User manual Tricopter with stabilized camera - ISY
Contents
1. Figure 7 How to connect to the tricopter through APM Course name Control Project E mail tsrt10 tricopterQgmail com Project group Triforce Document responsible Karl Johan Barsk Course code TSRT10 Author s E mail karba878Qstudent liu se Project Tricopter Document name User manual tricopter pdf A AA Tricopter 6 3 1 2 Configuration The first time the user uses the tricopter it will be required to do some software configu rations in APM This is only needed to do once To start the configurations go to the configuration button then press the setup tab followed by the radio input tab Make sure that all radio channels that the user wishes to be use works properly If that doesn t seem to be the case use the Calibrate Radio button Under the setup tab press the hardware tab to make sure that both the compass and the sonar are enabled Also check that the Declination field is set correctly The declination is the offset angle between the magnetic and the geometric north pole and varies depending on where on the globe you are To calculate your declination press the Declination Website and follow the steps on that page For Linkoping 2011 the declination is 4 1 degrees 3 1 3 Setting waypoints and target In order to set waypoints and target go to the Flight Planner tab where you will find a map in which to place your waypoints The home waypoint and the target are already placed on the ma2. 2 2 XBee The XBee is used for serial communication and it is very important that it is turned on and off correctly To be able to control the XBee properly two switches have been installed which are illustrated in figure ZA Remember that misuse may result in that the XBee resets itself which will force the user to reprogram it So the steps to follow in proper order are Starting up the tricopter e Connect the battery e Turn on the outward switch 2 e Turn on the inner switch 1 Turning off the tricopter e Turn off the inner switch 1 e Turn off the outward switch 2 Figure 1 Switch configuration e Disconnect the battery The inner switch controls the RX TX communication If data is sent on these two channels RX TX unblocked while the XBee is turned off outward switch blocked it will be reset Therefore the order above is really important to follow The outward blocks unblocks the ground and the 5V power supply Course name Control Project E mail tsrt10 tricopterQgmail com Project group Triforce Document responsible Karl Johan Barsk Course code TSRT10 Author s E mail karba878 Q student liu se Project Tricopter Document name User manual tricopter pdf Tricopter 2 2 3 RC controller The RC controller that is configured to use for the tricopter is a Royal 9 Evo as seen in figure It is communicating with a AR7000 DSM2 7 Channel RC Reciever on the back arm on the tricopter It uses a 2 4
3. 2011 11 25 First draft KJB Karl Johan Barsk 2011 12 08 Karl Johan Barsk Course name Control Project E mail tsrt10 tricopterQgmail com Project group Triforce Document responsible Karl Johan Barsk Course code TSRT10 Author s E mail karba878 Q student liu se Project Tricopter Document name User manual tricopter pdf Contents J CON VN DD DD oO or AM N N e e MH o o o 4 3 8 Return Io Launch RIL 6 56 22 aaa osv vv 11 5 ings to watch out to 11 A AA Tricopter 1 1 Introduction This is the user manual for the tricopter developed in the course TSRT10 Reglerteknisk projektkurs during autumn 2011 It s based on the open source project called Ar duCopter more info about this can be found at the ArduCopter homepage I The document describes and explains how to setup prepare and use your tricopter It is important for new users to read through this document rigorously 2 Using the hardware Keep in mind to use the electronics correctly The hardware is very sensitive and can easily break if not handled properly Therefore read through this sections below carefully before using the tricopter 2 1 Battery To give the tricopter and the ground station power it is recommended to use 11 1 V 2250 mAh LiPo batteries It is important to use a low voltage tracker for the battery at any time when this type battery is being used because using up too much power from the battery may damage it
