The Multi-Rotor Controller
Contents
1. Verify Entering programming mode OK Writing fuses address 0 to 2 OxE2 OxDE OxFF OK Reading fuses address 0 to 2 OxE2 OxDE OxFF OK Fuse bits verification OK Leaving programming mode OK v Check the Auto read Smart warnings and Verify after programming options at the bottom of the window and then click program If all goes to plan you should get OK response messages in the output section at the bottom of your window for Entering Programming mode writing fuse address reading fuse address Fuse bits verification and leaving programming mode If you get error messages then recheck your chip version and all the connections from your programmer to the board and that the power is on Also make sure that your fuse settings are as described above Flash the Firmware Click on the Program tab and have a look at the Flash section which is the 2nd section down Check the Input HEX file check box Then browse the unzipped firmware folder and click on your firmware HEX file suitable for the chip you are programming for an Atmega328P Then click Program in the Flash section of the window and you should get an OK response in the output section at the bottom of the window Then click Verify to make sure that the program has been successfully uploaded and if you have an OK response coming back at the bottom of the window then you have successfully programmed the IC with the test program STK500 in ISP m2. and the black GND wires are connected to the pins on the outer edge of your board Yaw Roll Gyro Pitch Gyro Direction of D Forward Flight comi Multi Rotor Roll Gyro Gain 4 Controller v3 0 Adjust __ Pitch Gyro Gain _ UT A Yaw Gyro Gain Adjust Black GND In System Red VVC Programming White Signal AIL ELE THR RUD ISP Header The pins marked M1 to M4 are connected to the 3 pin BEC plug from your ESCs They follow the same convention as the RX pins with the white wires connected to the inner pins the red wires to the center pins and the black wires to the outer pins The ESCs and the connected motors are plugged onto the pins M1 to M4 in the following order depending on flight rotor configuration Note also the direction of rotation for each motor This is achieved by connecting the three ESC wires to the motors and swapping two of the wires to achieve rotation in the opposite direction Multi Rotor Configuration R QO O Setting up the Multi Rotor controller 1 Checking transmitter channels Take off the propellers Turn on transmitter and flight controller Set throttle to about 1 4 Motors should start Move pitch elevator stick forward Back motor should speed up If not reverse pitch elevator channel Move roll aileron stick to the left Right motor should speed up If not reverse roll aileron channel Move yaw rudder stick to the left Front and back mot
3. in ISP mode with ATmega48PA Main Program Fuses LockBits Advanced HW Settings Hw Info Auto Voltages VT arget 53 Y ARef m 53 Yy AREF 1 E Read Write Glock Generator i 60 43 kHz 60432 j Read write Upgrade Firmware Upgrade Getting VTARGET 5 39 OK Getting AREF 5 34 OKP 0x01 N Ox3c OK Now it is time to set the fuses so click on the Fuses tab AVR Studio is very good in this respect as it will work out the fuse settings for your particular IC depending upon the check box options you choose Set the check boxes according to the following SELFPRGEN unchecked RSTDISBL unchecked DWEN unchecked SPIEN checked WDTON unchecked EESAVE unchecked BODLEVEL Brown out detection at VCC 1 8 V CKDIV8 unchecked CKOUT unchecked SUT_CKSEL Int RC Osc 8 MHz Start up time PWRDWN RESET 6 CK 14 CK 65 ms The fuse setting output will be displayed at the bottom of the window STK500 in ISP mode with ATmega48PA Main Program Fuses LockBits Advanced Hw Settings Hw Info Auto Fuse Value SELFPRGEN ASTDISBL DWEN SPIEN WDTON EESAVE BODLEVEL Brown out detection at VCC 1 8 Y v CKDIY8 CKOUT i SUT_CKSEL Int RC Osc 8 MHz Start up time PWRDWN RESET 6 CK 14 CK 65 mw EXTENDED HIGH OxDE LOW OxE2 M Auto read IV Smart warnings M Verify after programming Program
4. The Multi Rotor Controller Table of Contents Introduction to the Multi Rotor controller Flight Configurations Updating the FIM AR een Mounting the Multi Rotor controller in your Multi Rotor Multi Rotor Configuration Setting up the Multi Rotor controller Introduction to the Multi Rotor controller The Multi Rotor controller is a flight control board for 4 rotor Aircraft Multi Rotors Its purpose is to stabilise the aircraft during flight To do this it takes the signal from the three gyros on the board roll pitch and yaw and feeds the information into the Integrated Circuit Atmega IC This then processes the information according the software and sends out a control signal to the Electronic Speed Controllers ESCs which are plugged onto the board and also connected to the motors Depending upon the signal from the IC the ESCs will either speed up or slow down the motors in order to establish level flight The board also takes a control signal from the Remote Control Receiver RX and feeds this into the IC via the ail ele thr and rud pins on the board After processing this information the IC will then send out a signal to the motors Via the MI to M4 pins on the board to speed up or slow down to achieve controlled flight up down backwards forwards left right yaw on the command from the RC Pilot sent via his Transmitter TX Flight Configurations The Multi Rotor flight configurations de
5. elect AYR Programmer When you have chosen your programmer and port click connect and you will be taken to the AVR programming dialogue In the AVR programming window go to the Main tab and make sure that the chip you are programming e g Atmega328P is selected in the Device and Signature Bytes drop down menu Also make sure that the Programming mode and target settings are set to ISP Make sure that the settings for the ISP mode have the ISP frequency set low enough to talk to the chip Programmer s frequency can set to 115 2 kHz This is quite an important setting to get right If you click on Read Signature and you get the response Signature matches selected device you have successfully managed to connect to your IC STK500 in ISP mode with ATmega48PA Ci x Main Program Fuses LockBits Advanced Hi Settings Hi Info Auto r Device and Signature Bytes AT mega4SPA Erase Device ox E 0x92 0204 Read Signature Signature matches selected device L Programming Mode and Target Settings ISP mode v Settings ISP Frequency 115 2 kHz Setting mode and device parameters OK Entering programming mode OK Reading signature Ox1E 0x92 0x04 OK Leaving programming mode OK Also make sure that the target board or PCB is powered You can check this by clicking on the HW Settings tab and checking if the programmer can see any voltage STK500
