Olivier’s notes

Radio, Flight Controller, Cleanflight/Betaflight and FPV setup

FUNDAMENTALS

on 3.7
s i
Ver
Agenda
1. Terminology 12. Flight mode setup
2. Practice toys 13. Radio RX protocols
3. History
14. Accelerometer trim
4. Flight controllers
5. Global wire layout
15. Buzzer & battery monitor
6. Build instruction 16. RC rate
7. Motors and ESC 17. PID Tuning example
8. Radio mode and axis names 18. Adding Bluetooth
9. Firmware and GUI
19. Taranis tips
10. Calibration
20. FPV setup
11. Flight Controller alignment
12. Check motor ID and rotation direction 21. Propellers
13. Minimum motor throttle 22. Legal
14. Failsafe 23. Checklists
Terminology

 UAV: unmanned aerial vehicle

 "powered, aerial vehicle that does not carry a
human operator, uses aerodynamic forces to
provide vehicle lift" (Wikipedia)
 This include: Remote Controlled (RC) planes,
helicopters, multicopters (4, 6, 8 or more motors)
and others
 Drone
 It’s an UAV with an AutoPilot Artificial Intelligence
module added
Practice toys

 Hubsan X4  Blade Inductrix: 60€

 H107L (no camera,  Spektrum radio protocol
240mAh battery): 30€ compatible
 H107C (camera, 380mAh  FPV camera (37€) and
battery): 45€ customized 3D printed c
amera support
 Add: batteries &
 Accro mode
propellers pack
History

 RC planes/helicopter are old, why such popularity

today regarding RC mulicotpers ?
1. Flight stabilization is computer-assisted on a
multicopter: very easy to use
 Human didn’t directly control vehicle: The flight controler
board using sensors manage the vehicle level and follows
human’s instructions
2. Size and cost reduction of flight controler board and
sensors
 Arduino pro miniboard : small size cost computer
 Gyroscope: Extracted from Wii motion plus, small size and
small cost giroscope
Sensors
 Gyroscopes (3 axes)
 Mandatory sensors: Give relative level
 Used for "Acro"  flying mode
 Accelerometers (3 axes)
 Used for "angle / horizon" flying mode
 Barometer (estimate altitude)
 Used for "Keep altitude" flying mode
 Sonar
 Highly precise (centimeters) obstacle detector (smooth landing)
 Compass / magnetometer
 Used for "head free" flying mode
 GPS
 mainly useful for drone only: Allow to follow a path
 Used for "Keep position / Return to launch / Geofence/etc."  flying mode
Flight controler:Naze 32 rev6
Acro model
Processor: STM32 F103 (32bits ARM Cortex M3)

Flash memory: 16Mb

Gyroscope & accellerometer: InvenSens MPU-6500

Barometer: Bosh BMP280

Rev 6 includes
SBUS inverter
Full model 2 hardware serial ports

Flash memory upgraded to 128 Mb

Barometer upgraded to Amsys MS5611

Magnetometer (compass) added

Codename:
NAZE
 Flight controler:EMAX Skyline F3

Acro model Processor: STM32F303 CPU (32bits ARM Cortex M4 with FPU)

3 hardware serial ports includes SBUS

inverter

Flash memory: 64Mb

Gyroscope & accellerometer: InvenSens MPU-6050

Codename:
SP RACING F3
Power distribution board

 Matek Mini Power HUB with BEC 5V & 12V

 EMAX Power Distribution Board 0512 5V/12V-

Version2
 Generic Wire layout
4 s s Radio
3 RX ot
or
mo FC m
to
r 2 2
4 1

ES
C C
s
ES
s +12- +5-
BEC
-
Lipo Battery +
+
-
3S: 3x3.7v=11.1v -
+
PDB
bat
4S: 4x3.7v=14.8v +
-
-
+ s
+
-
C s ES
ES C
mo
t or PDB: Power Distribution Board to r
mo 1
3 BEC: Battery Eliminator Circuit
ESC: Electronic Speed Control
FC: Flight Controller
Mandatory Wire layout
SBUS
CPPM
S.Port
5V
GND

GND
5V
RX (SBUS)
TX
Sonar trigger
Sonar echo
Current sensor
RSSI

G
Optional Wire layout

Allow FC to measure
battery voltage
(then trigger buzzer)

