Difference between revisions of "Microduino-Quadcopter Tutorial"

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{{Language|Microduino-Quadcopter Tutorial}}
 
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{| class="wikitable" style="background-color:#FEF9E7;"
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|Check out the <b>[[Quadcopter Kit: Quickstart Guide]]</b>!
 +
|}
 
==Outline==
 
==Outline==
*Project: Microduino Qua
+
Quadcopter is one 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. Four 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<br> 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<br> and making sure flight stability.
*Purpose: To control quadcopter via Microduino Joypad.  
+
<br>
*Difficulty: High
+
 
*Time-consuming: Six-hour
+
|-
*Maker: Microduino Studio-PKJ
+
|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<br> a certain propeller and the X mode refers to that the fore and aft direction points to the middle of two propellers.
 +
<br>
 +
 
 +
|-
 +
|For most aircraft adopting X mode, the X mode is harder to control but more flexible.
 +
 
 +
[[File:_Pitchd_Roll1.jpg|center|400px]]
 +
 
 +
==Principle==
 +
===System Structure===
 +
[[File:jiagou11.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 microcontroller, a remote control signal receiving module, a motor driving module and sensor modules (A gyroscope, an accelerator, an electronic compass and a GPS module).
 +
<br>
  
==Bill of Materials==
+
 
*Microduino Equipment
+
===Flying Principle===
{|class="wikitable"
+
====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.
 +
<br>
 
|-
 
|-
|Module||Number||Function
+
|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 />
 +
 
 +
<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" |
 
|-
 
|-
|Microduino-Core||2||Core Module
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| 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]]
 
|-
 
|-
|Microduino-USBTTL ||1||Program Download
+
|
 +
|}
 +
<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.
 
|-
 
|-
|Microduino-10DOF ||1||Position Stabilization
+
|Yawing motion is the rotation in the horizontal direction, namely 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.
 
|-
 
|-
|Microduino-BT||2||Wireless Communication
+
|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.
 
|-
 
|-
|Microduino-Joypad ||1||Remote Control
+
|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" |
 
|-
 
|-
|Microduino-TFT||1||Display
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| 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]]
 
|-
 
|-
|Microduino-QuadCopter||1||Four-aix Motor Drive
+
|
 
|}
 
|}
*Other Equipment
+
<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 acquires 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  
 
{|class="wikitable"
 
{|class="wikitable"
 
|-
 
|-
|USB cable ||1||Program Download
+
|Module||Number||Function
 +
|-
 +
|[[Microduino-CoreRF]]||1||Core board
 +
|-
 +
|[[Microduino-USBTTL]] ||1||Program download module
 +
|-
 +
|[[Microduino-Motion]] ||1||Attitude adjustment
 
|-
 
|-
||Framework of Quadcopter||1||Quadcopter Buildup
+
|[[Microduino-QuadCopter]]||1||Quadcopter driver
 
|-
 
|-
|Battery||2||Power Supply
+
|2.4G Antenna||1||  
 
|}
 
|}
  
==Document==
+
*Other Equipment
*Download the Quadcopter control program:
 
https://github.com/Microduino/Microduino_Tutorials/tree/master/Microduino_Advanced_Tutorial/Microduino_Joypad_QuadCopter/MultiWii
 
 
 
*Download MultiWiiConf PC Software:
 
https://github.com/Microduino/Microduino_Tutorials/tree/master/Microduino_Advanced_Tutorial/Microduino_Joypad_QuadCopter/MultiWiiConf
 
 
 
*Download PID Configuration File:
 
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
 
 
 
==Introduction==
 
===Principle===
 
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. ) 
 
 
 
[[File:Microduino_QuadCopter_Introduction1.jpg||600px|center|thumb]]
 
 
 
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.
 
 
 
===Structure===
 
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. 
 
[[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.
 
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. 
 
 
 
 
 
==Advantages==
 
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. 
 
