    }
 +
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
 +
    menu_num_A = constrain(menu_num_A, 0, 4);
 +
#else
 +
    menu_num_A = constrain(menu_num_A, 0, 3);
 +
#endif
 +
 
 +
    TFT_cursor(menu_num_A);
  
−
===Hardware Buildup===
+
    if (tft_cache) {
−
*Step 1：Install Microduino-TFT on the panel of Microduino-Joypad;
+
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
−
[[File:Microduino_Joypad_TFT.jpg||600px|center|thumb]]
+
      for (uint8_t a = 0; a < 5; a++) {
 +
#else
 +
      for (uint8_t a = 0; a < 4; a++) {
 +
#endif
 +
        TFT_menu(a, menu_str_a[a]);
 +
      }
 +
    }
 +
  }
  
−
*Step 2: Fixate Microduino-Joypad with screws and stick the panel to the bottom of Microduino-Joypad;  
+
  if (tft_cache) {
−
[[File:Microduino_Joypad_nilong.jpg||600px|center|thumb]]
+
    //BACK
 +
    tft.fillCircle(12, 149, 8, tft_colorA);
 +
    tft.drawLine(11, 145, 7, 149, tft_colorB);
 +
    tft.drawLine(7, 149, 11, 153, tft_colorB);
 +
    tft.drawLine(7, 149, 17, 149, tft_colorB);
 +
    //ENTER
 +
    tft.fillCircle(12 + 20, 149, 8, tft_colorA);
 +
    tft.drawLine(10 + 20, 146, 7 + 20, 149, tft_colorB);
 +
    tft.drawLine(7 + 20, 149, 10 + 20, 152, tft_colorB);
 +
    tft.drawLine(7 + 20, 149, 15 + 20, 149, tft_colorB);
 +
    tft.drawLine(15 + 20, 146, 15 + 20, 149, tft_colorB);
 +
    //PREV
 +
    tft.fillCircle(127 - 12, 149, 8, tft_colorA);
 +
    tft.drawLine(127 - 12, 153, 127 - 8, 149, tft_colorB);
 +
    tft.drawLine(127 - 12, 153, 127 - 16, 149, tft_colorB);
 +
    tft.drawLine(127 - 12, 153, 127 - 12, 145, tft_colorB);
 +
    //NEXT
 +
    tft.fillCircle(127 - 32, 149, 8, tft_colorA);
 +
    tft.drawLine(127 - 32, 145, 127 - 28, 149, tft_colorB);
 +
    tft.drawLine(127 - 32, 145, 127 - 36, 149, tft_colorB);
 +
    tft.drawLine(127 - 32, 145, 127 - 32, 153, tft_colorB);
 +
  }
 +
  tft_cache --;
 +
  if (tft_cache < 0)  tft_cache = 0;
  
−
*Step 3； Connect Microduino-TFT and Microduino-Joypad through wires;  
+
  return true;
−
[[File:Microduino_Joypad_Connection.jpg||600px|center|thumb]]
+
}
  
−
*Step 4: Connect the Li-ion battery to the bottom of the base board and make sure a right connection of the positive and negative charges; 
+
//------------------
−
[[File:Microduino_Joypad_power.jpg||600px|center|thumb]]
+
#define _C_x_S  (_Q_x + 1)
 +
#define _C_x_M  (_Q_x + ((_W_x + 1) / 2))
 +
#define _C_x_E  (_Q_x + _W_x - 1)
  
−
*Step 5: Fix the base board and the panel with nylon screws;
+
char *NAME[8] = {
−
[[File:Microduino_Joypad_face_bord.jpg||600px|center|thumb]]
+
  "ROLL", "PITCH", "YAW", "THROT", "AUX1", "AUX2", "AUX3", "AUX4"
 +
};
  
−
*Step 6: You can start the power and see if it is charged normally.
+
void TFT_ready()
−
[[File:Microduino_Joypad_switch.jpg||600px|center|thumb]]
+
{
 +
  tft.fillRect(0, 0, 128, 26, tft_colorA);
  
−
*Step 7: Stack Microduino-USBTTL, Microduino-Core to the base of Microduino-Joypad. In the meantime, just don’t stack Microduino-BT module, or it will cause the serial port conflict.
+
  tft.drawRect(tft_width - tft_bat_x - tft_bat_x_s - 2, 2, tft_bat_x, tft_bat_y, tft_colorB);
−
[[File:Microduino_Joypad_Module.jpg||600px|center|thumb]]
+
  tft.drawRect(tft_width - tft_bat_x_s - 2, 2 + (tft_bat_y - tft_bat_y_s) / 2, tft_bat_x_s, tft_bat_y_s, tft_colorB);
  
−
===Debug the Software===
+
  tft.setTextColor(tft_colorB);
−
*Download Microduino_Joypad_RC_2.3 program：
+
  setFont_S;
−
https://github.com/Microduino/Microduino_Tutorials/tree/master/Microduino_Joypad/Joypad_RC_2.3
 
  
−
Meantime, you also need the libraries below:  
+
  tft.setCursor(_Q_font_x, 3);
 +
  tft.print(mode_protocol ? "nRF24" : "Quadr");
 +
  tft.print(" CHAN.");
 +
  tft.print(mode_protocol ? nrf_channal : mwc_channal);
 +
  tft.setCursor(_Q_font_x, 16);
 +
  tft.print("Time:");
  
−
'''_01_Microduino_TFT_GFX：'''、'''_01_Microduino_TFT_ST7735 ：'''、'''_01_Microduino_TFT：'''、'''_08_Microduino_Shield_Joypad：'''
+
  tft.setTextColor(tft_colorA);
 +
  for (uint8_t a = 0; a < 8; a++) {
 +
    tft.setCursor(_Q_font_x, _Q_font_y + a * 15);
 +
    tft.print(NAME[a]);
 +
    //------------------------------------------
 +
    tft.drawRect(_Q_x, _Q_y + a * 15, _W_x, _W_y, tft_colorA);
 +
  }
 +
}
  
−
Reference：[[Install_Arduino_IDE_Microduino_library_support_package]]
+
boolean _a = false, _b = false;
 +
void TFT_run()
 +
{
 +
  if (outBuf[3] > (Joy_MID - Joy_maximum)) {
 +
    if (_a) {
 +
      Joy_time[0] = millis() - Joy_time[1];
 +
      _a = false;
 +
    }
 +
    Joy_time[1] = millis() - Joy_time[0];
 +
  }
 +
  else
 +
    _a = true;
  
−
*Open Microduino_Joypad_RC_2.3 program and choose the right board for download after it is get compiled successfully.  
+
  if (!_b && ((Joy_time[1] / 1000) % 2)) {
 +
    _b = !_b;
 +
    tft.fillRect(_Q_font_x + 30, 16, 50, 7, tft_colorA);
 +
    tft.setTextColor(tft_colorB);
 +
    tft.setCursor(_Q_font_x + 30, 16);
 +
    tft.print((Joy_time[1] / 1000) / 60);
 +
    tft.print("m");
 +
    tft.print((Joy_time[1] / 1000) % 60);
 +
    tft.print("s");
 +
  }
 +
  _b = boolean((Joy_time[1] / 1000) % 2);
  
−
*Take off Microduino-USBTTL after the download, stack Microduino-BT and have an overall debugging at last.  
+
  //battery------------------
−
[[File:Microduino_Joypad_BT.jpg||600px|center|thumb]]
+
  tft.fillRect(tft_width - tft_bat_x - 3, 3, map(_V_bat, _V_min, _V_max, 0, tft_bat_x - 2) , tft_bat_y - 2, tft_colorB);
 +
  tft.fillRect(tft_width - tft_bat_x - 3 + map(_V_bat, _V_min, _V_max, 0, tft_bat_x - 2), 3,
 +
map(_V_bat, _V_min, _V_max, tft_bat_x - 2, 0) , tft_bat_y - 2,tft_colorA);
  
−
==Test Fly==
+
  for (uint8_t a = 0; a < 8; a++) {
−
=== Debug Microduino-Joypad===
+
    int8_t _C_x_A0, _C_x_B0, _C_x_A, _C_x_B, _C_x_A1, _C_x_B1;
−
Stack Microduino-Core, Microduin-10DOF and Microduino-USBTTL together, then install them to the flight control plate, as picture 3.4-1 shows: 
+
    int8_t _C_x;
−
[[File:Microduino_QuadCopter_Software1.jpg||600px|center|thumb]]
 
  
−
Put the quadcopter on a flat desk, connect it to a computer with a USB cable, select the board Microduino-Core (Atmega328P@16M,5V) and then compile the modified program and download it to Microduino-Core. After that, just open MultiWiiConf.exe and adjust parameters as an administrator in MultiWiiConf\application.windows32, which can be seen from the picture below:
+
    if (outBuf[a] < Joy_MID) {
−
[[File:Microduino_QuadCopter_MultiWiiConf1.jpg||600px|center|thumb]]
+
      _C_x = map(outBuf[a], Joy_MID - Joy_maximum, Joy_MID, _C_x_S, _C_x_M);
  
−
===Debug the Quadcopter Frame===
+
      _C_x_A0 = _C_x_S;
−
*Make sure Microduino-BT stacked on the quadcopter for communicating with the remote controller. 
+
      _C_x_B0 = _C_x - _C_x_S;
  
−
*Fix the battery at the bottom of the quadcopter and then connect with the power cord of Microduino-Quadcopter.(The red cord is the positive and the black one is the negative.)
+
      _C_x_A = _C_x;
−
[[File:Microduino_QuadCopter_Remote2.jpg||600px|center|thumb]]
+
      _C_x_B = _C_x_M - _C_x;
  