G
Step 0: DO NOT mount the
frame ! 4 landing legs Use le ss
Upper camera
Front FPV support
camera frame e le ss
Us
Upper camera
support’s vibration
Top plate dampeners
4 arms

Screws & nuts

standoff

2 base plates
Step 1: Fixing motors to ZMR
frame arms

 Easy way: Use the existing holes and don’t

care about cable alignment with the arm
 Hard way: Drill/expand holes for a perfectly
aligned motor’s cable with the arm
Step 1 (hard way): Make 16
bigger holes
 You need:
 4 motors and their screws (3mm diameter)
 4 frame’s arms: 4 bigger holes per arm
 Expand oblong holes to 4mm and fix motors
Once fixed,
screws
MUST NOT
touch the
motor’s
Long motor internal part
screws: can short motor
be too long screws:
should be ok
Step 1bis: Motor mount

 WARNING:
 Motors central axis NEEDS to be perfectly
centered!
If not perfectly
centered: During
rotation clip will touch
borders and be
ejected!
Step 2: Think about FC
direction
 There are multiples ways for FC direction:
Standard: 90° rotated:
USB on the back (not USB on the side (easy to
easy to access) access)
 Step 2bis: Think about ESC
control wires connectors
1th option: 2th options: 3th option:
90 degrees pin 90 degrees pin Straight pin header
header outward header inward

If FC is rotated, Perfect with all Too high: wires

connectors can be rotation and not compressed by top
too long too high

4th option: No pin header but direct wire soldering

Just only 4 wires to solder!
Step 3:Mandatory Soldering
Only white
(signal) cable
is mandatory

5V only for FC
(no more!)

Check « optional » wire

soldering for:
• Battery (1 wire only)
• Buzzer (2 wires)
Step 3:Mandatory Soldering
Step 4: FC and PCB install

long spacer
Short spacer

Warning: carbon
frame is conductive!
Step 5: Motor cables
soldering
1. Put heat shrinkable around each ESC first!
2. Motors 1 and 4: Straight cable
3. Motors 2 and 3: Crossed cable
Brushless DC electric motor

Animated GIF
(shift F5)
Electronic Speed Controller

 Input:
 PWM order from Flight controller
 Power from battery
 Motor rotor position by Hall Effect or back EMS
 Output
 3 phase voltages for the motor
 Processors
 ATMega
 Amtel
 SILicon labs
Electronic Speed Controller
 Command and axis names
Mode 1 Mode 2 (right stick is like a joystick)
E T E
T
l h l
h
e r e
r
v o v
o
a t a
t
t t t
Vertical axis t
o l o
"YAW" l
r e r
(produced by rudders on e
a plane)
Rudder Aileron Rudder Aileron

Longitudinal axis Lateral axis

"ROLL" "PITCH"
(produced by aileron on a plane) (produced by elevators on a plane)
 Radio channels mapping
2 positions switch SF: Ch 5 (AUX 1), ARMING 16 channels
maximum
2 positions momentary switch SH : Ch 7 (AUX 3), BEEPER with SBUS
3 positions switch SG: Ch 6 (AUX 2), MODE

Channel Command Command

Mode 1 Mode 2
1 Aileron Throttle
2 Elevator Aileron
3 Throttle Elevator
4 Rudder Rudder
5 1 (aux) 1 (aux)
6 2 (aux) 2 (aux)
7 3 (aux) 3 (aux)
8 4 (aux) 4 (aux)

Analogic value between 1000 and 2000 are sent for each channel
3 switch position send: 1000, 1500 and 2000
2 switch position send: 1000 and 2000
Radio examples:
Best quality/price Sp
ec tr um

 Taranis QX7 (user manual) r ead

Sp
 16 channels ppin
g
H o
 Mode 2 / 1 switchable cy
en
Best quality/price qu
 - F re
Naked Price: 140 € SS
 FH
 Official recievers:
 Nano size: XM+ (12€)
 Small size: XSR (30€)
 Medium size: X4R-SB (30€)
 Optionnal TX modules:
 Multi-proto Open Source : 40€
 DSM/DSMX (Orange RX): 30€
Radio examples: The Best one
tr um
ec
Sp
 Taranis X9D plus (user manual) r ead
g Sp
 16 channels pin
o p
 Mode 2 / 1 switchable H
cy
en
 Best quality/price re qu
- F
 Naked Price: 209 € H SS
F
 Official recievers:
 Nano size: XM+ (12€)
 Small size: XSR (30€)
 Medium size: X4R-SB (30€)
 Optionnal TX modules:
 Multi-proto Open Source : 40€
 DSM/DSMX (Orange RX): 30€
Radio examples: Cheap