 
 
 
 
==Buildup and Debugging of the Quadcopter==
 
===Hardware Assembling===
 
 
{|class="wikitable"
 
{|class="wikitable"
 
|-
 
|-
|Module||Number||Function
+
|Component||Number||Function
 
|-
 
|-
|Microduino-Core||1||Core board
+
|USB Cable||1||
 
|-
 
|-
|Microduino-USBTTL ||1||Program download
+
|Frame ||1||
 
|-
 
|-
|Microduino-10DOF ||1||Attitude stabilization
+
|Battery||1||Power supply
 
|-
 
|-
|Microduino-BT||1||Wireless communication
+
|Screw||8||
 
|-
 
|-
|Microduino-QuadCopter||1||Four-axis drive 
+
|Screwdriver||1||
 
|}
 
|}
 +
[[File:Quadcopter Material List.jpg|center|1000px]]
  
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.)
+
[[File:Quadcopter 1.jpg|center|1000px]]
[[File:Microduino_QuadCopter_setup1.jpg||600px|center|thumb]]
 
 
 
Fixate the Microduino-Quadcopter on the main frame.
 
[[File:Microduino_QuadCopter_setup2.4.jpg||600px|center|thumb]]
 
 
 
Fixate the four motor arms on the main frame and in the process, set the head direction as follows:
 
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.
 
 
 
[[File:Microduino_QuadCopter_setup2.1.jpg||600px|center|thumb]]
 
 
 
Attention:The installation methods are shown as follows:
 
[[File:Microduino_QuadCopter_setup2.2.jpg||600px|center|thumb]]
 
[[File:Microduino_QuadCopter_setup2.3.jpg||600px|center|thumb]]
 
 
 
Fixate the four motors on the main frame.
 
[[File:Microduino_QuadCopter_setup2.5.jpg||600px|center|thumb]]
 
 
 
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.
 
 
 
[[File:Microduino_QuadCopter_setup3.1.jpg||600px|center|thumb]]
 
[[File:Microduino_QuadCopter_setup3.2.jpg||600px|center|thumb]]
 
  
===Make Connection between Two BT Modules===
+
[[File:Quadcopter 2.jpg|center|1000px]]
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 together]
 
 
   
 
   
 +
[[File:Quadcopter 3.jpg|center|1000px]]
  
===Download & Debug===
+
[[File:Quadcopter 4.jpg|center|1000px]]
Assemble Microduino-Core,Microduino-10DOF and Microduino-USBTTL on the motherboard as the following figure:
 
[[File:Microduino_QuadCopter_Software1.jpg||600px|center|thumb]]
 
  
Place the quadcopter on a flat surface then connect it to the computer via USB.Select
+
[[File:Quadcopter 5.jpg|center|1000px]]
Microduino Core (Atmega328P@16M,5V) in the Arduino IDE,then download the program.
 
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===
+
[[File:Quadcopter 6.jpg|center|1000px]]
Click the RECONNECT button to connect.The raw data and some graphs should be shown if everything’s okay.
+
**Please be noted of the electrode of the two wires, which is "red wire connects to red wire" and "black to black".
[[File:Microduino_QuadCopter_MultiWiiConf2.jpg||600px|center|thumb]]
+
**Make sure all wires are connected well in order to prevent accident while flying.
  
====Adjust the Sensor====
+
==Program Download==
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.
+
*The code of the quadcopter: '''[https://github.com/wasdpkj/MultiWii_for_Microduino MultiWii_for_Microduino]'''
Then click the WRITE button to save the data.
 
By clicking SELLECT SETTING,various parameters can be set,and the quadcopter’s status will be shown.
 
[[File:Microduino_QuadCopter_MultiWiiConf4.jpg||600px|center|thumb]]
 
  
====Set PID Parameter====
+
==Programming==
 +
*Stack '''[[Microduino-CoreRF]]''' and '''[[Microduino-USBTTL]]''' together.
 +
**Connect the '''[[Microduino-USBTTL]]''' with USB cable and prepare to upload the program.
 +
**Note: You'd better upload the programs before stacking all the modules together.
 +
*Open the Arduino IDE for Microduino environment(Reference of setting up: '''[[AVR Core:Getting started]]''')
 +
*Click '''【File】''', confirm '''board card (Microduino-CoreRF)''' selected rightly, and choose the corresponding ''' port number (COMX)'''.
 +
*Click '''【File】'''->'''【Open】''', browse to the project program address, and click '''"MultiWii_for_CoreRF.ino"''' to open it.
 +
*After confirming all these are right, click '''"→"''' to download the program to the development board.
 +
*Microduino-USBTTL download module is used when download programs and debug serial ports and correct the quadcopter, and you can not stack it at other time.
  
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.
+
==Operating Instruction==
[[File:Microduino_QuadCopter_MultiWiiConf_PID.jpg||600px|center|thumb]]
 
  
====Set Flight Mode====
+
===Correction Guide of Qaudcopter===
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.
 
