WITESPY RTF QUADCOPTER USERS MANUAL
Contents
1. http www ftdichip com Drivers VCP htm Page 5 EJ ee M te core ae tun Ts rs oe Moe and other So ee devices d regia m icant pur ee or an Wd tie eo SS N O h ee OO ern yOu SS cst ee eee ee ee c m SHS te See eS SS L CS ow l oO ee eee eS Oh eS goo Ew tt ZO atur a ee Bi Boh 1 a OX et SUE CR go ceca gom sU eo te C og cd rE ae C mss Ee Ho MC aec ee us EO eS a0 ES y EF a o mam rn Gg Elba e Ferro gr are F ira M th Trois 4 7 writin tim there eS SSS OF Oo Sse eS omo OS Bona EE arr eee pe SS ee F T CO p ern th e werir o Gwr d o I eS Oo TE e rear CE e MA ee eo oe O I ee So _ 8 Now run the multiwiiconfig exe file Organum Extract ali fimu EO di ur Favisibii Te i T apa L cmprerz ed OF Finen 2050F Lehr Lats mnariisz BE Dodo Yr Hie ipida i F A Doren beads di E Eie 1pije i lA as Recent Plas ghesgen rt di pplics externas KH H i Bt LLAID 10 15 H 5 jog de applicaon extent D KB ON Y KE tas be 10619 PM 23 lbn t jop seti amp ppliction siens 2KB H KB m i 3 EM Documenti b jop ogl pplicspon exter IER H i J 3 EH Pi Mak 5 Mula on pre GUI patch Application KB M i l 1 3 PH im Pirturm 5 miseris di Apple sisi jei KB H i i 1 3 PH H kidea E rizmagrzup Compu E C6 iC cx HP RECCAERY k ics E D Dra EE Ji CD Drros x WD Sn z 20 cs Wh Pampos 1 SM uscscrk 9 Once unzipped yo2. LEVE BARC BA Ww E 5004 REE TEE FT Vm Wl dI THROTTLE Recall your com port number from when you installed PATCH lr FAV PTS j Au e j Fal oH ia d Y AN le d Alte CAHN AME V6 3 MukiWit omi per OLN patr ultiWil conf EE mE i Lal D RAT jiu atie ER LE 1 1 s ai Mid 2s aie f t r up rr Er Lie E i5 nii wa COC AHI T15 hire EE LL wu E LEE EET iat i I IN i 1 ERE 1 iia Alia ITE TA UI iim a nii MAT TLE Ao ua LEVEL I NH Ni HARG In HENI UN E Y dA y TEILE MAG HAR i Eg 11H TTE LETS wen Ace i m uti ILE Fita LE A EESE Aha weet TTA IHE AM mi i miii H Slant stor Cycle Time 6016 tan i ROLL L ACC Aces ace iie PITCH gt ACC 7 mi ET QUADRMC OP ITA W Jamo vaw A x i i m T 17 Make sure your transmitter channels elevator aileron and rudder are set for the correct 18 direction To do this move your right stick up nose down and make sure the PITCH bar moves up towards the top of the screen If it is backwards reverse that channel elevator in your transmitter menu Pull back on the right stick bar should go down Move right stick to the right bar should go right If it doesn t reverse that channel aileron Move the stick left bar should go left Adjust your travel end points on your transmitter to match up to 1000 minimum and 2000 maxim
3. THRO is not actually reversed by mistake and trim down a few clicks on the THRO trim If it still won t arm connect FTDI and use the JAVA Config see below to make sure the Throttle PWM is below 1100 normal THRO range is 1100 1900 In order to arm the Wii CPU is looking for THRO 1100 and YAW 1900 The GUI shows actual values from Rx and is a valuable guide to trouble shoot a CPU which won t arm Disarming Learn to DISARM the ESC s before touching or approaching the Copter ESC s Motors can start suddenly and the props can cut fingers and eyes permanent injuries With THRO OFF Hold the YAW stick LEFT for 1 sec then the CPU GREEN LED will go OUT and stay out Gyro Calibration Disarm the copter see above Place the Copter on a perfectly LEVEL LZ it must be completely static Set Trims to neutral Stand back With THRO off Hold the YAW LEFT and the Cyclic stick Back amp Right for 1 Sec release you will see the GREEN LED blinking fast for a few seconds then go out The Gyro is now calibrated for drift at this ambient temperature The Gyro on a PARIS warthox board is the WiiMP Do this every time you fly preferably about 2mins after Powering up in the outside air temps where you will fly v Accelerometer ACC Calibration Fly the Copter in ACRO mode Trim the copter using the Transmitter stick sub Trims so it hovers still on STILL air no wind Land Disarm the copter see above ensure the Copter
4. WITESPY RIF QUADCOPTER USERS MANUAL Quad built by Witespy Cover photo by Earl Douglas http photosbydouglas smugmug com Electronics Quad 16463246 CSshU Z1238756576 WXPMF This documentation prepared by Tony Roberts fastpilot2 sbcglobal net Additional photos by Warren Thanks to the many others that assisted in the review of this information to help others BACKGROUND The information contained in this document is to help you get up and flying with your Witespy Quadcopter It is best to have experience with RC planes and or helicopters before flying and working on a quadcopter There is a wealth of information on the internet and RCGROUPS to help you learn the basics of RC and quadcopters Understand that quadcopters are not a toy and is not totally a turn key flying machine Even if you purchase a RIF quadcopter it will take some tweaking initially and at times to get the quad flying to your liking Here are some resources you can visit for assistance wiki http www multiwii com page id 103 forum http www rcgroups com forums showpost php p 15334307 http www rcgroups com forums showthread php t 1416168 Witespy does a great job on his quadcopters It is recommended when you order your quadcopter to specify if you would like the following options e Autolevel e Type of battery connectors XT60 Deans Ultra etc e Cover plate e Extra propellers e Extra battery Before we begin read this informat