 FlySky FS-i6X (battery & radio X6-B RX)

 10 channels
 50 € (Radio & radio RX)
ct rum
pe
 User manuals re ad
S
p S
 Radio c ing
n
que
S e
 RX e ct
: Dir
S SS
D
Antenna: radiation pattern

 Radio uses monopole antenna

strong
i um
 Radio RX wire: m
ed

Weak
m
ed
iu
strong

Long wire (inactive because m

includes a shield )

Active part: Need to be about 3.1cm

(2.4 Ghz wave length / 4 = 124 mm / 4 = 31.25 mm)
Firmwares and GUI
Radio RX Firmware Taranis Firmwares
• Taranis • Radio module
• Taranis (OpenTX)
4 s s Radio Taranis GUI
3 RX • OpenTX compagnion
FC
2
1

ES FC Firmware
C C
s
• CleanFlight / BetaFlight ES
s GUI (Google
FC +12-
Chrome
+5- app)
BEC
• Cleanflight/betaflight
+
-
+
-
+
-
+ PDB
bat

-
ESC Firmware
+
-
+
s
• BLHeli -
C s ES
ES ESC Bootloader C
• BLHeli / Simon-K
ESC GUI
• BLHeliSuite
Download softwares

1. Taranis Compagnion (optionnal)

1. Upgrade Taranis firmware to 2.1.9: http://www.open-tx.org/downloads
2. USB-Serial drivers: Silicon Labs CP2102 USB to UART Bridge
 http://www.silabs.com/products/mcu/pages/usbtouartbridgevcpdrivers.aspx
3. BetaFlight
 https://chrome.google.com/webstore/detail/betaflight-configurator/kdaghagfo
pacdngbohiknlhcocjccjao
4. Bheli Suite
 https://blhelisuite.wordpress.com/
5. Blheli configurator (easy to use but didn’t allow to test motor?)
1. https://chrome.google.com/webstore/detail/blheli-configurator/mejfjggmbnocn
fibbibmoogocnjbcjnk
Taranis basic setup

1. Country code: Europe

2. Default channel order
1. AETR for mode 1
2. TAER for mode 2
3. Create a new model:
1. Binding Radio receiver
1. Select Bind and let the radio generate beep
2. Press bind button on radio RX during power on, LED should blink red & green
3. Press exit on taranis and remove power on radio RX
4. Power on radio RX and check for RSSI level icon:

2. Failsafe mode: No pulse

Taranis switches to channel

By default radio is configured for basic 4 channels,

we need to configure a minimum of 2 or 3 others
auxiliary channels triggerred by radio switches:
1. Into model configuration, mixer screen, edit
channel 5 and configure switch SF as source.
2. Same for CH6 (switch SG as source), and
CH7 (switch SH as source)

TAER example
Connecting FC to PC
1. Install USB-Serial drivers
2. Connect FC and check correct serial port detection by your PC
3. DISCONNECT the FC
4. Install & start BetaFlight
5. Click on Firmware flasher
6. Select board: SPRACINGF3 (for Emax F3) or NAZE (for naze32)
7. Firmware: 3.0.1
8. Enable:
1. Full chip erase
2. Manual baud rate: 256000
9. Click on: Load Firmware [Online]
10. CONNECT the FC
11. Click on: Flash Firmware
Calibration

 Put your quadcopter on a leveled surface

Setup: Set the horizon “level”

Failsafe: Default value
1. Failsafe tab: A racer is designed for being
“droped”

2. Save
Flight controller alignment

 If flight controller installed in a non-default

alignment (presenting USB port on a side)

+90° -90°

1. Configuration tab 1. Put a 90° or -90°

2. Save
Flight controller alignment

2. Setup tab: Check correct alignment by

moving your frame along each axes
Receiver setup: SBUS

Ports tab: Configure the serial port

connected to radio RX as a “Serial Receiver”
NAZE32 (2015-2016 FC board): UART2
F3 (2016-2017 FC board): UART3
Configuration tab: Set Receiver mode
to Serial based and serial protocol to
SBUS
WARNING