−
*Start Microduino-Quadcopter, put it on a stable area, press the reset key and the system will automatically adjust the sensors. When it is undone, the red LED light will blink on the board and will go off after the adjustment is done, waiting for unlock. 
+
      _C_x_A1 = _C_x_M;
−
[[File:Microduino_QuadCopter_Remote3.jpg||600px|center|thumb]]
+
      _C_x_B1 = _C_x_E - _C_x_M;
 +
    } else if (outBuf[a] > Joy_MID) {
 +
      _C_x = map(outBuf[a], Joy_MID, Joy_MID + Joy_maximum, _C_x_M, _C_x_E);
  
−
===Overall Test===
+
      _C_x_A0 = _C_x_S;
−
*Watch whether the Microduibno-BT module on the quadcopter is connected with the BT on the Joypad, which you can tell by the indicator of the BT module. When the indicator does not blink, it means the BT modules being connected. 
+
      _C_x_B0 = _C_x_M - _C_x_S;
−
[[File:Microduino_QuadCopter_Remote4.jpg||600px|center|thumb]]
 
  
−
*Unlock the quadcopter and pull the top-left switch downside(Close the throttle) and adjust the throttle to the lowest before flying for fear that the throttle rocker value is too large and causes accident. Put the throttle to the bottom-right and you can see the LED blink, just be ready for connecting, wait for about 2 seconds and loose the throttle rocker. Repeat that operation for several times until the LED is on for a long time. But if you try that operation and still cannot unlock the quadcopter, please reset the quadcopter’s core and the system will adjust the sensors automatically, just try to unlock once again. 
+
      _C_x_A = _C_x_M;
−
[[File:Microduino_QuadCopter_Remote5.jpg||600px|center|thumb]]
+
      _C_x_B = _C_x - _C_x_M;
  
−
*Pull the throttle rocker to the bottom, push the top-left switch upside(Open the switch of the throttle), at this time, you can refer to the rocker control schematic. Just need a slight push of the the rocker,, you can see the four propellers get spun rapidly. Keep increasing the throttle, make sure it fly away. A little higher, don’t fly along the ground and then you can control the stability with the rocker bar.
+
      _C_x_A1 = _C_x;
−
[[File:Microduino_QuadCopter_Remote6.jpg||600px|center|thumb]]
+
      _C_x_B1 = _C_x_E - _C_x;
 +
    } else {
 +
      _C_x_A0 = _C_x_S;
 +
      _C_x_B0 = _C_x_M - _C_x_S;
  
−
*When you find the quadcopter can only fly along the ground and fail to fly higher even when you increase the throttle violently, it means the battery has run out of power. At this time, please charge the battery and avoid the accident. Since our fly-control backplane integrates battery management, you only need to charge the quadcopter with a USB cable. 
+
      _C_x_A = _C_x_M;
 +
      _C_x_B = 0;
  
−
[[File:Microduino_QuadCopter_Remote7.jpg||600px|center|thumb]]
+
      _C_x_A1 = _C_x_M;
 +
      _C_x_B1 = _C_x_E - _C_x_M;
 +
    }
 +
    tft.fillRect(_C_x_A0,  _Q_y + a * 15 + 1, _C_x_B0, _W_y - 2, tft_colorB);
 +
    tft.fillRect(_C_x_A,  _Q_y + a * 15 + 1, _C_x_B, _W_y - 2, tft_colorC);
 +
    tft.fillRect(_C_x_A1,  _Q_y + a * 15 + 1, _C_x_B1, _W_y - 2, tft_colorB);
  
−
*Before you turn off the quadcopter, please cut off the power of the quadcopter first and then turn off the power of the remote controller, otherwise the quadcopter may get out be control.  
+
    tft.fillRect(_C_x_M,  _Q_y + a * 15 - 1, 1, _W_y + 2, tft_colorD);
 +
  }
 +
  //netsta------------------
 +
  tft.fillRect(0, 158, 128, 2, node_clock_error ? tft_colorD : tft_colorC);
 +
}
 +
</source>
 +
time.h
 +
<source lang="cpp">
 +
#include "Arduino.h"
  
 +
//unsigned long time;
 +
unsigned long TIME1;            //setup delay
 +
unsigned long time2; //send data
 +
unsigned long time3; //battery
 +
unsigned long Joy_time[2] = {0, 0}; //joy
 +
</source>
  
−
==Attention==
+
==Caution==
−
*BT connection is the first and the key step. So please make sure the two BT modules connected successfully.  
+
*For installation
−
*Please don;t stack the BT module during the download for it will cause serial port conflict.  
+
**The four propellers must be installed in order.  
−
*Make the installation of the quadcopter’s four propellers, or it can’t fly.
+
**Electrode for the Lithium battery. Please be noted that the red wire points to the positive pole and the black wire points to the negative pole.  
−
*Please don’t get wrong of the electrode, or it will get the circuit burnt.
+
*For parameter adjustment
−
*Before flying, please adjust the Microduino-Joypad for it may lead to an unstable fly.  
+
**Please refer to the fourth section of the content to adjust the aircraft PID parameters and flight mode, which can be modified according to the recommended configurations. If you want to change PID parameters manually, please choose to change one parameter each time.  
−
*Before the remote control and unlock, please pull down the top-left switch (Close the throttle) and adjust the throttle to the lowest before flying for fear that the throttle value is too large and causes accident.  
+
*About debugging
−
*Before you turn off the quadcopter, please cut off the power of the quadcopter first and then turn off the power of the remote controller, otherwise the quadcopter may get out be control.  
+
**Please adjust the Microduino-Joypad and the quadcopter before flying.
 +
*About flying control
 +
**Make sure flying in an empty place.
 +
**Please put the switch on the top left before unlocking the remote controller(Shut off the throttle) and set the throttle to the lowest before flying for fear of the take-off accident.
 +
*Please cut off the power supply of the Quadcopter firstly and then the power supply of the remote controller or it'll make the Quadcopter out of control.  
 
|}
 
|}

Revision as of 07:33, 3 December 2015

Language: English  • 中文

Outline

Quadcopter is a kind of aircraft that is equipped with four propellers. Similar to the helicopter, it can finish the action of hover and flight. A traditional helicopter uses a main rotor to generate thrust and a tail rotor to offset the torque from the main rotor, namely, locking the tail. While the quadcopter adopts positive and negative propeller design and therefore, needs no extra structure to lock the tail. For propellers distribute symmetrically in the shape of a cross. The No. 1 and No. 2 propellers rotate anticlockwise while the No.3 and No.4 rotate clockwise. When the four propellers generate the same thrust, the anti-torque imposed on the body by the two groups offset, balancing in the vertical direction and making sure flight stability.

According to the user-defined fore and aft direction of the aircraft, the quadcopter can be divided into the cross mode and X mode. The cross mode means that the fore and aft direction points to a certain propeller and the X mode refers to that the fore and aft direction points to the middle of two propellers.
For most aircraft adopting X mode, the X mode is harder to control but more flexible.
Pitchd Roll.jpg

Principle

System Structure

Jiagou.PNG

As the picture shows, the quadopcter consists of a remote controller, a flight controller and four motors. And for the flight controller includes a microcontrller, a remote control signal reciing module, a sensor(A gyroscope, an accelerator, an electronic compass and a GPS module.) and a motor driving module.

Flying Principle

Vertical Motion

Vertical motion includes rising or falling vertically. As the text mentioned previously, the quadcopter can keep balance horizontally by four motors maintaining the same rotation rate. As you can see from picture 2.2.1, if the four motors increase to the same speed, the generated thrust will be large enough to overcome the quadcopter weight and rise, and vice versa. Under the condition of no surrounding interruption, the four motors can generate enough thrust to overcome the weight and therefore, the quadcopter can suspend in the air.

The quadcopter can fly steadily in the vertical direction as long as the four motors maintain the same speed.
Chuizhi-sport.jpg


Front & Lateral Motion

The motor 1 is the head of the aircraft and the motor 2 is the rear.
How does the quadcopter move forward? Get a thrust in the horizontal direction: By increasing the speed of the motor 2 and the thrust increases in the rear. By decreasing the speed of the motor 1, the thrust will get reduced in the head. In this case, the aircraft will move forward. At the same time, by maintaining the speed of the motor 3 and 4 to keep the anti torque balance, the aircraft will fly forward steadily and vice versa.
Since the quadcopter is symmetrical in the middle, the action of controlling the quadcopter forward or laterally is similar. Just keep in mind, the control of the two groups of motors should be reversed while trying to fly the aircraft laterally. For example, by keeping the speed of the motor 1 and 2 the same, increasing the speed of the motor 4 and decreasing the speed of the motor 3, it will generate horizontal thrust to the left and the aircraft will move left.


enter


Right-left-sport.jpg



Yawing Motion

The three kinds of motion mentioned above all happen in the directions of the three axes. Next, we'll introduce the motion around the three axes.

Yawing motion is the rotation in the horizontal direction, nanely rotation around the Z-axis.

During the rotation, it will form an anti-torque opposite to the rotation due to air resistance. Yawing rotation is realized by using the reverse torque. When the aircraft suspends, the speed of the four motors is the same, which can offset torque in both horizontal and vertical direction, and achieve balance. When the speed of the four motors is different, unbalanced anti-torque will cause horizontal rotation and the aircraft will deviate from the route. As the picture shows, by increasing the speed of the motor 1 and 2, and decreasing that of the motor 3 and 4, the clockwise anti-torque generated by the motor 1 and 2 will be larger than the counter clockwise anti-torque generated by the motor 3 and 4, causing clockwise rotation of the aircraft horizontally and generating no vertical displacement when there is no change in the thrust upside.

Pitch and Roll Motion

Pitch motion refers to the rotation in the Y-axis direction while the roll motion refers to the rotation in the X-axis direction.