5. as much that is needed to get the prop balanced EN Notice the heavy blade is on the bottom Page 11 Put a small piece of tape on inside of lighter blade and recheck Prop blades even balanced prop 37 Now install the propellers on your quad The inserts may already be inserted in your propellers If not find the proper size for your motor shaft Note the location of where to place the propellers The counter rotating propellers go on the front left and back right e T IT Insert into propeller as above Find proper sized insert that fits motor shaft TO x 4 5R Prop Ptacemient The prop information is located near the prop hub on the blade Ensure the prop info can be seen facing up V6 Page 13 Tighten prop holder down then snug down with small bar or screw driver No loctite 38 Make sure your propellers are snug 39 Install your reference ball and tube on the front of the quad The front is marked on the main board with an arrow and the text FRONT The tube and ball just press in the holes under the motors 40 You can also adjust the landing gear if you would like If you plan on carrying a camera you can extend the gear to make the quad sit taller Remove the lower screws and threaded tube in the leg and move the legs to the desired height Install the screws and threaded tube 41 You are now ready to go flying Read the FLYING section over before attempting to f
6. cesas ENU GER Sound video and game controllers Storage controllers 3 System dewices Universal Serial Bus controllers If this does not happen you need to download and install the drivers Download drivers here http vvwwww fidichip com Drivers CPrP htm XP drivers WWH QL Cerhf ied drivers Currentty Supported Wil Driers Processor chips ctare Operating System Refease Babe xBG X2 bet 64 Gob bat PPC ARM PSN Tomsmronts E 5 y E ppw pues Intern bug fin nel Uie rd eras 2011 n2 28 Beez coge dir ene cat WHOL CL enti ficut NM bns 2010 n8 11 2002 2 og 2 Available as seban executable Rielossa motes P m Inikackecl a 26 31 kernel and later Emu TX D5 124 15 0 150 Finclu Dac OS x 2011 02 28 224 2218 223148 Customen wishing bo hose a WC combination added should comact FTO Sampon Windows CE 4 245 ntt 2010 n2 11 1 1 0 amp T 43 0 amp 1 1 4 6 1 1 8 6 3 1 0 6 Windows CE 5 9 2010 02 11 11 8 5 t3105 130790 amp 131905611005 nchides tes dodlowving versione of hee Windows apercing ayeteen WWirsicwe 2000 Windows Vino Sener LOXOUT Cua aaxfassasc Vta Windowe Seamer 20058 indows T Windowse Serer Saas RS B Running the Program Find the folder with the three OS folder s inside Open the windows folder for windows Xp wista 7 the run the NTui ltwviicornficgl77X exe file T 7 Ifthe drivers are not found and you get a yellow exclamation point for the port download the drivers here
7. ck should only last 6 7 minutes to be safe It is recommended to always fly with the tail towards you It takes a lot of practice to fly nose in Hover with the tail towards you for a while until you are comfortable to start to drift around a bit Once you get better at drifting Try to make figure eight flights coordinating yaw left stick with your flights to keep the quad facing in the direction of flight but not allowing the quad to be facing nose in towards you Do this until you feel comfortable Once you feel comfortable flying figure eights in front of you try to make left hand and right hand racetrack patterns Continue to keep up on RC GROUPS for updated tips software notes etc Remember that this and all quadcopters can require more research tweaking etc to get them to fly as you desire The information contained in these directions is to get you going There are a lot of people on RC GROUPS that are willing to answer questions if you have them Page 17 PREFLIGHT CHECKS 1 Periodically tighten the motor mount screws and check all hardware connections etc on the quad 2 Check connections on the receiver and board Make sure all plugs are seated V6 Tighten prop holder daiowrrm th wvith smali Bar or screwv dri Periodically check props nuts for security Page 19 ADVANCED NOTES PID tuning theory and configuration guide for MultiRotorCraft PID Proportional Integral Derivative When the MultiRo