When everything’s done,remove the Microduino-USBTTL.[[File:Microduino_QuadCopter_MultiWiiConf_ANGLE.jpg||600px|center|thumb]]
 
  
 +
====Autocorrection(recommended)====
 +
*After programming, under the configuration mode of free host computer by default, you can play on getting.
 +
*The ways of gyro calibration, self-stabilization and unlocking in this mode by default are as following configuration:
 +
**It will automatically correct the gyroscope on starting up.
 +
**Open the self-stabilization function and self-stabilization mode.
 +
**AUX unlocking mode is invalid by default, and it adopts traditional unlocking way.
  
==Build & Debug the Remote Controller==
+
====Manual Correction====
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.  
+
*When you want to correct the quadcopter manually, you can refer to the following steps:
{|class="wikitable"
+
*Close the automatic correction function.  
|-
+
**You must configure manually after close the automatic correction.
|Module||Number||Function
+
**Open the '''config.h''' file in the quadcopter code, and note all the following code:
|-
+
***//#define MICRODUINO_AUTO_CALIBRATING // configuration of the free host computer, autocorrection of the gyroscope on starting up
|Microduino-Core||1||Core board
+
***//#define MICRODUINO_AUTO_ANGLE //configuration of the free host computer, and open of the configuration of the self-stabilization function
|-
+
***//#define MICRODUINO_AUTO_ARM //configuration of the free host computer, AUX1 channel a key to unlock. At this time, the traditional unlocking way is invalid.
|Microduino-USBTTL ||1||Download program
 
|-
 
|Microduino-BT||1||Wireless communication
 
|-
 
|Microduino-Joypad ||1||Remote control
 
|-
 
|Microduino-TFT||1||Display 
 
|}
 
  
===Hardware Buildup===
+
*Connect the quadcopter to the computer.
*Step 1:Install Microduino-TFT on the panel of Microduino-Joypad;
+
**Connect the computer with the '''[[Microduino-USBTTL]]''' in the quadcopter with USB cable.
[[File:Microduino_Joypad_TFT.jpg||600px|center|thumb]]
+
**Confirm '''[[Microduino-CoreRF]]''' and '''[[Microduino-10DOF]]''' have been stacked normally.
  
*Step 2: Fixate Microduino-Joypad with screws and stick the panel to the bottom of Microduino-Joypad;
+
*Put the quadcopter right horizontally.
[[File:Microduino_Joypad_nilong.jpg||600px|center|thumb]]
+
**Make sure that the quadcopter is level on the desk, to make well preparation for the following correction.  
  
*Step 3; Connect Microduino-TFT and Microduino-Joypad through wires;
+
*Connect the host computer software
[[File:Microduino_Joypad_Connection.jpg||600px|center|thumb]]
+
**Open the host computer program of the corresponding type in '''MultiWiiConf''' folder.'''(Note:JAVA environment is needed)'''
 +
**On the left of the host computer software, connect '''PORT COM''' with corresponding port.
  
*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; 
+
*Set PID parameter.
[[File:Microduino_Joypad_power.jpg||600px|center|thumb]]
+
**We recommend you load our configuration file.
 +
**On the left of the host software, '''LOAD''' choose the files in '''\MultiWiiConf\Microduino.mwi'''.
 +
**You can also complete the modification of the PID through dragging the values on the counterpart with the left key on the mouse.
 +
**Click WRITE to write the setting into flight control.  
  
*Step 5: Fix the base board and the panel with nylon screws;
+
*Open the self-stabilization mode. '''(important)'''
[[File:Microduino_Joypad_face_bord.jpg||600px|center|thumb]]
+
**Find the corresponding '''ANGLE''' function of '''AUI1''' in the channel map area of the host computer.
 +
**Activate '''LOW''', '''MID''' and '''HIGH'''.(Click the left mouse button on the empty space, and the gray square will change into white, then the activation is completed. )
 +
**Click WRITE to write the setting into the flight control. And the configuration is completed.  
  
*Step 6: You can start the power and see if it is charged normally.  
+
*Accelerometer correction.
[[File:Microduino_Joypad_switch.jpg||600px|center|thumb]]
+
**Click '''CALIB_ACC''' button.
 +
**About during 5s, just wait for the data smooth.
 +
**Click WRITE to write the values into the flight control, to complete the correction.  
  