As the picture shows, by increasing the speed of the motor 1 and decreasing that of the motor 2, and keeping the same of the variable quantity as well as the speed of the motor 3 and 4: The thrust of the head is larger than that of the rear. The unbalanced torque makes the body rise. Similarly, the roll motion is realized by reducing the speed of the motor 1 and increasing that of the motor 2, generating a torque forward.
The principle of the roll and pitch motion is the same due to symmetry in the middle. By keeping the speed of the motor 1 and 2 unchanged, and changing the speed of motor 3 and 4, it'll generate unbalanced torque and make the aircraft rotate around the X-axis direction.


enter


Turn over-sport.jpg



Control Procedure

The remote controller sends out control command, such as take-off or flying left. The control signal is received wirelessly.

  • A remote control signal receiving module receives a control signal, which is converted into PWM, PPM or other signals and then transmitted to the flight controller.
  • Micro controller uses the remote control signal and the sensor's value (the current state of the aircraft, such as acceleration, direction and other information) to control the four motor and achieve the desired action through the PWM.
Since the four-motor combination control can only reach to six directions, which is an under actuated system. So here we must have a flight controller to control the whole system.
In the flight controllers, sensors such as gyroscope and accelerator are dispensable. Micro controller can calculate data from the two sensors, get the current aircraft's attitude and then adjust the rotation rate with algorithms such PID to keep the stability. Sure you can add an electronic compass to get the direction or a GPS module to get the geographic location. Simply speaking, the quadcopter is system with two closed-loops to control---the large loop gets input volume from the remote receiving device and the small loop aquires input volume from the attitude sensor.
Generally speaking, the quadcopter kit includes an aircraft and a remote controller, the two of which controls instructions through the CoreRF transmission.
The quadcopter is composed of a frame, Microduino-CoreRF , Microduino-Motion and other modules. For Microduino-motion, it integrates a three-axis gyroscope + a three-axis accelerator(MPU6040), a magnetic field intensity sensor(HMC5883L) and a digital pressure sensor(BMP180), and have communication through IIC.
MPU6050 is the most important attitude sensor with a three-axis accelerator and a three-axis gyroscope integrated inside, which not only offsets adjustment errors for the combination of a three-axis accelerator and a three-axis gyroscope, and also has a built-in low pass filter.

Buildup and Debugging

Bill of Materials

  • Microduino Equipment
Module Number Function
Microduino-CoreRF 1 Core board
Microduino-USBTTL 1 Program download module
Microduino-Motion 1 Attitude adjustment
Microduino-QuadCopter 1 Quadcopter driver
2.4G Antenna 1
  • Other Equipment
Component Number Function
USB Cable 1
Frame 1
Battery 1 Power supply
Screw 8
Screwdriver 1
四轴物料1.jpg
  • Step 1：Install the four propellers as shown below:
Quostep1.jpg
  • Step 2：Put the battery into the right place on the bottom of the frame.
Quostep2.jpg
  • Step 3：Put the module base into the top of the frame and then insert the wires into the corresponding interface.
Quostep3.jpg
  • Step 4：Connect the antenna to the CoreRF, and then stack them to the Microduino-Motion on the base plate.
Quostep4.jpg
  • Step 5：Connect the base module and the battery with wires.
Quostep5.jpg
  • Step 6：Paste the antenna on the CoreRF to the back of the frame. Congratulations! You just finished the Quadcopter buildup.
Quostep6.jpg
    • Please be noted of the electrode of the two wires, which is "red wire connects to red wire" and "black to black".
    • Make sure all wires are connected well in order to prevent accident while flying.

Program Download Debugging

*Open Arduino IDE, click【File】->【File】, open the program 【MultiWii_RF】 of  MultiWii_CoreRF and select Microduino-CoreRF from the Board under Tools.
  • Click "Tools", select the board (Microduino-CoreRF), choose COM-XX and then upload the program. After that, please click "√" on the top left and compile, then click and complete the programming of hardware.
Microduino-CoreRF Pitch Roll.jpg

The Microduino-USBTTL download module can only be used in program download, serial debugging and calibration of the Quadcopter, which needn't be stacked at other times.

Quadcopter Adjustment

Preperation

  • Stack the Microduino-CoreRF, Microduino-Motuion and Microduino-USBTTL, then connect them to the base plate.
Microduino QuadCopter Software11.jpg
  • Open the Quadcopter file and select "MultiWiiConf \application.windows32 \MultiWiiConf.exe" to adjust parameters of the Quadcopter.

Note: The file needs to be opened under JAVA development environment or adopt Microduino_Joypad_QuadCopter\java to install.

Sensor Calibration

  • Put the Quadcopter on the desk, click RECONNECT, you'll the curve of the sensor data; Click CALIB_ACC and keep stable of the Quadcopter for 5s, the accelerator will be calibrated; Click WRITE and write the values into the Quadcopter.
  • Click CALIB_MAG and take the Quadcopter to rotate around the modules to calibrate the electronic compass. After that, please put the Quadcopter on a smooth place and click WRITE to write values into the Quadcopter after the compass being balanced.
RF Pitch Roll.jpg

PID Parameter Setting

Click LOAD to load setting files and select pku.mwi to input, as shown below:

Microduino QuadCopter MultiWiiConf4.jpg

Flying Mode Setting


Click SELECT SETTING on the right side of the PID, we can see various flight patterns and a two-dimensional table corresponding to the auxiliary switch. A combination of a switch or multiple switches can be specified as a flight mode. We recommend that players follow the following chart to set the flight mode.

The setting method is to click the left mouse button in the square. The gray square will become white, such as the figure below by clicking three white squares (this should be gray).
This specifies the corresponding flight mode in such a switch position. ANGLE is a steady mode, which helps us to fly the Quadcopter. You can click WRITE to set up the numerical control writing.


Microduino QuadCopter MultiWiiConf ANGLE.jpg

Close the MultiWiiConf serial port after setting up the flight mode, you can take down the Microduino-USBTTL module, completing the assembly and debugging of the whole flight controller.

Troubleshooting with Sensor Values

This method can help to eliminate the problem of aircraft in direction. It can be used to display the correct direction of the control board installation or if there is no proper control board type in "config.h".

  • Tilt to the right side of the fuselage:
    • MAG_ROLL, ACC_ROLL and GYRO_ROLL values increase
    • MAG_Z and ACC_Z values reduce
  • Move the fuselage forward (rear up):
    • MAG_PITCH, ACC_PITCH and GYRO_PITCH values increase
    • MAG_Z and ACC_Z values reduce
  • Turn the fuselage in a clockwise direction (yaw):
    • CYRO_YAW numerical value
  • body level:
    • MAG_Z and ACC_Z values are positive

Remote Controller（Microduino-Joypad）Buildup & Debugging

As it mentioned previously, the remote controller is composed of the control board (Microduino-Joypad), the microcontroller (Microduino-CoreRF), thedisplay module (Microduino-TFT) as well as download and debugging module (Microduino-USBTTL).

  • Microduino Modules
Module Number Function
Microduino-CoreRF 1 Core board
Microduino-USBTTL 1 Program download
Microduino-Joypad 1 Remote controller
Microduino-TFT 1 Display screen
2.4G antenna 1
TFT cable 1
  • Other Equipment
Module Number Function
Rod cover 1
Key cover 1
Nylon nut 1
Nylon screw 1
Screwdriver 1
2.4G antenna 1
TFT cable 1
Joypad物料.jpg

Joypad Buildup &Debugging

Joypad Buildup

600px
  • * Note: The picture is not good because of the effect of the page, please click to see the big picture.
  • Step 1: Download program for the Microduino-CorRF of Joypad.
  • * open the Joypad_RC program in the MultiWii_CoreRF, select the right board and port for program download after the compiler is finished.
  • Step 2: Put the Microduino-TFT on the back of the Microduino-Joypad panel and fixate it with nylon screws, pay attention to the installation direction of Microduino-TFT.
  • Step 3：As it is shown in the picture, you can fixate the Joypad with nylon nuts and screws. Insert the 2.4G antenna into Microduino-CoreRF and connect them to the base plate of Microduino-Joypad.


  • Step 4：Connect Microduino-TFT and Microduino-Joypad with cables.
  • Step 5：Put the switch on the battery to the side of "Dry bat(1.5V)", install the battery (AAA battery) to the battery box; Open the switch on the right side of the Joypad to see if it is powered. If not, please use the USB data cable to connect to the left of the MicroUSB interface to activate the system.
You can also not use the battery. The power supply can also be achieved through a USB cable.


  • Step 6：Use nylon screws to fix the bottom plate and the panel. The remote sensing cap is installed on the rocker, and the button cap is installed on the button. (If the key is not connected well with the upper plate of the key, you can insert the key into the key interface, and then connect with the bottom button.


  • Step 7：You can open the power switch and see if is the power supply is normal.

Joypad Buildup Debugging

  • Key

Press the Key 1 in 4s after opening the Joypad and enter (Config) mode.

Step1进入设置.jpg
  • Enter setting mode

Key1 to Key 4 from the left to the right as shown below:

Step1按键对应.jpg

Note: Make sure setting before entering the OS interface.

  • Joystick calibration

Press Key3 and Key4 to move the cursor. The Key 1 refers to "Return" and the Key 2 refers to "Confirm". Select the first item Joystick Config to enter the setting mode and the Joystick Correct to enter the calibration mode. After that, you'll see interface shown in the third picture. At this time, you can swing the rocker to the upmost and watch the results.

Step2摇杆校准.jpg
  • Select control mode

Press Key1 to return to the main interface and select Protocol Config to enter mode selection. Choose Mode and then Quadcopter mode, press Key 2 to confirm and return.

Step3设置四轴模式.jpg
  • Set communication channel

Return to the secondary menu, choose Quadcopter Channel and press Key 2 to confirm. Select 12, which corresponds to the setting of "#define RF_Channel 12" under MultiWii.

Step4通信通道设置.jpg

At this point, the flight controller and remote control has been assembled and the next is to combine the two and begin to test flying. Not only to practice using the joystick, but also to observe the actual flight of the aircraft to further optimize the parameters of PID.