8. de also called ACC mode while in a hover It is best to do this while in a hover to compensate while flying in case your quad isn t trimmed properly for ACC mode You may notice the quad jump to a level position The quad will want to be level It will feel and fly like a helicopter with the gyro gain turned way up You will still have to correct for drift but the quad will want to stay level Note if the quad needs to be trimmed or sticks held in a certain stick position to keep it level Note the required right stick input you are needing to keep the quad level DO NOT USE THE TRANSMITTER TRIMS TO COMPENSATE OR LEVEL THE QUAD HAND FLY THE QUAD Switch back to NORMAL mode and land It is easier to land in NORMAL mode vice ACC mode After you have landed DISARM MOTORS by holding the left stick down and full left Release the left stick input and slowly increase the left stick to ensure the motors truly are disarmed With the right stick you will be able to trim the quad in the ACC mode If the quad was drifting back and left in ACC mode you can trim that out Move the right stick full forward and back to neutral about 4 5 times You will see the LED blink on the board You would correct for the left drift by moving the right stick full right then back to center 4 5 times You will see the LED blink on the board Now you are ready to check the result of your trims Arm the motors left stick full down and right Take off in the NORMAL mode and
9. er to use the FTDI programming card included with your quad Go to your control panel System Device Manager sates pr Teke sed Str Die Ede miscere Rocce Duae Umer cao re Sere Marse Triforma ees Fea Oanig e e id ee eee Fat eae pe 4 Dewvice Manager Lincderthe hardware Tab Dac bem estore I Seb ont O ped bees Generel I Computer Hance Haar ciega Device Manager D ewiretdarnager Dnwers Peo Dower Stones leis vou make sure Bac installed divers are mom atie wit inicia Se ia nens Danone lets sou ef aao Pooch ata ra nam he bo dom LIP dab for diie ers Drive Signing SW inanem LI pdab H ardere Profiles H arckee e profiles proride a mean for youa En set ag and store Oars hapa Coniguralions Harda e E Crenbe 5 Click the symbol next to the ports list Un Plug in the programming card to the computer 6 Under Ports look for the Communications Port of the FTDI card you just plugged in This is your COM Port of the new FTDI card REMEMBER THIS PORT NUMBER for a later step mp i Dewioe Mamager File Action Miess Help sm e rp eS Es rss nm om sts E L ah AMO oH 7 Computer 1 Disk drives L Display adapters 3 Human Interface Dewices IDE ATA SAT APT controllers 2 Keyboards Mice and other pointing devices Monitors Metwork adapters Ports COM amp LPT i x Communications Port fce orc ISS Serial Port COM E Pro
10. ion from MULTIWIICOPTER com below about the different modes and fail safes Note how you arm and disarm your quadcopter This will be VERY IMPORTANT in the setup of your quad Set your Tx to ACRO basic Airplane mode set PPM not PCM Activate Ch5 Gear Mode Read your Tx Rx product manuals You as the Pilot are responsible for safety LiPo connect o Set the Throttle to OFF After connecting the LiPo the green CPU LED will flash for 5 seconds then go OUT If the LED blinks green fast but won t stop blinking then the Rx is not powered or not connected to the correct THRO pin correctly The ESCs cannot calibrate as a group because the default state of the CPU gt ESC is Disarmed If the ESC s beep non stop then they are not connected to the board failsafe bind If your copter goes out of radio range it may cause harm if still powered Take the precaution to program in the FAILSAFE condition to protect people property Do not skip this step Bind your failsafe Read your Radio manual FAILSAFE on the Tx with power Throttle set to OFF For Example on FrSky set sticks as above then Press the Rx button 2 green flashes on the Rx itself done Failsafe can also be set in Software for ultra basic or legacy Tx s Arming Learn to recognize that your WiiCopter is ARMED Hold right Yaw for 1 sec you will see the Green LED come on stays on If LED does not come on GREEN then increase YAW travel Check the