4. User manual Tricopter with stabilized camera Version 1 0 Author Karl Johan Barsk Date December 16 2011 triforce Status Karl Johan Barsk 111125 Fredrik Lindsten 111208 Course name Control Project E mail tsrt10 tricopterQgmail com Project group Triforce Document responsible Karl Johan Barsk Course code TSRT10 Author s E mail karba878 Q student liu se Project Tricopter Document name User manual tricopter pdf Project Identity Group E mail Homepage Orderer Customer Course Responsible Project Manager Advisors Group Members tsrt10 tricopterQgmail com http www isy liu se edu projekt tsrt10 2011 trikopter Fredrik Lindsten Link ping University Phone 46 13 28 13 65 E mail lindstenGisy liu se David T rnqvist Link ping University Phone 46 13 28 18 82 E mail tornqvist isy liu se David T rnqvist Link ping University Phone 46 13 28 18 82 E mail tornqvistGisy liu se Josefin Kemppainen Manon Kok Link ping University Phone 46 13 28 40 43 E mail manon kokQisy liu se Name Responsibility Phone E mail Q student liu se Project Manager 070 866 56 75 joske208 Karl Johan Barsk 070 788 95 48 karba878 Joakim Hallqvist 070 571 37 64 joaha738 Patrik Johansson 070 299 47 48 patjo855 070 9993019 rasjo160 07074787 78 johla342 070 5923266 matlo622 Bjorn Rodseth Designer 070 274 52 20 bjoro826 Document History Changes made
5. GHz band frequency and a DSM2 modulation Figure shows which stick is controlling what command note that some flight modes may change the function of the stick or disable it Figure 2 Radio controller and it s different controlsticks AUX1 controls e Upper level Autonomous mode e Middle level Manual mode e Lower level Virtual box AUX2 controls e Upper level Not specified e Middle level Not specified e Lower level Simple mode 2 4 Establishing the video link The tricopter has an analogue video transmitter to send video feed to a receiver The video can further be displayed in a pair of video glasses see figure Bl and on a laptop for viewing and or recording To establish the video link between the tricopter and the ground station the first step is to set up the video receiver The receiver can be powered by 11 1 V 2250 mAh LiPo battery or by an adapter The DC input along with all other in outputs and Course name Control Project E mail tsrt10 tricopterQgmail com Project group Triforce Document responsible Karl Johan Barsk Course code TSRT10 Author s E mail karba878Qstudent liu se Project Tricopter Document name User manual tricopter pdf Tricopter 3 the power switch are located at the back of the receiver see figure B An antenna also has to be connected to an input at the back Next step is to connect the device that is to display the video feed The video receiver has two composite video o
6. Planner 13 v l x N AR Da ArduCopter2 v Value e x Record to AVI Stop Record Figure 11 Video recording menu 3 1 7 Using the built in simulation To use the built in simulator it will require the user to download FLIGHTGEAR 2 4 0 This is a open source software and free to download for anyone It will also require the user to enable HIL Hardware In the Loop in the ArduPilot code This is done by uncommenting the line define TRICOPTER_HIL_ENABLE located in APM config h Course name Control Project E mail tsrt10 tricopterQgmail com Project group Triforce Document responsible Karl Johan Barsk Course code TSRT10 Author s E mail karba878Qstudent liu se Project Tricopter Document name User manual tricopter pdf A AA Tricopter 9 4 Flying the tricopter Flying the tricopter is both fun and a great way to show off It is quite simple but there are a few things to take in consideration that will be specified here 4 1 Start up The ArduPilot has a few built in safety features to protect both the tricopter and the user to take damage e g for the motors to rotate you need to arm them the description of how to do this is found in the table below Action to activate command Arm the motors Have the throttle in bottom then hold the yaw stick to the right for 2 seconds Disarm the motors Have the throttle in bottom then hold the yaw stick to the left for 2 seconds Autotrim Have the th
7. as just APM With APM the user can see the position of the tricopter that is if you have GPS lock on a map It is also possible to e Track the orientation of tricopter e Set an autonomous flight route and specify a camera target e Change PI parameters for manual and autonomous flight mode e Set other parameters e g the size of the virtual box Create a hardware in the loop simulation on your PC e See the film stream sent from the camera and if desired record it Log flight data for later analysis Note To get all functionality for the tricopter the user needs to use the modified version of APM PLANNER developed during the project using any other version may result in version