Overall Debugging

  • Step 1：Open the switch on the Microduino-QuadCopter, put it in a stable place and press the reset button, the system will calibrate the sensor, the LED light will flash on the unfinished board and go out after the calibration. At this time, please wait to unlock. If the LED lamp has been flashing, meaning the four axis is not calibrated well, please re-calibrate.
  • Unlock the Quadcopter
    • Please dial the Joypad remote control switch to the left side (Close the throttle) to prevent the accident caused by Quadcopter speeding up after unlocking. The switch on the right is allocated to the top (Unlock until reaching the maximum value11).
    • Pull the throttle rocker to the lowest level and wait around 2s, and the brightness of the blue LED means successful unlocking. So you can be ready to fly the aircraft, or put the throttle rocker in the middle and operate again. If you try to unlock for many times and still fail, the n please reset the core module, calibrate the sensor and try to unlock again.
Microduino12 Joypad1 config5-quad.jpg
    • And then put the throttle rocker to the bottom and the left upper switch the top (open the throttle switch), For the first use, it is suggested to dial the switch downside and make sure a stable flying.
Microdu1ino12 Joypad1 config5-quad.jpg
  • You only need to gently push the throttle to see the beginning of the four propellers. Keeping speeding up make sure it's flying. A little higher will be OK, just do not close to the ground, and then keep balance through the joystick.
Microduino QuadCopter Remote6.jpg
  • In the upper left is the throttle control switch, you can open (dial above) it to control, you can shake the joystick to observe the change of the screen.
  • The right switch is a precision adjustment switch.
  • The Joystick in the left controls speeding up in the vertical direction.
  • The Joystick in the right controls flying in the vertical direction, which controls left and right flying in the horizontal direction.

Phone Bluetooth Control

  • Get prepared.
    • Make sure the serial port of the BT and the Serial0 (D0,D1) of the Quadcopter as well as the baud rate (115200).
Microduino-BT


    • Download APP.
Qua app.gif
  • Debug.

Connect the BT module onto the calibrated Quadcopter, then put them on a smooth place and wait for Bluetooth connection.

Open the phone Bluetooth and the Quadcopter control APP, you'll see Microduino Bluetooth device.

App microduino.png

Click Microduino, connect the Bluetooth and enter the control interface. After the connection, it'll show "Ready" to remind you to unlock the Quadcopter.

Qua app-ready.png

Unlock the Quadcopter: If the Bluetooth indicator on the bottom of the Quadcopter goes on, it means unlocked successfully. If you see "Unlocked" on the screen, please try to unlock again. After unlocking, the middle rod can push up to speed up and the Quadcopter can fly.

Qua app-ok.png

Code & Notes

Program Description

Joypad Program & Description

Joypad_RC.ino 

#include "Arduino.h"
#include "def.h"
#include "time.h"
#include "bat.h"
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
#include "mpu.h"
#endif
#include "joy.h"
#include "key.h"
#include "data.h"
#include "nrf.h"
#include "mwc.h"
#include "tft.h"
#include "eep.h"

#if defined(__AVR_ATmega128RFA1__)
#include <ZigduinoRadio.h>
#endif

//joypad================================
#include <Joypad.h>
//eeprom================================
#include <EEPROM.h>
//TFT===================================
#include <Adafruit_GFX.h>    // Core graphics library
#include <Adafruit_ST7735.h> // Hardware-specific 
#include <SPI.h>
//rf====================================
#include <RF24Network.h>
#include <RF24.h>

#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
//MPU===================================
#include "Wire.h"
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
#endif

//spi===================================
#include <SPI.h>

void setup()
{
  // initialize serial communication at 115200 bits per second:

#ifdef Serial_DEBUG
  Serial.begin(115200);
  delay(100);
  Serial.println("========hello========");
#endif

  //---------------
  key_init();

  //---------------
#ifdef Serial_DEBUG
  Serial.println("\n\r EEPROM READ...");
#endif
  eeprom_read();

  //---------------
#ifdef Serial_DEBUG
  Serial.println("\n\r TFT INIT...");
#endif
  TFT_init(true, tft_rotation);

  //---------------
#ifdef Serial_DEBUG
  Serial.println("\n\r TFT BEGIN...");
#endif
  TIME1 = millis();
  while (millis() - TIME1 < interval_TIME1)
  {
    TFT_begin();

    if (!Joypad.readButton(CH_SWITCH_1))
    {
#ifdef Serial_DEBUG
      Serial.println("\n\rCorrect IN...");
#endif

      //---------------
#ifdef Serial_DEBUG
      Serial.println("\n\r TFT INIT...");
#endif
      TFT_init(false, tft_rotation);

      while (1)
      {
        if (!TFT_config())
          break;
      }
#ifdef Serial_DEBUG
      Serial.println("\n\rCorrect OUT...");
#endif

      //---------------
#ifdef Serial_DEBUG
      Serial.println("\n\r EEPROM WRITE...");
#endif
      eeprom_write();
    }
  }

  //---------------
#ifdef Serial_DEBUG
  Serial.println("\n\r TFT CLEAR...");
#endif
  TFT_clear();

  //---------------
#ifdef Serial_DEBUG
  Serial.println("\n\r TFT READY...");
#endif
  TFT_ready();

  //---------------.l
  if (mode_protocol)   //Robot
  {
    SPI.begin();		//Initialize SPI






    radio.begin();
    network.begin(/*channel*/ nrf_channal, /*node address*/ this_node);
  }
  else          //QuadCopter
  {
    unsigned long _channel;
#if !defined(__AVR_ATmega128RFA1__)
    switch (mwc_channal)
    {
      case 0:
        _channel = 9600;
        break;
      case 1:
        _channel = 19200;
        break;
      case 2:
        _channel = 38400;
        break;
      case 3:
        _channel = 57600;
        break;
      case 4:
        _channel = 115200;
        break;
    }
#else if
    _channel = mwc_channal;
#endif
    mwc_port.begin(_channel);
  }

  //---------------
#ifdef Serial_DEBUG
  Serial.println("===========start===========");
#endif

#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
  if (mode_mpu) initMPU(); //initialize device
#endif
}

void loop()
{
  //  unsigned long time = millis();

#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
  //MPU--------------------------------
  if (mode_mpu)
    getMPU();
#endif

  //DATA_begin------------------------------
  data_begin();

  //DATA_send-------------------------------
  if (millis() < time2) time2 = millis();
  if (millis() - time2 > interval_time2)
  {
    if (mode_protocol) nrf_send();    //Robot
    else data_send();           //QuadCopter

    time2 = millis();
  }

  //Node checking -------------------------------
  vodebug();

  //BAT--------------------------------
  if (time3 > millis()) time3 = millis();
  if (millis() - time3 > interval_time3)
  {
    vobat();
    time3 = millis();
  }

  //TFT------------------------------------
  TFT_run();

  //===================================
  //  time = millis() - time;

  //  Serial.println(time, DEC);    //loop time
}
</cpp>
BAT.h
<source lang="cpp">
int8_t _V_bat = _V_min;

boolean mcu_voltage = true; // 5.0 or 3.3
#define _V_fix 0.2  //fix battery voltage
#define _V_math(Y) (_V_fix+((Y*analogRead(PIN_bat)/1023.0f)/(33.0f/(51.0f+33.0f))))

void vobat()
{
  //_V_bat=10*((voltage*analogRead(PIN_bat)/1023.0f)/(33.0f/(51.0f+33.0f)));
  _V_bat = _V_math(mcu_voltage ? 50 : 33);
  _V_bat = constrain(_V_bat, _V_min, _V_max);

#ifdef Serial_DEBUG
  Serial.print("_V_bat: ");
  Serial.println(_V_bat);
#endif
}

data.h 

#include "Arduino.h"

byte inBuf[16];

int16_t outBuf[8] =
{
  Joy_MID, Joy_MID, Joy_MID, Joy_MID, Joy_MID, Joy_MID, Joy_MID, Joy_MID
};

boolean AUX[4] = {0, 0, 0, 0};
//======================================
void data_begin()
{
  Joy();

  if (mode_protocol)   //Robot
  {
    if (!sw_l)
    {
      Joy_x = Joy_MID;
      Joy_y = Joy_MID;
      Joy1_x = Joy_MID;
      Joy1_y = Joy_MID;
    }
  }
  else        //QuadCopter
  {
    if (!sw_l)
      Joy_y = Joy_MID - Joy_maximum;
  }

  //but---------------------------------
  for (uint8_t a = 0; a < 4; a++)
  {
    if (key_get(a, 1))  AUX[a] = !AUX[a];
  }

  outBuf[0] = Joy1_x;
  outBuf[1] = Joy1_y;
  outBuf[2] = Joy_x;
  outBuf[3] = Joy_y;
  outBuf[4] = map(AUX[0], 0, 1, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);
  outBuf[5] = map(AUX[1], 0, 1, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);
  outBuf[6] = map(AUX[2], 0, 1, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);
  outBuf[7] = map(AUX[3], 0, 1, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);
}

def.h 

#include "Arduino.h"

//DEBUG-----------
#define Serial_DEBUG

//MWC-------------
uint8_t mwc_channal = 11; //RF channel

#if  defined(__AVR_ATmega32U4__)
#define mwc_port Serial1    //Serial1 is D0 D1
#elif defined(__AVR_ATmega128RFA1__)
#define mwc_port ZigduinoRadio    //RF
#else
#define mwc_port Serial    //Serial is D0 D1
#endif

//nRF-------------
#define interval_debug  2000  //Interval for node checking. 
uint8_t nrf_channal = 70;  //0~125

//Battery---------
#define PIN_bat A7	//BAT

#define _V_max 41		//Maximum voltage for the lithium battery: 4.2V
#define _V_min 36		//Minimum voltage for the lithium battery: 3.7V

#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
//MPU-------------
#define MPU_maximum 70
#endif