*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.  
+
<br>
[[File:Microduino_Joypad_Module.jpg||600px|center|thumb]]
+
[[File:Microduino_QuadCopter_MultiWiiConf4.jpg|1000px|left]]
 +
<br style="clear: left"/>
 +
 +
*Debugging with sensor values.
 +
**Lean the body of the fuselage to the right( lift the left side up):
 +
***The values of ACC_ROLL and GYRO_ROLL increase.  
 +
***The value of ACC_Z decreases.
 +
**Make the fuselage lean forward(lift the tail up):
 +
***The values of ACC_PITCH and GYRO_PITCH increase.
 +
***The value of ACC_Z decreases.
 +
**Make the fuselage rotate in clockwise direction(yaw):
 +
***The value of CYRO_YAW increases.
 +
**The fuselage keeps level:
 +
***The value of ACC_Z is positive.
  
===Debug the Software===
+
*After the correction, we recommend that download '''[[Microduino-USBTTL]]] module to reduce the weight of the quadcopter.
*Download Microduino_Joypad_Ctrl program:
 
https://github.com/Microduino/Microduino_Tutorials/tree/master/Microduino_Advanced_Tutorial/Microduino_Joypad_QuadCopter/Microduino_Joypad_Ctrl
 
  
Meantime, you also need the libraries below:  
+
===Joypad Remote Controller Guide===
 +
*For setup process, you can refer to the following page: '''[[Microduino-Joypad_Getting_start|Microduino Joypad Getting Started Guide of the Usage of Joypad]]'''
  
'''_01_Microduino_TFT_GFX:'''
+
*'''Configuration of Joypad communication mode'''*
https://github.com/Microduino/Microduino_Tutorials/tree/master/Microduino_Libraries/_01_Microduino_TFT_GFX
+
*You can refer to the following page for mode configuration: '''[[Microduino-Joypad_Getting_start#Communication_Model|For Quadcopter]]'''
 +
**When we use '''[[Microduino-CoreRF]]''' as the '''communication''', Joypad pick '''"Quadro"''' accordingly.
  
'''_01_Microduino_TFT_ST7735 :'''
+
*'''Instruction of Joypad Battery'''*
https://github.com/Microduino/Microduino_Tutorials/tree/master/Microduino_Libraries/_01_Microduino_TFT_ST7735
+
*Special attention should be paid to the battery instruction:'''[[Microduino-Joypad_Getting_start#Step-3_Battery_powered|Instruction for Battery]]'''
  
'''_01_Microduino_TFT:'''
+
===Guide of Joypad Unlocking/Locking===
https://github.com/Microduino/Microduino_Tutorials/tree/master/Microduino_Libraries/_01_Microduino_TFT
+
====Traditional Method====
 +
*Confirm the corresponding switch state of Joypad:
 +
**Whether locked or unlocked, you need confirm the state of Joypad switch is as following:
 +
**Dial Joypad''' top left shift switch ''' down(the throttle lock is open).
 +
**Dial Joypad''' top right shift switch''' up(the rocker amplitude is the largest).
  
'''_08_Microduino_Shield_Joypad:'''https://github.com/Microduino/Microduino_Tutorials/tree/master/Microduino_Libraries/_08_Microduino_Shield_Joypad
+
*Initialization of the quadcopter:
 +
**Place the quadcopter on the horizontal ground and open the power supply.
 +
**Wait the indicator light on the quadcopter stop flashing.
  
*Open Microduino_Joypad_Ctrl program and choose the right board for download after it is get compiled successfully.  
+
*Unlock:
 +
**Turn the '''left stick''' to '''the rightest''' from the midst, and wait for about 2S.
 +
**If the indicator light '''keep lighting''', it is '''unlocked'''. Otherwise, turn the '''left stick''' to the midst, and operate this step again.
 +
**If you can't unlock after many times of attempt, you need to reset the core of the quadcopter and then try again.
  
*Take off Microduino-USBTTL after the download, stack Microduino-BT and have an overall debugging at last.  
+
*Lock:
[[File:Microduino_Joypad_BT.jpg||600px|center|thumb]]
+
**Under the situation that it is '''unlocked''', and the quadcopter stay '''still'''
 +
**Turn the '''left stick''' to the '''leftest''' from the midst and wait for about 2S.
 +
**If the indicator light '''goes out''', it is '''locked'''. Otherwise, turn the '''left stick''' to the midst and reoperate this step.  
  