errors and some functions not working correctly 3 1 Using APM Planner This section describes how to use the modified version of APM 1 0 66 3 1 1 Start up When you start APM the first step you need to do is to connect to the tricopter through a serial device e g XBee or a USB cable Do this by setting the proper baudrate 57600 for XBee and 115200 for USB COM port the port in which the XBee or USB device is plugged in on the computer at the upper right corner and choose ArduCopter2 as the model you want to connect to This is marked in figure A Then press connect after a few seconds you should now be connected to the tricopter Note that connecting through XBee may take a few seconds so do not be alarmed if it takes a while
8. e So as long as the pilot stands in the same direction as when the tricopter was armed moving the stick north will make the tricopter fly north Something to take into consideration is that if the pilot turns 90 degrees roll will become pitch You can activate this mode by moving the AUX2 stick to its lower level see figure D 4 3 4 Acro mode This mode is not for beginners It is only a rate control mode which means you control the rate of rotation with the control stick The tricopter will NOT self balance in this mode To activate acro the user needs to use the drop down menu in APM Course name Control Project E mail tsrt10 tricopterQgmail com Project group Triforce Document responsible Karl Johan Barsk Course code TSRT10 Author s E mail karba878 Q student liu se Project Tricopter Document name User manual tricopter pdf A AA Tricopter 11 4 3 5 Alt hold Alt hold altitude hold is just like manual mode but the tricopter will try to keep itself at the same altitude By raising or lowering the throttle stick the reference altitude will change but there is a big dead band in the middle so the user does not changes the current height by accident To activate altitude hold you need to use the drop down menu in APM 4 3 6 Loiter Loiter works just like alt hold but the tricopter uses the gyro and the accelerometer to attempt to keep its current location To activate loiter the user need to use the drop down me
9. ither manual or autonomous mode If the user likes to change the box size this is easily done through APM Press the Flight Data tab in the upper left corner then use the side arrows beneath it to go to the tab Set Box amp Target write the desired size under the Box text and press send The place where this is done are marked in figure B The default box size is 20x20x20 meters Course name Control Project E mail tsrt10 tricopterQgmail com Project group Triforce Document responsible Karl Johan Barsk Course code TSRT10 Author s E mail karba878 Q student liu se Project Tricopter Document name User manual tricopter pdf Tricopter 7 a ia S L S 6 2 frr Figure 8 The Set Box amp Target tab 3 1 5 Logging of flight data When the user connects with APM PLANNER as mentioned in section ELI logging of flight data starts automatically and is saved to the folder logs that is located in the same folder as the APM PLANNER program file The logging stops when the user disconnects The logs can later be played back in the program This is done by going into the Flight Data tab in the upper left corner then use the side arrows beneath it to go to the tab Telemetry Logs and use the button Load Log to browse for and select a log file When the Play Pause button is pressed APM PLANNER displays everything as it was during the flight To see where the loading a
10. nd playback of a log is done see figure DH Additionally if the checkbox Tuning below the map is checked the user can see graphs of five chosen parameters To choose which ones double click on the graph window ME a gt hal 102 frr Figure 9 The Telemetry Logs tab 3 1 6 Video playback and recording If the video link has been established according to section 2 4 the user can display it in the Flight Data tab This is done by going into the Configuration tab and there further Course name Control Project E mail tsrt10 tricopterQgmail com Project group Triforce Document responsible Karl Johan Barsk Course code TSRT10 Author s E mail karba878Qstudent liu se Project Tricopter Document name User manual tricopter pdf Tricopter 8 go into the tab Planner There use the drop down menu to select PCTV 100e 150e WDM 2821 Capture which is the Dazzle TV converter also mentioned in section ZA To start or stop playback two buttons are located next to the drop down menu See figure J to see where all this is done If the user wants to record the video simply go back to the Flight Data tab right click in the video window and choose Record to AVI To stop the recording repeat the procedure but choose Stop Recording instead see figure IT The recorded video is saved in the same folder as the logs mentioned in the previous section BLAJ PU Triforce