//Time------------
#define interval_TIME1 2000    //setup delay
#define interval_time2 40      //send interval
#define interval_time3 1000    //battery interval

eep.h 

#include "Arduino.h"

#include <EEPROM.h>

#define EEPROM_write(address, p) {int i = 0; byte *pp = (byte*)&(p);for(; i < sizeof(p); i++) EEPROM.write(address+i, pp[i]);}
#define EEPROM_read(address, p)  {int i = 0; byte *pp = (byte*)&(p);for(; i < sizeof(p); i++) pp[i]=EEPROM.read(address+i);}

struct config_type
{
  int16_t eeprom_correct_min[4];
  int16_t eeprom_correct_max[4];
  uint8_t eeprom_Joy_deadzone_val;
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
  boolean eeprom_mode_mpu;
#endif
  boolean eeprom_mode_protocol;
  uint8_t eeprom_mwc_channal;
  uint8_t eeprom_nrf_channal;
  boolean eeprom_tft_theme;
  boolean eeprom_tft_rotation;
  boolean eeprom_mcu_voltage;
};

//======================================
void eeprom_read()
{
  //EEPROM reads the assigned values. 
  config_type config_readback;
  EEPROM_read(0, config_readback);

  for (uint8_t a = 0; a < 4; a++)
  {
    joy_correct_min[a] = config_readback.eeprom_correct_min[a];
    joy_correct_max[a] = config_readback.eeprom_correct_max[a];
  }
  Joy_deadzone_val = config_readback.eeprom_Joy_deadzone_val;

  mode_protocol = config_readback.eeprom_mode_protocol;
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
  mode_mpu = config_readback.eeprom_mode_mpu;
#endif

  mwc_channal = config_readback.eeprom_mwc_channal;
  nrf_channal = config_readback.eeprom_nrf_channal;
  tft_theme = config_readback.eeprom_tft_theme;
  tft_rotation = config_readback.eeprom_tft_rotation;
  mcu_voltage = config_readback.eeprom_mcu_voltage;
}

void eeprom_write()
{
  // Define structure variable "config" as well as the content of the variable. 
  config_type config;

  for (uint8_t a = 0; a < 4; a++)
  {
    config.eeprom_correct_min[a] = joy_correct_min[a];
    config.eeprom_correct_max[a] = joy_correct_max[a];
  }
  config.eeprom_Joy_deadzone_val = Joy_deadzone_val;

  config.eeprom_mode_protocol = mode_protocol;
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
  config.eeprom_mode_mpu = mode_mpu;
#endif

  config.eeprom_mwc_channal = mwc_channal;
  config.eeprom_nrf_channal = nrf_channal;
  config.eeprom_tft_theme = tft_theme;
  config.eeprom_tft_rotation = tft_rotation;
  config.eeprom_mcu_voltage = mcu_voltage;

  // Save the variable "config" into EEPROM and write in address 0.
  EEPROM_write(0, config);
}

joy.h 

#include "Arduino.h"

#include <Joypad.h>

//Joy-------------
//1000~2000
uint8_t Joy_deadzone_val = 10;
#define Joy_s_maximum 200 //MAX 300
#define Joy_maximum 450 //MAX 500
#define Joy_MID 1500  //1500

boolean mode_mpu, mode_protocol;   //{(0: 0 is mwc, 1 is nrf),(1: 0 is mpu, 1 is no mpu)}

int16_t joy_correct_max[4], joy_correct_min[4];
int16_t Joy_x, Joy_y, Joy1_x, Joy1_y;

int16_t s_lig, s_mic;

boolean Joy_sw, Joy1_sw;

boolean but1, but2, but3, but4;

boolean sw_l, sw_r;

//======================================
int16_t Joy_dead_zone(int16_t _Joy_vol)
{
  if (abs(_Joy_vol) > Joy_deadzone_val)
    return ((_Joy_vol > 0) ? (_Joy_vol - Joy_deadzone_val) : (_Joy_vol + Joy_deadzone_val));
  else
    return 0;
}

int16_t Joy_i(int16_t _Joy_i, boolean _Joy_b, int16_t _Joy_MIN, int16_t _Joy_MAX)
{
  int16_t _Joy_a;
  switch (_Joy_i)
  {
    case 0:
      _Joy_a = Joy_dead_zone(Joypad.readJoystickX());
      break;
    case 1:
      _Joy_a = Joypad.readJoystickY();    //throt
      break;
    case 2:
      _Joy_a = Joy_dead_zone(Joypad.readJoystick1X());
      break;
    case 3:
      _Joy_a = Joy_dead_zone(Joypad.readJoystick1Y());
      break;
  }

  if (_Joy_b)
  {
    if (_Joy_a < 0)
      _Joy_a = map(_Joy_a, joy_correct_min[_Joy_i], 0, _Joy_MAX, Joy_MID);
    else
      _Joy_a = map(_Joy_a, 0, joy_correct_max[_Joy_i], Joy_MID, _Joy_MIN);

    if (_Joy_a < _Joy_MIN) _Joy_a = _Joy_MIN;
    if (_Joy_a > _Joy_MAX) _Joy_a = _Joy_MAX;
  }
  return _Joy_a;
}

void Joy()
{
  sw_l = Joypad.readButton(CH_SWITCH_L);
  sw_r = Joypad.readButton(CH_SWITCH_R);

  //------------------------------------
  //s_lig=Joypad.readLightSensor();
  //s_mic=Joypad.readMicrophone();

  //------------------------------------
  Joy_sw = Joypad.readButton(CH_JOYSTICK_SW);
  Joy1_sw = Joypad.readButton(CH_JOYSTICK1_SW);

  //------------------------------------
  but1 = Joypad.readButton(CH_SWITCH_1);
  but2 = Joypad.readButton(CH_SWITCH_2);
  but3 = Joypad.readButton(CH_SWITCH_3);
  but4 = Joypad.readButton(CH_SWITCH_4);

#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
  //====================================
  int16_t y[3];        //MPU---------------------------------
  if (mode_mpu)     //MPU---------------------------------
  {
    for (uint8_t a = 0; a < 3; a++)
    {
      y[a] = ypr[a] * 180 / M_PI;
      if (y[a] > MPU_maximum) y[a] = MPU_maximum;
      if (y[a] < -MPU_maximum) y[a] = -MPU_maximum;
    }
  }
#endif

  if (Joypad.readButton(CH_SWITCH_R))
  {
    Joy_x = Joy_i(0, true, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);
    Joy_y = Joy_i(1, true, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);

#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
    if (mode_mpu)     //MPU---------------------------------
    {
      Joy1_x = map(y[2], -MPU_maximum, MPU_maximum, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);
      Joy1_y = map(y[1], -MPU_maximum, MPU_maximum, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);
    }
    else
#endif
    {
      Joy1_x = Joy_i(2, true, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);
      Joy1_y = Joy_i(3, true, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);
    }
  }
  else
  {
    Joy_x = Joy_i(0, true, Joy_MID - Joy_s_maximum, Joy_MID + Joy_s_maximum);
    Joy_y = Joy_i(1, true, mode_protocol ? Joy_MID - Joy_s_maximum : Joy_MID - Joy_maximum, 
mode_protocol ? Joy_MID + Joy_s_maximum : Joy_MID + Joy_maximum); //  Robot,QuadCopter

#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
    if (mode_mpu)     //MPU---------------------------------
    {
      Joy1_x = map(y[2], -MPU_maximum, MPU_maximum, Joy_MID - Joy_s_maximum, Joy_MID + Joy_s_maximum);
      Joy1_y = map(y[1], -MPU_maximum, MPU_maximum, Joy_MID - Joy_s_maximum, Joy_MID + Joy_s_maximum);
    }
    else
#endif
    {
      Joy1_x = Joy_i(2, true, Joy_MID - Joy_s_maximum, Joy_MID + Joy_s_maximum);
      Joy1_y = Joy_i(3, true, Joy_MID - Joy_s_maximum, Joy_MID + Joy_s_maximum);
    }
  }
}

key.h 

#include "arduino.h"

uint8_t key_pin[4] = {CH_SWITCH_1, CH_SWITCH_2, CH_SWITCH_3, CH_SWITCH_4}; //Key (1,2,3,4)
 
boolean key_status[4];			//Key 
boolean key_cache[4];		//Detect the key releasing cache. 

void key_init()
{
  for (uint8_t a = 0; a < 4; a++)
  {
    key_status[a] = LOW;
    key_cache[a] = HIGH;
  }
}

boolean key_get(uint8_t _key_num, boolean _key_type)
{
  key_cache[_key_num] = key_status[_key_num];		//Cache as a judge 

  key_status[_key_num] = !Joypad.readButton(key_pin[_key_num]);	//When it is triggered  

  switch (_key_type)
  {
    case 0:
      if (!key_status[_key_num] && key_cache[_key_num])		//After pressing down and releasing
        return true;
      else
        return false;
      break;
    case 1:
      if (key_status[_key_num] && !key_cache[_key_num])		// After pressing down and releasing

        return true;
      else
        return false;
      break;
  }
}

mpu.h 

#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
#include "Wire.h"
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"

MPU6050 mpu;

//MPU-------------
#define MPU_maximum 70

// MPU control/status vars
boolean dmpReady = false;  // set true if DMP init was successful
uint8_t mpuIntStatus;   // holds actual interrupt status byte from MPU
uint8_t devStatus;      // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize;    // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount;     // count of all bytes currently in FIFO
uint8_t fifoCache[64]; // FIFO storage cache