 Next steps require to plug your LIPO for

power on the radio RX
REMOVE Propellers FIRST !!!
Channel mapping

 Power on your radio TX

 Plug LiPo battery for power on radio RX
 Check channel mapping correspond to your
radio channel map (AETR1234 or TAER1234):

Change it if doesn’t match

your radio

Radio stick move should

modify these values
Taranis level fine tunning

 Notice that minimum and maximum channel

value send by Radio are not perfect (1000 or
2000) by default

987, but should be

1000
 Edit your Radio model, Outputs section, and change min
and max coefficient for the 4 channels until the value
displayed are exactly 1000 for minimum and 2000 for
maximum
Arming

 Model needs to be ARMED before use

 Motors will SPIN once armed by default!
 It’s a big visual/behavior alert
 You need to:
 RAPIDLY be able to DISARM your model
 Pushing Throttle to minimum value is not enought
 Avoid to ARM it by accident !

With a Taranis, using switch SF for ARM seems a good compromise:

• SF DOWN: ARMED
• SF UP: DISARMED
Arming

 Configure ARM mode to use channel AUX 1

 Configure Taranis model for checking that

default position for switch SF is UP (and no
more down)
Flight Modes

 Default (un-configured) is ACRO mode

 Good for FPV racing or acrobatic: No self-leveling!
 Mandatory for testing the model
 Angle mode
 Always keeps horizontal level (maximum angle of 50°)
 Horizon mode
 Keeps horizontal level but switch into ACRO if you push
sticks to maximum
 Air mode (advanced)
 Used for “no gravity” flight (need to master ACRO before
to try this mode)
Flight Mode example

 Switch down: ANGLE

 Switch middle: HORIZON (learning looping)
 Switch up (unconfigured): ACRO
Flight Mode example: Mixing
ARM and mode in one channel
 Need a 3 positions switch
 Switch down: DISARMED
 Switch middle: ARMED + ANGLE
 Switch up : ARMED + HORIZON
Buzzer & battery monitor

 FC board can use a 3-5V piezo buzzer

 Generate beep when: ARMed, flight mode
change, low power alarm, lost quadricopter.
 Flight Controller needs to have its integrated
voltmeter (BATT pin) directly connected to
lipo for being able to monitor lipo Cell
voltage.
 For “lost” mode, assign a radio channel:
Buzzer & Cell monitor
2

1
Buzzer
FC
Batt

ES
C C
s
ES
s 12vBEC 5v
+
-
-
+
+
-
+ PDB -
Plug your battery
+
- s and check if this
-
+
ES value is updated to
C s C
ES current battery
voltage
BLHEli Suite

2 3 4
Motor ID and minimum level
tests
 For each motor: Check correct ID an
minimum value for the slowest « smooth »
rotation and write down all 4 values
 Kept the bigger value of these 4 tests

REMOVE
PROPELER
FIRST !!!!!
ESC range value

 Check all ESC are checked (default)

 In PPM min throttle: enter the value found
previously
 In PPM max throttle:enter 2000
 Save value

If motor direction inverted,

switch it by changing it’s ESC direction:
 Unplug battery
Configuhe FC with minimum
Throttle value found + 20

1. (Setup tab) ADD 20 to the number

found previously and set it here

3. Save
Multiprotocol module

 https://github.com/pascallanger/DIY-Multiproto
col-TX-Module
 Module support 2 communication protocols for
speaking to the remote:
 PPM, default mode. Need to use the rotary switch
on the module for selecting protocol
 Serial (2 bridges to solder). Needs to upgrade radio
firmware, but it’s the most powerfull mode.
 Need to buy:
 Multiprotocol TX Module for FrSky Taranis
 (optionnal): programmer for firmware upgrade
Multiprotocol module
1. Modify module for serial mode and install upgrade pin connectors

Solder 2 bridges
(TX and RX) for Solder 6 pins
enabling serial (usefull for firmware
upgrade only)

2. (optionnal) upgrade module firmware

3. Taranis firmware NEEDS to use OpenTX 2.2 minimum
4. Plug module
5. Print module case
 http://www.thingiverse.com/thing:1691786
6. check
Transmitting an analog value
Radio RX protocols & cabling