==Test Fly==
+
====A Key Method====
=== Debug Microduino-Joypad===
+
*Modify the cod, and start a key to unlock.
*Start the remote controller, press the reset key and then enter the system. Please press the button A in 4 seconds and enter the adjustment mode.
+
**Open the '''config.h''' file in quadcopter code, and cancel the following code comments, and download quadcopter program again:
[[File:Microduino_Joypad_Remote1.jpg||600px|center|thumb]]
+
***#define MICRODUINO_AUTO_ARM //free host computer configuration, and AUX1 channel a key to unlock. The traditional unlocking method is invalid at this time.
  
*Rotate the two rockers at the maximum degree of 360 and you can enter B button if seeing no data change on the TFT screen, entering the flight mode.
+
*Confirm the state of the corresponding switch of Joypad:
[[File:Microduino_Joypad_Remote2.jpg||600px|center|thumb]]
+
**Whether locking of unlocking, you need to make sure the state of Joypad switch is as following:
 +
**Dial the Joypad '''top left shift switch''' down(the throttle lock is open).
 +
**Dial the Joupad '''top sight shift switch''' up(the rocker amplitude is the largest).
 +
**The quadcopter's AUX1 channel is low(key1 button control).
  
*Turn the top-left switch downside(Close the throttle) and then pull the throttle lever to the bottom.  
+
*Quacopter initialization:
[[File:Microduino_Joypad_Remote4.jpg||600px|center|thumb]]
+
**Pu the quadcopter level on the ground and open the power supply.  
 +
**Wait the indicator light on the quadcopter stop blinking(if it is blinking all the time,  please check whether the AUX1 channel is low).
  
===Debug the Quadcopter Frame===
+
*Unlock:
*Make sure Microduino-BT stacked on the quadcopter for communicating with the remote controller.
+
**Press the '''key1''' of Joypad down, and put the '''AUX1 channel''' high.
 +
**If the indicator light '''keep lighting''', it is '''unlocked'''.
 +
**If it can't be unlocked after many times of attempt, you should reset the core of the quadcopter and try again.
  
*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.)
+
*Lock:
[[File:Microduino_QuadCopter_Remote2.jpg||600px|center|thumb]]
+
**Under the situation that it has been '''unlocked''', and the quadcopter is '''still'''
 +
**Press '''key1''' of Joypad down, and put '''AUX1 channel''' low.
 +
**If the indicator light '''goes out''', it is '''locked'''.
  
*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. 
 
[[File:Microduino_QuadCopter_Remote3.jpg||600px|center|thumb]]
 
  
===Overall Test===
+
===Control Guide of Joypad===
*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. 
+
*'''Be sure to read''' the following letters, to guarantee your '''security''':
[[File:Microduino_QuadCopter_Remote4.jpg||600px|center|thumb]]
+
**The quadcopter is unlocked, and put on the open area.
 +
**Make sure your Joypad has enough power.
 +
**Make sure you won't be in the quadcopter unlocking state, and close Joypad at first.
 +
**The direction of the nose of quadcopter is that of the orange oar.  
 +
**Before remove the lock of the throttle, make sure that the throttle of Joypad is closed(adjust the left rocker to the lowest).
  
*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. 
+
*For the beginners, the following operations are recommends to improve the precision of the control to make the flight more stable.
[[File:Microduino_QuadCopter_Remote5.jpg||600px|center|thumb]]
+
**Dial the Joypad '''top right shift switch''' down(rocker amplitude is minimal).
  
*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.
+
[[File:Microduino_QuadCopter_Remote6.jpg|600px|center]]
[[File:Microduino_QuadCopter_Remote6.jpg||600px|center|thumb]]
 
  
*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.
+
*Next, you can prepare for the flight:
 +
**Dial the Joypad '''top left switch''' up(close the throttle lock).
  
[[File:Microduino_QuadCopter_Remote7.jpg||600px|center|thumb]]
+
*Gently push the throttle to make the four propellers rotate.
 +
*Step on the gas slowly, make the quadcopter rise to around 1m, in order to avoid the near-earth airflow interference.
 +
*Then control the balance of the quadcopter with the bearing rocker.  
  
*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.  
+
*Caution of operation
 +
**Open ( dial up) the top left throttle control switch to control. You can shake the rocker, and watch the change on the screen.
 +
**The switch on the right is precision adjustment switch. Dialing it up can control significantly, otherwise, it can be only controlled at small amplitude, which is good for stable control.
 +
**The left rocker controls the throttle vertically. The upper the rocker is , the larger the throttle is, the larger the motivation is and the higher it flies. Control the quadcopter to rotate horizontally in the horizontal direction.
 +
**The right rocker controls the movement to front and back direction vertically. Up is front, and down is back. And control movement to right and left horizontally.
  