// orientation/motion vars
Quaternion q;           // [w, x, y, z]         quaternion container
VectorInt16 aa;         // [x, y, z]            accel sensor measurements
VectorFloat gravity;    // [x, y, z]            gravity vector
float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector

void initMPU()
{
  Wire.begin();
#ifdef Serial_DEBUG
  Serial.println(F("Initializing I2C devices..."));
#endif
  mpu.initialize();
  // verify connection
#ifdef Serial_DEBUG
  Serial.println(F("Testing device connections..."));
#endif
  if (mpu.testConnection())
  {
#ifdef Serial_DEBUG
    Serial.println("MPU6050 connection successful");
#endif
  }
#ifdef Serial_DEBUG
  else
    Serial.println(F("MPU6050 connection failed"));
#endif

  // load and configure the DMP
#ifdef Serial_DEBUG
  Serial.println(F("Initializing DMP..."));
#endif
  devStatus = mpu.dmpInitialize();

  // make sure it worked (returns 0 if so)
  if (devStatus == 0) {
    // turn on the DMP, now that it's ready
#ifdef Serial_DEBUG
    Serial.println(F("Enabling DMP..."));
#endif
    mpu.setDMPEnabled(true);

    mpuIntStatus = mpu.getIntStatus();

    // set our DMP Ready flag so the main loop() function knows it's okay to use it
    //    Serial.println(F("DMP ready! Waiting for first interrupt..."));
    dmpReady = true;

    // get expected DMP packet size for later comparison
    packetSize = mpu.dmpGetFIFOPacketSize();
  }
  else {
    // ERROR!
    // 1 = initial memory load failed
    // 2 = DMP configuration updates failed
    // (if it's going to break, usually the code will be 1)
#ifdef Serial_DEBUG
    Serial.print(F("DMP Initialization failed (code "));
    Serial.print(devStatus);
    Serial.println(F(")"));
#endif
  }
}

void getMPU()
{
  if (!dmpReady) return;
  {
    // reset interrupt flag and get INT_STATUS byte
    mpuIntStatus = mpu.getIntStatus();

    // get current FIFO count
    fifoCount = mpu.getFIFOCount();

    // check for overflow (this should never happen unless our code is too inefficient)
    if ((mpuIntStatus & 0x10) || fifoCount == 1024)
    {
      // reset so we can continue cleanly
      mpu.resetFIFO();
#ifdef Serial_DEBUG
      Serial.println(F("FIFO overflow!"));
#endif
      // otherwise, check for DMP data ready interrupt (this should happen frequently)
    }
    else if (mpuIntStatus & 0x02)
    {
      // wait for correct available data length, should be a VERY short wait
      while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();

      // read a packet from FIFO
      mpu.getFIFOBytes(fifoCache, packetSize);

      // track FIFO count here in case there is > 1 packet available
      // (this lets us immediately read more without waiting for an interrupt)
      fifoCount -= packetSize;

      // display ypr angles in degrees
      mpu.dmpGetQuaternion(&q, fifoCache);
      mpu.dmpGetGravity(&gravity, &q);
      mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);

      //Serial.print("ypr\t");
      //Serial.print(ypr[0] * 180/M_PI);
      //Serial.print("\t");
      //Serial.print(ypr[1] * 180/M_PI);
      //Serial.print("\t");
      // Serial.println(ypr[2] * 180/M_PI);
    }
  }
}

#endif

mwc.h 

#include "Arduino.h"

#if defined(__AVR_ATmega128RFA1__)
#include <ZigduinoRadio.h>
#endif

int16_t RCin[8], RCoutA[8], RCoutB[8];

int16_t p;
uint16_t read16()
{
  uint16_t r = (inBuf[p++] & 0xFF);
  r += (inBuf[p++] & 0xFF) << 8;
  return r;
}

uint16_t t, t1, t2;
uint16_t write16(boolean a)
{
  if (a)
  {
    t1 = outBuf[p++] >> 8;
    t2 = outBuf[p - 1] - (t1 << 8);
    t = t1;
  }
  else
    t = t2;
  return t;
}

typedef  unsigned char byte;
byte getChecksum(byte length, byte cmd, byte mydata[])
{
  //Three parameters including data length, instruction code and the actual data array. 
  byte checksum = 0;
  checksum ^= (length & 0xFF);
  checksum ^= (cmd & 0xFF);
  for (uint8_t i = 0; i < length; i++)
  {
    checksum ^= (mydata[i] & 0xFF);
  }
  return checksum;
}

void data_rx()
{
  //  s_struct_w((int*)&inBuf,16);
  p = 0;
  for (uint8_t i = 0; i < 8; i++)
  {
    RCin[i] = read16();
    /*
    Serial.print("RC[");
     Serial.print(i+1);
     Serial.print("]:");

     Serial.print(inBuf[2*i],DEC);
     Serial.print(",");
     Serial.print(inBuf[2*i+1],DEC);

     Serial.print("---");
     Serial.println(RCin[i]);
     */
    //    delay(50);        // delay in between reads for stability
  }
}

void data_tx()
{
  p = 0;
  for (uint8_t i = 0; i < 8; i++)
  {
    RCoutA[i] = write16(1);
    RCoutB[i] = write16(0);

    /*
    Serial.print("RC[");
     Serial.print(i+1);
     Serial.print("]:");

     Serial.print(RCout[i]);

     Serial.print("---");

     Serial.print(RCoutA[i],DEC);
     Serial.print(",");
     Serial.print(RCoutB[i],DEC);

     Serial.println("");
     */
    //    delay(50);        // delay in between reads for stability
  }
}

/*
if Core RF
[head,2byte,0xAA 0xBB] [type,1byte,0xCC] [data,16byte] [body,1byte(from getChecksum())]
 Example:
 AA BB CC 1A 01 1A 01 1A 01 2A 01 3A 01 4A 01 5A 01 6A 01 0D **
 */
void data_send()
{
  data_tx();

#if !defined(__AVR_ATmega128RFA1__)
  static byte buf_head[3];
  buf_head[0] = 0x24;
  buf_head[1] = 0x4D;
  buf_head[2] = 0x3C;
#endif

#define buf_length 0x10   //16
#define buf_code 0xC8     //200

  static byte buf_data[buf_length];
  for (uint8_t a = 0; a < (buf_length / 2); a++)
  {
    buf_data[2 * a] = RCoutB[a];
    buf_data[2 * a + 1] = RCoutA[a];
  }

  static byte buf_body;
  buf_body = getChecksum(buf_length, buf_code, buf_data);

  //----------------------
#if defined(__AVR_ATmega128RFA1__)
  mwc_port.beginTransmission();
  mwc_port.write(0xaa);
  mwc_port.write(0xbb);
  mwc_port.write(0xcc);
#else
  for (uint8_t a = 0; a < 3; a++) {
    mwc_port.write(buf_head[a]);
  }
  mwc_port.write(buf_length);
  mwc_port.write(buf_code);
#endif
  for (uint8_t a = 0; a < buf_length; a++) {
    mwc_port.write(buf_data[a]);
  }
  mwc_port.write(buf_body);
#if defined(__AVR_ATmega128RFA1__)
  mwc_port.endTransmission();
#endif
}

nrf.h 

#include "Arduino.h"

#include <RF24Network.h>
#include <RF24.h>
#include <SPI.h>

// nRF24L01(+) radio attached using Getting Started board
RF24 radio(9, 10);   //ce,cs
RF24Network network(radio);

#define this_node  0	//Set ID for the machine. 
#define other_node 1

//--------------------------------
struct send_a	//Send 
{
  uint32_t ms;
  uint16_t rf_CH0;
  uint16_t rf_CH1;
  uint16_t rf_CH2;
  uint16_t rf_CH3;
  uint16_t rf_CH4;
  uint16_t rf_CH5;
  uint16_t rf_CH6;
  uint16_t rf_CH7;
};

struct receive_a	//Receive 
{
  uint32_t node_ms;
};

//--------------------------------
unsigned long node_clock, node_clock_debug, node_clock_cache = 0;		// Node running time, node response checking time and node time cache. 
//debug--------------------------
boolean node_clock_error = false;	//Node response status 
unsigned long time_debug = 0;		//Timer 


//======================================
void vodebug()
{
  if (millis() - time_debug > interval_debug)
  {
    node_clock_error = boolean(node_clock == node_clock_debug);		//Within a certain, if you find the running time of the node returning unchanged, then it has problem. 

    node_clock_debug = node_clock;

    time_debug = millis();
  }
}


void nrf_send()
{
#ifdef Serial_DEBUG
  Serial.print("Sending...");
#endif

  send_a sen = {
    millis(), outBuf[0], outBuf[1], outBuf[2], outBuf[3], outBuf[4], outBuf[5], outBuf[6], outBuf[7]
  };		//Send out the data, corresponding to the previous array. 
  RF24NetworkHeader header(other_node);
  if (network.write(header, &sen, sizeof(sen)))
  {
#ifdef Serial_DEBUG
    Serial.print("Is ok.");
#endif

    delay(50);
    network.update();
    // If it's time to send a message, send it!
    while ( network.available() )
    {
      // If so, grab it and print it out
      RF24NetworkHeader header;
      receive_a rec;
      network.read(header, &rec, sizeof(rec));

      node_clock = rec.node_ms;		//Assign values for the running time. 
    }
  }
#ifdef Serial_DEBUG
  else
    Serial.print("Is failed.");

  Serial.println("");
#endif
}

tft.h 

#include "Arduino.h"

#include <Adafruit_GFX.h>    // Core graphics library
#include <Adafruit_ST7735.h> // Hardware-specific library
#include <SPI.h>

Adafruit_ST7735 tft = Adafruit_ST7735(5, 4, -1);    //cs,dc,rst
//-------Set front(Large, medium, small)
 #define setFont_M tft.setTextSize(2)
#define setFont_S tft.setTextSize(0)

#define tft_width  128
#define tft_height 160

boolean tft_theme = false;  //0 is white,1 is black
boolean tft_rotation = 1;

#define TFT_TOP ST7735_BLACK
#define TFT_BUT ST7735_WHITE

uint16_t  tft_colorA = TFT_BUT;
uint16_t  tft_colorB = TFT_TOP;
uint16_t  tft_colorC = 0x06FF;
uint16_t  tft_colorD = 0xEABF;