 Parallel PPM (Pulse Witdh Modulation) 8 channels:

Channel 1 Channel 1
Channel 2
Channel 2
Channel 3
Channel 3
Radio RX Channel ...
Channel 7
Channel … Flight controller
Channel 8
Channel 7
Channel 8

 PPM (Pulse Position Modulation) 12 channels :

CPPM s s Channel 1 (on naze32/flip32)
Radio RX Flight controller

 SBUS (serial) 16 channels:

SBUS s s UART2 serial (Channel 4 on naze32/flip32)
Radio RX Flight controller
Best choice
if serial port If radio-RX=FrSky and FC didn’t
available include SBUS inverter (naze32
rev5); then inverter cable (or
radio RX hack) needed
 Reading PWM with an arduino
Arduino Fr Sky X8R byte
byte
CHANNEL1_PIN
CHANNEL2_PIN
=
=
2;
3;
byte CHANNEL3_PIN = 4;
Digital 2 Channel 1 byte CHANNEL4_PIN = 5;

Digital 3 Channel 2 int pwm_value =0 ;

Digital 4 Channel 3 void setup() {

pinMode(CHANNEL1_PIN, INPUT);
pinMode(CHANNEL2_PIN, INPUT);
Digital 5 Channel 4 pinMode(CHANNEL3_PIN, INPUT);
pinMode(CHANNEL4_PIN, INPUT);
5V + (anyone) Serial.begin(115200);
Serial.println("init");
}
GND - (anyone)
void loop() {
for (int i=2;i<6;i++) {
pwm_value = pulseIn(i, HIGH);
Serial.print("Channel ");
init Serial.print(i-1); // channel 1 is mapped to pin 2, then
Channel 1 : 1351 re-map correctly
Channel 2 : 1488 Serial.print(" : ");
Channel 3 : 1009 Serial.println(pwm_value);
Channel 4 : 1492 delay(500);
Channel 1 : 1497 }
Channel 2 : 1494 }
Channel 3 : 985
Channel 4 : 1489
Channel 1 : 1497
Channel 2 : 1488
You need to tune your radio for generating a
Channel 3 : 984 perfect PWM 1000-2000 range
Channel 4 : 1491
 SBUS on FrSky X8R and X4R-SB
If your Flight Controller didn’t include SBUS inverter you need:
• A SBUS cable inverter
• Or hacking your X4R-SB for bypassing internal fucking inverter
Propellers

 Classified by blade numbers/size/blade angle (ex:

2x5x30)
 Size: 4, 5 or 6 inches
 Rotation: 2 CW and 2 CCW per quadricopter
 Motor diameter: 5mm usually
 Blade angle: 30, 40 degree

 Regular nose: bull nose(stronger):

 Blade number : two, tri or quadl

Propellers

 Good consumption/thrust and

« unbreakable» for Aér’O ZMR250 setup:
 DAL PROPS 50X4 Bullnose
Battery Lipo Charger

 USB control software and manual:

 http://www.skyrc.com/index.php?route=prod
uct/product&product_id=216
SkyRC S60 Balance charger
LIPO BALANCE
1.5A 14.8V(4S)
1. Plug Charger
2. It start in LIPO Balance mode (factory mode: 2A and
4S): Kept « BALANCE» mode for charging your lipo.
1. By pressing - or +:cylcing to CHARGE / FAST CHRG / STORAGE / DISCHARGE /
BALANCE
2. Press Enter for switching to intensity: Use 1.5A for 1500mHA
battery (press – or + for changing value)
3. Press Enter again for switching to Sell number: Configure your
3S or 4S Lipo here.
3. Plug battery balance socket and main socket and press
Enter during 2 seconds
4. Once battery checkd, confirm by pressing Enter again
SkyRC S60 Balance charger

Black cables on the

right side.
Red cable on the left
side.
Last left connector
should be free for a 3S
lipo
Accelerometers trim

 My quadcopter always want to got

left/right/forward/backward!
1. Land
2. Disarm motor
3. Push throttle to maximum and move roll/pitch
stick to opposite direction. One move each time
(onboard LED should blink or beeper for each
move)
4. Reset throttle to minimum
5. Arm, flight and test: Return to 1 if still not OK
Accelerometers trim

 In Mode 2 (left stick and right stick position)