 +
==Program Description==
  
 
==Attention==
 
==Attention==
*BT connection is the first and the key step. So please make sure the two BT modules connected successfully.
+
Although the above contents list a lot of problems that should be paid attention to, they need to be summarized here.
*Please don;t stack the BT module during the download for it will cause serial port conflict.  
+
*For installation
*Make the installation of the quadcopter’s four propellers, or it can’t fly.  
+
**The four propellers of the quadcopter are installed in order. If you install wrongly, it is likely to lead to that the aircraft can't fly.
*Please don’t get wrong of the electrode, or it will get the circuit burnt.
+
**The positive and negative of the lithium battery. The red line is for the positive pole, and the black line is for the negative pole. The circuit is easy to burn out once connect wrongly. Especially when supply power to Microduino-Joypad, because there is no design for avoiding plugging inversely, it should be noted.
*Before flying, please adjust the Microduino-Joypad for it may lead to an unstable fly.  
+
*For adjustment of the parameters
*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.  
+
**Refer to the content of section 4 to adjust the PID parameter of the aircraft and the flight mode. And you'd better modify them on the basis of the recommended configuration. If you want to manually modify the PID parameters, you’d better modify one parameter at one time, otherwise it is difficult to see which parameters work.
*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.  
+
*For debugging
 +
**You must correct the controller(Microduino-Joypad)and aircraft, or it is easy to cause the aircraft flying unstably.  
 +
*For the flight control
 +
**You must choose an empty place to test, such as the playground in the school, and larger lawn in the park.  
 +
**Before unlocking with the remote controlled, please dial the top left switch to the bottom(close the throttle), and when start the test, please turn the throttle to the lowest at first to avoid accidents.
 +
*If you want to turn off the aircraft, you must switch off the power of the quadcopter, and then switch off the power of the remote controller, or the quadcopter will be out of control, and it is easy to cause accidents.
 +
*For charging/dry battery
 +
**The aircraft plate has the function of charge the battery of the aircraft directly, so you only need to plug the USB cable to supply power to the baseboard directly.
 +
**Joypad adopts dry battery to supply power, and you should dial the battery selection switch to Dry bat. Set up the dry battery, and on supplying power to joypad with USB cable, '''pull out at once'''(It can't be charged with USB cable for a long time after installing the dry battery), then you can successfully activate the dry battery to supply power.
 +
If other problems appear, please put forward in the discussion part.
 
|}
 
|}

Latest revision as of 22:36, 4 October 2018

Language: English  • 中文
Check out the Quadcopter Kit: Quickstart Guide!

Outline

Quadcopter is one 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. Four 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 Roll1.jpg

Principle

System Structure

Jiagou11.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 microcontroller, a remote control signal receiving module, a motor driving module and sensor modules (A gyroscope, an accelerator, an electronic compass and a GPS 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, namely 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 acquires 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
Quadcopter Material List.jpg
Quadcopter 1.jpg
Quadcopter 2.jpg
Quadcopter 3.jpg
Quadcopter 4.jpg
Quadcopter 5.jpg
Quadcopter 6.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

Programming

  • Stack Microduino-CoreRF and Microduino-USBTTL together.
    • Connect the Microduino-USBTTL with USB cable and prepare to upload the program.
    • Note: You'd better upload the programs before stacking all the modules together.
  • Open the Arduino IDE for Microduino environment(Reference of setting up: AVR Core:Getting started
  • Click 【File】, confirm board card (Microduino-CoreRF) selected rightly, and choose the corresponding port number (COMX).
  • Click 【File】->【Open】, browse to the project program address, and click "MultiWii_for_CoreRF.ino" to open it.
  • After confirming all these are right, click "→" to download the program to the development board.
  • Microduino-USBTTL download module is used when download programs and debug serial ports and correct the quadcopter, and you can not stack it at other time.

Operating Instruction

Correction Guide of Qaudcopter

Autocorrection(recommended)

  • After programming, under the configuration mode of free host computer by default, you can play on getting.
  • The ways of gyro calibration, self-stabilization and unlocking in this mode by default are as following configuration:
    • It will automatically correct the gyroscope on starting up.
    • Open the self-stabilization function and self-stabilization mode.
    • AUX unlocking mode is invalid by default, and it adopts traditional unlocking way.