11. is on a perfectly LEVEL LZ it must be completely static Confirm the DISARMED LED is OFF Hold Full THRO YAW LEFT and the Cyclic stick Back amp Right for 1 Sec release you will see the GREEN LED blinking fast for a few seconds then go out The ACC is now calibrated for LEVEL mode at this ambient temperature The ACC on a PARIS warthox board is the Nunchuk Switch to LEVEL mode Gear Switch Take off and mentally note the way the copter wants to drift DO NOT TRIM THE TX Land final trimming procedure is now required to be completed for the ACC V6 Page 3 INITIAL SETUP 1 Remove and inspect your quadcopter from the box and packing materials Make sure it did not become damaged in shipping Make sure all your parts are accounted for BEFORE disposing of the packing material and box 2 3 Bind your transmitter to your quad Follow the directions for your user s manual of you transmitter Move the plug that is in the BATT position on the receiver to the AUX position Plug in your bind plug to the BATT port Plug in your quad to the LiPo battery With the throttle in the down position hold your bind switch on the transmitter and turn on the power to the transmitter to bind the transmitter to the receiver The amber light on the receiver will stop blinking and remain on steady when bound After it is bound unplug the LIPO battery remove the bind plug move the plug from AUX back to the BATT position 4 Setup your comput
12. ltiRotor Decreasing value for P It will start to drift in control until P is too low when it becomes very unstable Will be less resistive to any attempts to change orientation Aerobatic flight Requires a slightly higher P Gentle smooth flight requires a slightly lower P this is the time period for which the angular change is sampled and averaged The amount of force applied to return to initial position gets is increased the longer the deviation exists until a maximum force value is reached A higher will increase the heading hold capability Increasing value for Increase the ability to hold overall initial position and reduce drift but also increase the delay in returning to initial position Will also decrease the importance of P Decreasing value for I Will improve reaction to changes but increase drift and reduce ability to hold position Will also increase the importance of P Aerobatic flight Requires a slightly lower Gentle smooth flight Requires a slightly higher D this is the speed at which the MultiRotor is returned to its original position A higher D as it is negative value this means a lower number i e closer to zero will mean the MultiRotor will snap back to its initial position very quickly Increasing value for D remember that means a LOWER number as it is a negative value Improves the speed at which deviations are recovered With fast recovery speed comes a higher probability of overshooti
13. ly V6 Page 15 Flying It is recommended to NOT fly the quad in winds above 10 mph until your quad has been properly trimmed and you have some practice flying the quad The following directions assume you have set your quad up using the setup directions listed earlier Ensure you have calibrated your gyro and ACC before you fly for the first time Refer back to steps 2 30 under the INITIAL SETUP SECTION l Turn on your transmitter 2 Place your quad on LEVEL surface DO NOT TURN YOUR QUAD UPSIDE DOWN TO PLUG ad aed 10 11 12 13 14 15 16 17 18 IN THE LIPO BATTERY Plug in your battery to the quad You will hear the speed controllers chime Arm the quad left stick full down and right You may see props twitch Make sure you are taking off in normal mode also called ACRO mode This was set up on your gear switch earlier Throttle up slow but steady if the quad starts to flip on one direction cut the throttle and start up again At approximately 775 left stick throttle the quad should hover Hold the quad steady approximately 4 5 above the ground This will keep it out of ground effect and give you a better feel for what input the quad requires to trim it out Trim the quad using your trims on the transmitter No need to land to adjust your transmitter trims do it while flying Trim it until the quad flies pretty much hands off Once satisfied with your trim settings switch to AUTOLEVEL mo