Default mode. Disabled if you

configure a switch for ARM

Need to be Disarmed first

RC rate

 My quadcopter turn/loop too slow

1. Start by increasing and testing the YAW rate (less dangerous to try)

3. save

2. For loop, increase the ROLL&PITCH rate

RC Expo

 I want smoother control near center, but fast

on extremity

1.Add some Expo

2. save
Adding bluetooth (Complex!)
1. Why? Allow to configure PIDs from a smartphone
2. Needs:
1. Bluetooth Serial HC-05 adapter (4€ on banggood)
2. Arduino uno clone (for configuring HC-05 adapter) about 10€
3. Some cables
4. Optional: USB/TTL converter for checking correct TX/RX pins
5. Optional: Small switch for power off Bluetooth when not needed
3. Using your Arduino: Configure HC-05 at 115200 baud (because default 9600
is too slow) and change its name and PIN code
4. Connect it to the Flight Controller Serial/UART port
1. VCC => VCC
2. GND => GND
3. TX => RX
4. RX => TX
5. Limitation: ESC calibration and ESC firmware upgrade/setup are not
supported across bluetooth module
Basic of FPV
 TX: Video transmitter parts (mounted on your multicopter)
 FPV camera
 600TVL minimum, PAL
 IR blocked: Better colors during day flight
 IR sensitive: Better picture during night flight
 Video Radio Transmitter (VTX)
 Configurable: between 25mW (maximum in France and mandatory for official
meeting) and 600mW (outdoor with trees)
 Raceband compliant
 Never power on without an antenna plugged: It will burn!
 Antenna
 RX: Video receiver parts (mounted on your head)
 Video radio receiver (VRX)
 Diversity automatically select best signal from 2 Antennas
 Screen / Goggles (800 x 480 minimum)
 Battery
 Antenna
Antenna connector Jungle

 Use same connector on VTX and VRX:

Antenna are often sell in pair
 NO CONTACT between connector and
carbon frame!
RHCP and LHCP Antenna

 Do not mix RHCP and LHCP antenna !

 3 leafs are used for TX and 4 leafs for RX (not mandatory)
 Left Hand Circular Polarization (LHCP)

Animated
GIF (press

 Right Hand Circular Polarization (RCHP) shift+F5)

FPV Wire layout: Immersion
Tramp HV
V
V Video in
5V out (RC filtered)
Cam
5V
Tramp HV
Input: From 2S (7.4V) to 4S (14.8V)
GND

12vBEC 5v
+
-
+
- Lipo
3S: 3x3.7v=11.1v
+
-
+ PDB -
+ 4S: 4x3.7v=14.8v
-
-
+

PDB: Power Distribution Board

BEC: Battery Eliminator Circuit
FPV Pack: 180€ Example
 Camera: Foxeer HS1177 (41€)
 Needs 5-17V (BEC useless)
 VTX: ImmersionRC Tramp HV 1-600mW (43€)
 SMA connector
 Needs 7-25V (BEC useless)
 Screen: Quanum V2 Pro, (28€)
 Needs 7-13V
 Resolution: 800 x 480
 Includes power splitter cable for screen & VRX
 VRX: Quanum RC540R Diversity (63€)
 Sensivity: -96 dBm
 SMA connector
 Needs 6-18V
 Lipo: 2-3S 1500 mAh for screen & VRX (8€)
 SMA Antenna pair: Aomway (12€)
Legal

 http://
www.developpement-durable.gouv.fr/Drones
-civils-loisir-activite
Legal: Where can I fly?

 https://
www.geoportail.gouv.fr/donnees/restrictions-
pour-drones-de-loisir
Pre-flight checklist (at home)

 Batteries fully charged

 Multicopter LiPo
 Remote Control
 FPV goggles
 Equipment inspection
 Frame screws
 Motor screws
 propellers
 Into your tools bag:
 Lipometer
 Screwdrivers and tools
 Spare propeller nuts
 Spare propeller
Flight checklist (on field)

Before Take off:

1. Check Lipo with lipometer
2. Power on Remote Control
1. Check correct model selected
2. Set DISARM mode
3. Check your FPV frequency used for conflict
4. DO NOT plug battery if you’re equipped with FPV and other
people are FPV flying too !
After Landing:
5. DISARM
6. Remove multicopter lipo
7. Check motor temperature