Manual Correction

  • When you want to correct the quadcopter manually, you can refer to the following steps:
  • Close the automatic correction function.
    • You must configure manually after close the automatic correction.
    • Open the config.h file in the quadcopter code, and note all the following code:
      • //#define MICRODUINO_AUTO_CALIBRATING // configuration of the free host computer, autocorrection of the gyroscope on starting up
      • //#define MICRODUINO_AUTO_ANGLE //configuration of the free host computer, and open of the configuration of the self-stabilization function
      • //#define MICRODUINO_AUTO_ARM //configuration of the free host computer, AUX1 channel a key to unlock. At this time, the traditional unlocking way is invalid.
  • Put the quadcopter right horizontally.
    • Make sure that the quadcopter is level on the desk, to make well preparation for the following correction.
  • Connect the host computer software
    • Open the host computer program of the corresponding type in MultiWiiConf folder.(Note:JAVA environment is needed)
    • On the left of the host computer software, connect PORT COM with corresponding port.
  • Set PID parameter.
    • We recommend you load our configuration file.
    • On the left of the host software, LOAD choose the files in \MultiWiiConf\Microduino.mwi.
    • You can also complete the modification of the PID through dragging the values on the counterpart with the left key on the mouse.
    • Click WRITE to write the setting into flight control.
  • Open the self-stabilization mode. (important)
    • Find the corresponding ANGLE function of AUI1 in the channel map area of the host computer.
    • Activate LOW, MID and HIGH.(Click the left mouse button on the empty space, and the gray square will change into white, then the activation is completed. )
    • Click WRITE to write the setting into the flight control. And the configuration is completed.
  • Accelerometer correction.
    • Click CALIB_ACC button.
    • About during 5s, just wait for the data smooth.
    • Click WRITE to write the values into the flight control, to complete the correction.


Microduino QuadCopter MultiWiiConf4.jpg


  • Debugging with sensor values.
    • Lean the body of the fuselage to the right( lift the left side up):
      • The values of ACC_ROLL and GYRO_ROLL increase.
      • The value of ACC_Z decreases.
    • Make the fuselage lean forward(lift the tail up):
      • The values of ACC_PITCH and GYRO_PITCH increase.
      • The value of ACC_Z decreases.
    • Make the fuselage rotate in clockwise direction(yaw):
      • The value of CYRO_YAW increases.
    • The fuselage keeps level:
      • The value of ACC_Z is positive.
  • After the correction, we recommend that download Microduino-USBTTL] module to reduce the weight of the quadcopter.

Joypad Remote Controller Guide

  • Configuration of Joypad communication mode*
  • You can refer to the following page for mode configuration: For Quadcopter
    • When we use Microduino-CoreRF as the communication, Joypad pick "Quadro" accordingly.
  • Instruction of Joypad Battery*
  • Special attention should be paid to the battery instruction:Instruction for Battery

Guide of Joypad Unlocking/Locking

Traditional Method

  • Confirm the corresponding switch state of Joypad:
    • Whether locked or unlocked, you need confirm the state of Joypad switch is as following:
    • Dial Joypad top left shift switch down(the throttle lock is open).
    • Dial Joypad top right shift switch up(the rocker amplitude is the largest).
  • Initialization of the quadcopter:
    • Place the quadcopter on the horizontal ground and open the power supply.
    • Wait the indicator light on the quadcopter stop flashing.
  • Unlock:
    • Turn the left stick to the rightest from the midst, and wait for about 2S.
    • If the indicator light keep lighting, it is unlocked. Otherwise, turn the left stick to the midst, and operate this step again.
    • If you can't unlock after many times of attempt, you need to reset the core of the quadcopter and then try again.
  • Lock:
    • Under the situation that it is unlocked, and the quadcopter stay still
    • Turn the left stick to the leftest from the midst and wait for about 2S.
    • If the indicator light goes out, it is locked. Otherwise, turn the left stick to the midst and reoperate this step.