14. ng and oscillations Will also increase the effect of P Decreasing value for D remember that means a HIGHER number as it is a negative value i e further from zero Reduces the oscillations when returning any deviations to their initial position Recovery to initial position becomes slower Will also decrease the effect of P Aerobatic flight Increase D remember that means a LOWER number as it is a negative value i e closer to zero Gentle smooth flight Decrease D remember that means a HIGHER number as it is a negative value i e further from zero Advanced Tuning practical implementation For Aerobatic flying Increase value for P until oscillations start then back of slightly Change value for until hover drift is unacceptable then increase slightly Increase value for D remember that means a LOWER number as it is a negative value i e closer to zero until recovery from dramatic control changes results in unacceptable recovery oscillations P may now have to be reduced slightly For stable flying RC Increase value for P until oscillations start then back of slightly Change value for until recovery from deviations is unacceptable then increase slightly Decrease value for D remember that means a HIGHER number as it is a negative value i e further from zero until recovery from dramatic control changes becomes too slow Then Increase D slightly remember lower number P may now have to be reduced slightl
15. r Also sometimes instability can be because value is too high or low should add that in the guide This needed to be done to match your transmitter To get flying level in mode modes You have two trims V6 Page 21
16. switch to ACC STABLE mode Again make sure you are about 4 5 above the ground to prevent ground effect from giving you false feeling of how the quad is flying If you find you still have to give a lot of right stick position to keep the quad level repeat steps 11 17 If you need to reset the ACC trims and start over land and place the quad on level ground Disarm the motors full throttle up right stick full back left stick full left Your quad should now be trimmed and calibrated to fly in both the NORMAL ACRO mode and STABLE ACC mode V6 dai NOTES Always turn on your transmitter first before you plug in your LiPo battery Always unplug your LiPo battery before turning off your transmitter when you are done flying your quad Never leave the LiPo battery plugged in when not flying the quad Never charge LiPo batteries unattended Use LiPo battery chargers to charge your LiPo batteries Do not fly in close proximity to people vehicles buildings trees etc until you are a proficient flyer Keep an eye on your flight times to ensure you do not run your LiPo pack down too low It harms the battery if you go below a certain voltage per cell You may want to purchase a LiPo low voltage alarm that can be installed on the quad and plugged into the balance plug on the battery to continuously monitor the cells and sound an audible alarm once the cell voltage gets to a predetermined voltage Depending on how you fly a 2200 mah pa
17. tor orientation is changed in any pitch roll yaw axis the gyros indicate an angular change from its initial position The MultiRotor controller records the original position and by utilizing a PID program loop drives the motors to attempts to return the MultiRotor to its initial position This is done by a combination of the measured angular deviation sampling the change over time and predicting the future position This provides enough information for the controller to drive the motors to return equilibrium P is the dominant part of PID and gets you in the ballpark for good flight characteristics Advanced Tuning understanding impact of P and D P this is the amount of corrective force applied to return the MultiRotor back to its initial position The amount of force is proportional to a combination of the deviation from initial position minus any command to change direction from the controller input A higher P value will create a stronger force to resist any attempts to change its position If the P value is too high on the return to initial position it will overshoot and then opposite force is needed to compensate This creates an oscillating effect until stability is eventually reached or in severe cases becomes completely destabilized Increasing value for P It will become more solid stable until P is too high where it starts to oscillate and lose control You will notice a very strong resistive force to any attempts to move the Mu
18. u will see three folders Open the application windows folder 10 Double click the file named Multiwiiconf1_pre7 GUI patch exe 11 You should then see this screen fa Muh Wel conf pee GU patch Multi il conf LAN pref E ho Ww io ho L mw IN nm SIL EI LE BE a EE CAL Pua Te HL INL 2 Time ACC PONI ACC TCH acy cmo mou Gro pce IL We mich EE LM 1 4 I d i 1M LI 1 4 itl ail ROLL 1 PITCH N 12 Plug in your LIPO battery to the quad DO NOT ARM your quad by going left stick full right and down Leave the quad in disarm mode 13 Plug in the FTDI card to your quad Plug it in chip to chip meaning the chip side of the card should be facing the chips on the quad Q V6 Page 7 14 Select your com port by clicking on it the FTDI card in device manager nus AC d ini Aa JA START Soe DODO Jou BIDET F p E dr LI LEVEL HA ES BUAT LALNESATE FAIM Cycle Time O Li 15 Click START to start monitoring your sensors 16 Click READ to read your quads settings You will then see data coming from your quad Muhi conf vi pref un Coe PORT iC WE E FOL NUN Y ANN LEVEL dd Lan Pt RATE D aL Fee Pe ALi SAART FOR EE anm i ENR CL ORO Cycle Time EE Tar curtes DEI Ig T5 FN U INS ii Lao Lis El DEC TEM ul Zr ERE we LE