6. igger propellers than you need Light propellers gives faster response and more stability Try to get it to hover at about mid stick 1 3 to 2 3 throttle Use smaller bigger propeller different motor Kv or more less Battery cells to achieve that
7. ode with ATmega48PA ey a OI x Main Program Fuses LockBits Advanced Hw Settings Hw Info Auto Device Erase Device V Erase device before flash programming IV Verify device after programming Flash C Use Current Simulator E mulator FLASH Memory Input HEX File QuadControlle 4_3 QuadControllerv4_3_M48_M88 hex Program Verify Read EEPROM Use Current Simulator Emulator EEPROM Memory Input HEX File Program Verify Read ELF Production File Format Input ELF File ET Save From IV FLASH IV EEPROM I FUSES I LOCKBITS Fuses and lockbits settings must be specified before Program Save saving to ELF Erasing device OK Programming FLASH OK Reading FLASH OKI J Y FLASH contents is equal to file OK Leaving programming mode OK Mounting the Multi Rotor controller in your Multi Rotor The Multi Rotor controller uses Murata piezo gyros that are less sensitive to vibration than SMD type gyros but it is still a good idea to mount the board on a vibration dampening material The board must also be mounted with the white arrow facing the direction of forward flight When connecting your Remote Control Receiver RX you must connect the white signal wire of the channels CH1 CH2 CH3 and CH4 from your RX corresponding to the aileron elevator throttle and rudder to the inner pins on the board while the red VCC wires are connected to the center pins
8. or should speed up If not reverse yaw rudder channel 2 Transmitter throttle adjustment Turn on transmitter and flight controller If led does not turn on and stays on lower your trim If still no go you may need to reverse the throttle channel Arm your board by putting the left stick down and to the right for the LED to come on If this does not happen adjust your throttle and yaw trim down and to the right on your transmitter Make sure you do not have any mixing switches on your Transmitter enabled 3 Initial transmitter ATV servo range settings Pitch elevator 50 Roll aileron 50 Yaw rudder 100 4 ESC throttle range Turn yaw pot to zero Turn on transmitter Throttle stick to full Turn on flight controller Wait until the ESCs beep twice after the initial beeps Depend on which ESC s Throttle stick to off ESCs beep Turn off flight controller Restore the yaw pot 5 Initial Gyro gain pot value is 50 Increase until it starts to oscillate rapidly then back off until it is stable again Fast forward flight needs lower gain Too low gain is recognised by the Multi Rotor being hard to control and or always wanting to tip over 6 Checking gyro directions Take off the propellers Turn on transmitter and flight controller Set throttle to about 1 4 Motors should start Tilt Multi Rotor forward Forward motor should speed up If not reverse pitch g
9. pend on which firmware is loaded onto the chip This configuration is Multi Rotor 4 Rotor configuration Updating the Firmware The Multi Rotor board has an Atmega328P chip on board which allows users to tweak and load non standard firmware Set IC Fuses amp Flashing the Firmware Connect a USBasp Programmer to the six pin ISP header on the Multi Rotor controller board Connect your Programmer s 6 pin socket to the ISP header on the board Pin 1 on the ISP header is usually marked with a small triangle Then connect the a 5V DC power source to the PCB pins Open AVR Studio 4 It will ask you if you want to begin a new project or open an existing project Choose Cancel and click on the connect icon A R Studio Disassembler File Project Build Edit View Tools Debug Window Help 0 SHAJU Lanat and ir i Trace Disabled a LT es a M EX Disassembler Name Neale i nnnnnnnn 1 It will open a new window with a connection dialogue asking you to select your programmer and connection port With a programmer like the AVRISP mkII it is easy because when you select that programmer it brings back only one choice of port USB The AVR ISP500 from Olimex is recognised as a STK500 and has the option to auto choose the port If it fails to recognise the port you may need to manually set the port for the programmer in your Windows device settings to COM1 up to COM4 for AVR Studio to recognise it S
10. yro Tilt Multi Rotor to the left Left motor should speed up If not reverse roll gyro Turn Multi Rotor CW Front and back motor should speed up If not reverse yaw gyro 7 Reversing gyros Set roll gain pot to zero Turn on flight controller LED flashes rapidly 10 times Move the stick for the gyro you want to reverse LED will blink continually Turn off flight controller If there is more gyros to be reversed go to step 2 else set roll gain pot back 8 Final check Place the Multi Rotor on the ground stand back a safe distance and slowly advance to about 1 2 throttle Hold it steady when you start increasing the throttle because the Multi Rotor controller calibrates its gyros when throttle leaves zero and then the gyros need to be at rest If the Multi Rotor tries to twist away check propeller and motor directions gyro placement and trim settings A slight twist is OK If not try to twist the quad It should resist your movements More gyro gain gives more resistance If it starts to oscillate reduce the gain You should not need to reduce the gain below 40 Note the correct procedure for taking off from the ground is as following 1 The quad and its propellers needs to be motionless 2 Increase the throttle collective Just as the throttle leaves zero gyro calibration is performed 3 Enjoy And remember to close the throttle if you lose control Much less damage NOTES Do not use b
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