#define tft_bat_x 24
#define tft_bat_y 12
#define tft_bat_x_s 2
#define tft_bat_y_s 6

#define tft_font_s_height 8
#define tft_font_m_height 16
#define tft_font_l_height 24

#define _Q_x 33
#define _Q_y 36
#define _W_x 93
#define _W_y 5

#define _Q_font_x 2
#define _Q_font_y (_Q_y - 1)

int8_t tft_cache = 1;

//======================================
void TFT_clear()
{
  tft.fillScreen(tft_colorB);
}

void TFT_init(boolean _init, boolean _rot)
{
  tft_colorB = tft_theme ? TFT_TOP : TFT_BUT;
  tft_colorA = tft_theme ? TFT_BUT : TFT_TOP;

  if (_init) {
    tft.initR(INITR_BLACKTAB);   // initialize a ST7735S chip, black tab
    //  Serial.println("init");
    tft.fillScreen(tft_colorB);

    if (_rot)
      tft.setRotation(2);
  }

  tft.fillRect(0, 0, tft_width, 40, tft_colorA);
  tft.setTextColor(tft_colorB);
  setFont_M;
  tft.setCursor(26, 6);
  tft.print("Joypad");
  setFont_S;
  tft.setCursor(32, 24);
  tft.print("Microduino");
  tft.fillRect(0, 40, tft_width, 120, tft_colorB);
}

void TFT_begin()
{
  setFont_S;

  tft.setTextColor(tft_colorA);
  tft.setCursor(_Q_font_x, 44);
  tft.println("[key1] enter config");

  setFont_M;
  tft.setCursor(4, 150);
  for (uint8_t a = 0; a < (millis() - TIME1) / (interval_TIME1 / 10); a++) {
    tft.print("-");
  }
}

int8_t menu_num_A = 0;
int8_t menu_num_B = 0;
int8_t menu_sta = 0;

#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
char *menu_str_a[5] = {
  "Joystick Config", "Protocol Config", "System Config", "Gyroscope Config", "Exit"
};
#else
char *menu_str_a[4] = {
  "Joystick Config", "Protocol Config", "System Config", "Exit"
};
#endif

#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
char *menu_str_b[4][3] = {
  {"Joystick Correct.", "Dead Zone config"},
  {"Mode", "Quadrotor Channel", "nRF24 Channel"},
  {"TFT Theme", "TFT Rotation", "MCU Voltage"},
  {"Gyroscope OFF", "Gyroscope ON"}
};
#else
char *menu_str_b[3][3] = {
  {"Joystick Correct.", "Dead Zone config"},
  {"Mode", "Quadrotor Channel", "nRF24 Channel"},
  {"TFT Theme", "TFT Rotation", "MCU Voltage"},
};
#endif

void TFT_menu(int8_t _num, char *_data)
{
  tft.drawRect(7, 49 + 15 * _num, 114, 16, tft_colorA);
  tft.setCursor(10, 54 + 15 * _num);
  tft.print(_data);
}

void TFT_menu(int8_t _num, int16_t _data)
{
  tft.drawRect(7, 49 + 15 * _num, 114, 16, tft_colorA);
  tft.setCursor(10, 54 + 15 * _num);
  tft.print(_data);
}

void TFT_cursor(int8_t _num)
{
  tft.drawLine(1, 51 + 15 * _num, 4, 56 + 15 * _num, tft_colorA);
  tft.drawLine(4, 57 + 15 * _num, 1, 62 + 15 * _num, tft_colorA);
  tft.drawLine(1, 51 + 15 * _num, 1, 62 + 15 * _num, tft_colorA);
}

boolean return_menu = false;

boolean TFT_config()
{
  tft.setTextColor( tft_colorA);

  if (key_get(0, 1)) {
    menu_sta --;
    tft_cache = 1;

    if (menu_sta <= 0)
      menu_num_B = 0; //zero
  }
  if (key_get(1, 1)) {
    if (return_menu)
      menu_sta --;
    else
      menu_sta ++;
    tft_cache = 1;
  }

  if (menu_sta > 2)
    menu_sta = 2;
  if (menu_sta < 0)
    menu_sta = 0;

  return_menu = false;
  //-------------------------------
  if (tft_cache)
    tft.fillRect(0, 40, tft_width, 100, tft_colorB);

  if (menu_sta == 2) {
    switch (menu_num_A) {
      case 0: {
          switch (menu_num_B) {
            case 0: {
                if (tft_cache)
                {
                  for (uint8_t a = 0; a < 4; a++)
                  {
                    joy_correct_min[a] = 0;
                    joy_correct_max[a] = 0;
                  }
                }
                for (uint8_t a = 0; a < 4; a++) {
                  tft.setCursor(2, 120);
                  tft.print("Move Joystick MaxGear");
                  int16_t _c = Joy_i(a, false, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);
                  if (_c > joy_correct_max[a]) {
                    tft.fillRect(0, 40, tft_width, 100, tft_colorB);
                    joy_correct_max[a] = _c;
                  }
                  //                  joy_correct_max[a] = constrain(joy_correct_max[a], 0, Joy_maximum);
                  if (_c < joy_correct_min[a]) {
                    tft.fillRect(0, 40, tft_width, 100, tft_colorB);
                    joy_correct_min[a] = _c;
                  }
                  //                  joy_correct_min[a] = constrain(joy_correct_min[a], -Joy_maximum, 0);
                }

                for (uint8_t d = 0; d < 2; d++) {
                  tft.drawFastHLine(12 + 70 * d, 80, 33, tft_colorA);
                  tft.drawFastVLine(28 + 70 * d, 64, 33, tft_colorA);
                  //                tft.fillRect(2, 90-4, 20, 12, tft_colorB);
                  tft.drawCircle(44 + 70 * d, 80, map(joy_correct_min[0 + 2 * d], 0, -512, 1, 10), tft_colorA);
                  tft.drawCircle(12 + 70 * d, 80, map(joy_correct_max[0 + 2 * d], 0, 512, 1, 10), tft_colorA);
                  tft.drawCircle(28 + 70 * d, 64, map(joy_correct_min[1 + 2 * d], 0, -512, 1, 10), tft_colorA);
                  tft.drawCircle(28 + 70 * d, 96, map(joy_correct_max[1 + 2 * d], 0, 512, 1, 10), tft_colorA);
                }
                return_menu = true;
              }
              break;
            case 1: {
                if (key_get(2, 1)) {
                  Joy_deadzone_val--;
                  tft.fillRect(0, 40, tft_width, 100, tft_colorB);
                }
                if (key_get(3, 1)) {
                  Joy_deadzone_val++;
                  tft.fillRect(0, 40, tft_width, 100, tft_colorB);
                }
                Joy_deadzone_val = constrain(Joy_deadzone_val, 0, 25);

                TFT_menu(0, Joy_deadzone_val);
                TFT_cursor(0);
                return_menu = true;
              }
              break;
          }
        }
        break;

      case 1: {
          switch (menu_num_B) {
            case 0: {
                char *menu_str_c[2] = { "Quadro.", "nRF24"};
                if (key_get(2, 1) || key_get(3, 1)) {
                  mode_protocol = !mode_protocol;
                  tft.fillRect(0, 40, tft_width, 100, tft_colorB);
                }
                for (uint8_t c = 0; c < 2; c++) {
                  TFT_menu(c, menu_str_c[c]);
                }

                TFT_cursor(mode_protocol);
                return_menu = true;
              }
              break;
            case 1: {
#if !defined(__AVR_ATmega128RFA1__)
                char *menu_str_c[5] = {"9600", "19200", "38400", "57600", "115200"};
#endif
                if (key_get(2, 1)) {
                  mwc_channal--;
                  tft.fillRect(0, 40, tft_width, 100, tft_colorB);
                }
                if (key_get(3, 1)) {
                  mwc_channal++;
                  tft.fillRect(0, 40, tft_width, 100, tft_colorB);
                }

#if !defined(__AVR_ATmega128RFA1__)
                mwc_channal = constrain(mwc_channal, 0, 4);
                TFT_menu(0, menu_str_c[mwc_channal]);
#else
                mwc_channal = constrain(mwc_channal, 11, 26);
                TFT_menu(0, mwc_channal);
#endif
                TFT_cursor(0);
                return_menu = true;
              }
              break;

            case 2: {
                if (key_get(2, 1)) {
                  nrf_channal--;
                  tft.fillRect(0, 40, tft_width, 100, tft_colorB);
                }
                if (key_get(3, 1)) {
                  nrf_channal++;
                  tft.fillRect(0, 40, tft_width, 100, tft_colorB);
                }
                nrf_channal = constrain(nrf_channal, 0, 125);

                TFT_menu(0, nrf_channal);
                TFT_cursor(0);
                return_menu = true;
              }
              break;
          }
        }
        break;
      case 2: {
          switch (menu_num_B) {
            case 0: {
                tft_theme = !tft_theme;
                TFT_init(true, tft_rotation);
                tft_cache = 1;
                tft.setTextColor(tft_colorA);
                menu_sta --;
              }
              break;
            case 1: {
                tft_rotation = !tft_rotation;
                TFT_init(true, tft_rotation);
                tft_cache = 1;
                tft.setTextColor(tft_colorA);
                menu_sta --;
              }
              break;
            case 2: {
                char *menu_str_c[2] = { "3.3V", "5.0V"};
                return_menu = true;

                if (key_get(2, 1) || key_get(3, 1)) {
                  mcu_voltage = !mcu_voltage;
                  tft.fillRect(0, 40, tft_width, 100, tft_colorB);
                }

                TFT_cursor(mcu_voltage);

                for (uint8_t c = 0; c < 2; c++) {
                  TFT_menu(c, menu_str_c[c]);
                }
                //                tft.fillRect(0, 40, tft_width, 100,tft_colorB);
              }
              break;
          }