19. um Do this for pitch roll and yaw To do this pull up your ATV menu on your transmitter A Oe AANNELG 10 NISI INN Ea ha DGR GPA AD BRED TALIMA Fe 19 Move the right stick full up Adjust your ATV to get as close as possible to 2000 You don t have to have it perfect get as close as you can 20 Move the right stick full down Adjust ATV to get as close to 1000 as you can 21 Move the right stick full right Adjust ATV to get as close to 2000 as you can 22 Move the right stick full left Adjust ATV to get as close to 1000 as you can 23 Move the left stick full right NOTE you may notice the motors spin up briefly because you just armed the quad DON T move the throttle stick up Adjust ATV to get as close to 2000 as you can 24 Move the left stick full left NOTE this will disarm the quad Adjust ATV to get as close to 1000 as you can 25 Leave the throttle channel as defaults 26 Make sure your GEAR switch turns ON and OFF your AUTOLEVEL mode You may need to reverse this channel if necessary Adjust this channel to 1000 and 2000 as well NUNCHUK ACC BARO MAG 27 It may be necessary to trim the throttle down a few clicks to get the quad s board to arm You will know the board is armed when you see a steady green light on the board Remember left stick down and right arms the board Down and left disarms the board If you do this and the board does not arm bump the throttle trim down a few clicks and retr
20. y 28 Now calibrate the gyros and AUTOLEVEL Make sure the quad is sitting on a LEVEL surface 29 Hold both sticks full down and full left You should see the green light start to flash 30 Press the calibrate button on the screen You don t have to do this while holding the sticks 31 ACC AUTOLEVEL or STABLE MODE Calibration Left stick full throttle and full left Right stick full backward 32 Leave the P I D settings the way they are They can be adjusted later to your liking Read on the forum about what settings to try after you fly your quad a bit P PITCH 3 6 ROLL 3 5 Yaw B U LEVEL 9 1 0 90 RC RATE 0 65 RC EXPO 33 Disconnect your card from the quad 34 Disconnect LIPO battery power 35 It is recommended to balance your propellers You can get by without balancing your propellers however you may notice some vibration that may cause some issue as far as screws coming loose poor video recording quality of your onboard camera etc You can research this online however it is quite simple It is best to have a good prop balancer You can purchase them online or at your local RC hobby shop Here is an example on what they are http www 3 towerhobbies com cgai bin wti0095p FVPROFIL 7 amp FVSEARCH prop balancer amp search Go 36 Balancing your props is easy Basically you just add a bit of tape to the lighter blade to make both blades equal Any kind of scotch or clear vinyl tape works great Add
21. y For stable flying AP FPV Increase value for P until oscillations start then back of slightly Change value for until recovery from deviations is unacceptable then increase slightly Decrease value for D remember that means a HIGHER number as it is a negative value i e further from zero until recovery from dramatic control changes becomes too slow Then Increase D slightly remember lower number P may now have to be reduced slightly You will have to accept a compromise of optimal settings for stable hover and your typical mode of flying Obviously factor it towards your most common style Other factors affecting PID Taking known good PID values from an identical configuration will get you close but bear in mind no two MultiRotors will have the same flying characteristics and the following items will have an impact on actual PID values Frame weight size material stiffness Motors power torque momentum Position Motor gt motor distance ESC TX power curves Prop diameter pitch material BALANCING Pilot skills References http en wikipedia org wiki PID controller Don t be afraid to try high D and P values together Some fly with D up to 40 Try a D of 20 25 and P of about 8 10 10 Just out of interest The P creates the stability and D dampens it down to become controllable My sweet spot is P around 11 and AT 25 Problem is if you change any one value almost certainly need to change anothe
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