A Key Method

  • Modify the cod, and start a key to unlock.
    • Open the config.h file in quadcopter code, and cancel the following code comments, and download quadcopter program again:
        1. define MICRODUINO_AUTO_ARM //free host computer configuration, and AUX1 channel a key to unlock. The traditional unlocking method is invalid at this time.
  • Confirm the state of the corresponding switch of Joypad:
    • Whether locking of unlocking, you need to make sure the state of Joypad switch is as following:
    • Dial the Joypad top left shift switch down(the throttle lock is open).
    • Dial the Joupad top sight shift switch up(the rocker amplitude is the largest).
    • The quadcopter's AUX1 channel is low(key1 button control).
  • Quacopter initialization:
    • Pu the quadcopter level on the ground and open the power supply.
    • Wait the indicator light on the quadcopter stop blinking(if it is blinking all the time, please check whether the AUX1 channel is low).
  • Unlock:
    • Press the key1 of Joypad down, and put the AUX1 channel high.
    • If the indicator light keep lighting, it is unlocked.
    • If it can't be unlocked after many times of attempt, you should reset the core of the quadcopter and try again.
  • Lock:
    • Under the situation that it has been unlocked, and the quadcopter is still
    • Press key1 of Joypad down, and put AUX1 channel low.
    • If the indicator light goes out, it is locked.


Control Guide of Joypad

  • Be sure to read the following letters, to guarantee your security:
    • The quadcopter is unlocked, and put on the open area.
    • Make sure your Joypad has enough power.
    • Make sure you won't be in the quadcopter unlocking state, and close Joypad at first.
    • The direction of the nose of quadcopter is that of the orange oar.
    • Before remove the lock of the throttle, make sure that the throttle of Joypad is closed(adjust the left rocker to the lowest).
  • For the beginners, the following operations are recommends to improve the precision of the control to make the flight more stable.
    • Dial the Joypad top right shift switch down(rocker amplitude is minimal).
Microduino QuadCopter Remote6.jpg
  • Next, you can prepare for the flight:
    • Dial the Joypad top left switch up(close the throttle lock).
  • Gently push the throttle to make the four propellers rotate.
  • Step on the gas slowly, make the quadcopter rise to around 1m, in order to avoid the near-earth airflow interference.
  • Then control the balance of the quadcopter with the bearing rocker.
  • Caution of operation
    • Open ( dial up) the top left throttle control switch to control. You can shake the rocker, and watch the change on the screen.
    • The switch on the right is precision adjustment switch. Dialing it up can control significantly, otherwise, it can be only controlled at small amplitude, which is good for stable control.
    • The left rocker controls the throttle vertically. The upper the rocker is , the larger the throttle is, the larger the motivation is and the higher it flies. Control the quadcopter to rotate horizontally in the horizontal direction.
    • The right rocker controls the movement to front and back direction vertically. Up is front, and down is back. And control movement to right and left horizontally.

Program Description

Attention

Although the above contents list a lot of problems that should be paid attention to, they need to be summarized here.

  • For installation
    • The four propellers of the quadcopter are installed in order. If you install wrongly, it is likely to lead to that the aircraft can't fly.
    • The positive and negative of the lithium battery. The red line is for the positive pole, and the black line is for the negative pole. The circuit is easy to burn out once connect wrongly. Especially when supply power to Microduino-Joypad, because there is no design for avoiding plugging inversely, it should be noted.
  • For adjustment of the parameters
    • Refer to the content of section 4 to adjust the PID parameter of the aircraft and the flight mode. And you'd better modify them on the basis of the recommended configuration. If you want to manually modify the PID parameters, you’d better modify one parameter at one time, otherwise it is difficult to see which parameters work.
  • For debugging
    • You must correct the controller(Microduino-Joypad)and aircraft, or it is easy to cause the aircraft flying unstably.
  • For the flight control
    • You must choose an empty place to test, such as the playground in the school, and larger lawn in the park.
    • Before unlocking with the remote controlled, please dial the top left switch to the bottom(close the throttle), and when start the test, please turn the throttle to the lowest at first to avoid accidents.
  • If you want to turn off the aircraft, you must switch off the power of the quadcopter, and then switch off the power of the remote controller, or the quadcopter will be out of control, and it is easy to cause accidents.
  • For charging/dry battery
    • The aircraft plate has the function of charge the battery of the aircraft directly, so you only need to plug the USB cable to supply power to the baseboard directly.
    • Joypad adopts dry battery to supply power, and you should dial the battery selection switch to Dry bat. Set up the dry battery, and on supplying power to joypad with USB cable, pull out at once(It can't be charged with USB cable for a long time after installing the dry battery), then you can successfully activate the dry battery to supply power.

If other problems appear, please put forward in the discussion part.