        }
        break;

#if !(defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__))
      case 3: { //mpu
          mode_mpu = menu_num_B;
          tft_cache = 1;
          menu_sta = 0; //back main menu
          menu_num_B = 0; //zero
        }
        break;
#endif
    }
  }

  /*
    Serial.print(menu_sta);
    Serial.print(",");
    Serial.print(menu_num_A);
    Serial.print(",");
    Serial.println(menu_num_B);
  */
  //----------------------------
  if (menu_sta == 1) {
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
    int8_t meun_b_max[5] = {1, 2, 2, 1, 0};
#else
    int8_t meun_b_max[4] = {1, 2, 2, 0};
#endif
    if (!meun_b_max[menu_num_A])
      return false;
    else {
      if (key_get(2, 1)) {
        tft.fillRect(0, 40, 5, 100, tft_colorB);
        menu_num_B--;
      }
      if (key_get(3, 1)) {
        tft.fillRect(0, 40, 5, 100, tft_colorB);
        menu_num_B++;
      }
      menu_num_B = constrain(menu_num_B, 0, meun_b_max[menu_num_A]);

      TFT_cursor(menu_num_B);

      if (tft_cache) {
        for (uint8_t b = 0; b < (meun_b_max[menu_num_A] + 1); b++) {
          TFT_menu(b, menu_str_b[menu_num_A][b]);
        }
      }
    }
  }

  //main menu
  if (menu_sta == 0) {
    //custer
    if (key_get(2, 1)) {
      tft.fillRect(0, 40, 5, 100, tft_colorB);
      menu_num_A--;
    }
    if (key_get(3, 1)) {
      tft.fillRect(0, 40, 5, 100, tft_colorB);
      menu_num_A++;
    }
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
    menu_num_A = constrain(menu_num_A, 0, 4);
#else
    menu_num_A = constrain(menu_num_A, 0, 3);
#endif

    TFT_cursor(menu_num_A);

    if (tft_cache) {
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
      for (uint8_t a = 0; a < 5; a++) {
#else
      for (uint8_t a = 0; a < 4; a++) {
#endif
        TFT_menu(a, menu_str_a[a]);
      }
    }
  }

  if (tft_cache) {
    //BACK
    tft.fillCircle(12, 149, 8, tft_colorA);
    tft.drawLine(11, 145, 7, 149, tft_colorB);
    tft.drawLine(7, 149, 11, 153, tft_colorB);
    tft.drawLine(7, 149, 17, 149, tft_colorB);
    //ENTER
    tft.fillCircle(12 + 20, 149, 8, tft_colorA);
    tft.drawLine(10 + 20, 146, 7 + 20, 149, tft_colorB);
    tft.drawLine(7 + 20, 149, 10 + 20, 152, tft_colorB);
    tft.drawLine(7 + 20, 149, 15 + 20, 149, tft_colorB);
    tft.drawLine(15 + 20, 146, 15 + 20, 149, tft_colorB);
    //PREV
    tft.fillCircle(127 - 12, 149, 8, tft_colorA);
    tft.drawLine(127 - 12, 153, 127 - 8, 149, tft_colorB);
    tft.drawLine(127 - 12, 153, 127 - 16, 149, tft_colorB);
    tft.drawLine(127 - 12, 153, 127 - 12, 145, tft_colorB);
    //NEXT
    tft.fillCircle(127 - 32, 149, 8, tft_colorA);
    tft.drawLine(127 - 32, 145, 127 - 28, 149, tft_colorB);
    tft.drawLine(127 - 32, 145, 127 - 36, 149, tft_colorB);
    tft.drawLine(127 - 32, 145, 127 - 32, 153, tft_colorB);
  }
  tft_cache --;
  if (tft_cache < 0)  tft_cache = 0;

  return true;
}

//------------------
#define _C_x_S  (_Q_x + 1)
#define _C_x_M  (_Q_x + ((_W_x + 1) / 2))
#define _C_x_E  (_Q_x + _W_x - 1)

char *NAME[8] = {
  "ROLL", "PITCH", "YAW", "THROT", "AUX1", "AUX2", "AUX3", "AUX4"
};

void TFT_ready()
{
  tft.fillRect(0, 0, 128, 26, tft_colorA);

  tft.drawRect(tft_width - tft_bat_x - tft_bat_x_s - 2, 2, tft_bat_x, tft_bat_y, tft_colorB);
  tft.drawRect(tft_width - tft_bat_x_s - 2, 2 + (tft_bat_y - tft_bat_y_s) / 2, tft_bat_x_s, tft_bat_y_s, tft_colorB);

  tft.setTextColor(tft_colorB);
  setFont_S;

  tft.setCursor(_Q_font_x, 3);
  tft.print(mode_protocol ? "nRF24" : "Quadr");
  tft.print(" CHAN.");
  tft.print(mode_protocol ? nrf_channal : mwc_channal);
  tft.setCursor(_Q_font_x, 16);
  tft.print("Time:");

  tft.setTextColor(tft_colorA);
  for (uint8_t a = 0; a < 8; a++) {
    tft.setCursor(_Q_font_x, _Q_font_y + a * 15);
    tft.print(NAME[a]);
    //------------------------------------------
    tft.drawRect(_Q_x, _Q_y + a * 15, _W_x, _W_y, tft_colorA);
  }
}

boolean _a = false, _b = false;
void TFT_run()
{
  if (outBuf[3] > (Joy_MID - Joy_maximum)) {
    if (_a) {
      Joy_time[0] = millis() - Joy_time[1];
      _a = false;
    }
    Joy_time[1] = millis() - Joy_time[0];
  }
  else
    _a = true;

  if (!_b && ((Joy_time[1] / 1000) % 2)) {
    _b = !_b;
    tft.fillRect(_Q_font_x + 30, 16, 50, 7, tft_colorA);
    tft.setTextColor(tft_colorB);
    tft.setCursor(_Q_font_x + 30, 16);
    tft.print((Joy_time[1] / 1000) / 60);
    tft.print("m");
    tft.print((Joy_time[1] / 1000) % 60);
    tft.print("s");
  }
  _b = boolean((Joy_time[1] / 1000) % 2);

  //battery------------------
  tft.fillRect(tft_width - tft_bat_x - 3, 3, map(_V_bat, _V_min, _V_max, 0, tft_bat_x - 2) , tft_bat_y - 2, tft_colorB);
  tft.fillRect(tft_width - tft_bat_x - 3 + map(_V_bat, _V_min, _V_max, 0, tft_bat_x - 2), 3, 
map(_V_bat, _V_min, _V_max, tft_bat_x - 2, 0) , tft_bat_y - 2,tft_colorA);

  for (uint8_t a = 0; a < 8; a++) {
    int8_t _C_x_A0, _C_x_B0, _C_x_A, _C_x_B, _C_x_A1, _C_x_B1;
    int8_t _C_x;

    if (outBuf[a] < Joy_MID) {
      _C_x = map(outBuf[a], Joy_MID - Joy_maximum, Joy_MID, _C_x_S, _C_x_M);

      _C_x_A0 = _C_x_S;
      _C_x_B0 = _C_x - _C_x_S;

      _C_x_A = _C_x;
      _C_x_B = _C_x_M - _C_x;

      _C_x_A1 = _C_x_M;
      _C_x_B1 = _C_x_E - _C_x_M;
    } else if (outBuf[a] > Joy_MID) {
      _C_x = map(outBuf[a], Joy_MID, Joy_MID + Joy_maximum, _C_x_M, _C_x_E);

      _C_x_A0 = _C_x_S;
      _C_x_B0 = _C_x_M - _C_x_S;

      _C_x_A = _C_x_M;
      _C_x_B = _C_x - _C_x_M;

      _C_x_A1 = _C_x;
      _C_x_B1 = _C_x_E - _C_x;
    } else {
      _C_x_A0 = _C_x_S;
      _C_x_B0 = _C_x_M - _C_x_S;

      _C_x_A = _C_x_M;
      _C_x_B = 0;

      _C_x_A1 = _C_x_M;
      _C_x_B1 = _C_x_E - _C_x_M;
    }
    tft.fillRect(_C_x_A0,  _Q_y + a * 15 + 1, _C_x_B0, _W_y - 2, tft_colorB);
    tft.fillRect(_C_x_A,  _Q_y + a * 15 + 1, _C_x_B, _W_y - 2, tft_colorC);
    tft.fillRect(_C_x_A1,  _Q_y + a * 15 + 1, _C_x_B1, _W_y - 2, tft_colorB);

    tft.fillRect(_C_x_M,  _Q_y + a * 15 - 1, 1, _W_y + 2, tft_colorD);
  }
  //netsta------------------
  tft.fillRect(0, 158, 128, 2, node_clock_error ? tft_colorD : tft_colorC);
}

time.h 

#include "Arduino.h"

//unsigned long time;
unsigned long TIME1;            //setup delay
unsigned long time2; //send data
unsigned long time3; //battery
unsigned long Joy_time[2] = {0, 0}; //joy

Caution

  • For installation
    • The four propellers must be installed in order.
    • Electrode for the Lithium battery. Please be noted that the red wire points to the positive pole and the black wire points to the negative pole.
  • For parameter adjustment
    • Please refer to the fourth section of the content to adjust the aircraft PID parameters and flight mode, which can be modified according to the recommended configurations. If you want to change PID parameters manually, please choose to change one parameter each time.
  • About debugging
    • Please adjust the Microduino-Joypad and the quadcopter before flying.
  • About flying control
    • Make sure flying in an empty place.
    • Please put the switch on the top left before unlocking the remote controller(Shut off the throttle) and set the throttle to the lowest before flying for fear of the take-off accident.
  • Please cut off the power supply of the Quadcopter firstly and then the power supply of the remote controller or it'll make the Quadcopter out of control.
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