11. nu in APM 4 3 7 Guided mode Guided mode will use the GPS to try fly autonomous to a specified coordinate The coordinate can either be specified by a set of waypoints in APM or just a single Fly to here command set by right clicking on the APM map When the tricopter reaches its final destination it will activate loiter mode It is also this mode the tricopter will use when returning to the center of the virtual box if boundaries are breached See section BIA 4 3 8 Return To Launch RTL RTL uses guided mode to try return to it is home position specified through APM It will set a default altitude if nothing else is specified 5 Things to watch out for The tricopter is wind sensitive and therefore it is highly recommended to fly at open areas with low wind velocity The magnetometer is very sensitive for artificial magnetic field e g the field generated from a standard mobile phone This means that its recommended not to use autonomous mode near things that generate too big of a magnetic field e g mobile towers or an electric power line The LiPo batteries are very sensitive as mentioned in section LI Make sure to use the low voltage tracker Course name Control Project E mail tsrt10 tricopterQgmail com Project group Triforce Document responsible Karl Johan Barsk Course code TSRT10 Author s E mail karba878 Q student liu se Project Tricopter Document name User manual tricopter pdf A AA T
12. p and can be moved dragging them target can also be set by holding shift and left click the map To add additional waypoints simply click at the location where you want your waypoint to be To remove a waypoint right click on the waypoint and then select Delete WP in the pop up menu When this is done press the Write WP button to load the configured waypoints to the tricopter To send the target coordinates click on the Send button in the Set Box amp Target tab located at the far left of the Flight Data tab see figure If the user wants to read which waypoints have been written to the tricopter just to click on the button Read WP To load the target coordinates from the tricopter click on the Update params button in the Set Box amp Target tab see figure B 3 1 4 Virtual box The virtual box is a good feature for users that want to practice flying without risking crashes It is very easy to both use and configure the virtual box To activate it just take the AUX1 gearstick see figure J to its lower level and a virtual box will be created around the tricopter with a minimum height of 3 meters above the ground If the tricopter breaks any of the boundiaries the autopilot will take over and steer it into the middle of the box When the autopilot is close enough to the middle it will give back control to the pilot To abort the virtual box just move the gearstick on the RC transmitter to e
13. ricopter 12 References 1 v a arducopter Arduino based autopilot for mulitrotor craft from quadcopters to traditional helis http code google com p arducopter 2011 09 02 2 v a ardupilot mega Official ArduPilot Mega repository http code google com p ardupilot mega wiki Mission 2011 09 05 3 v a FlightGear sophisticated professional open source flight simulation http www flightgear org 2011 09 09 4 Atmel 8 bit Atmel Microcontroller with 64K 128K 256K Bytes In System Pro grammable Flash http www atmel com dyn resources prod_documents doc2549 pdf may 2011 5 Barsk Karl Johan Requirement specification Tricopter with stabilized camera version 1 1 oct 2011 6 v a Quad Telemetry XBee http code google com p arducopter wiki Quad_TelemetryPage 2011 11 14 Course name Control Project E mail tsrt10 tricopterQgmail com Project group Triforce Document responsible Karl Johan Barsk Course code TSRT10 Author s E mail karba878 Q student liu se Project Tricopter Document name User manual tricopter pdf
14. rottle in bottom then hold the yaw stick to the right for 20 seconds 4 2 First time setup It s highly recommended to use the autotrim function before using the tricopter Note that the area where you trim the tricopter needs to be completely wind free To enable autotrim see the table above When it is active ensure that the tricopter is in manual mode try to keep it on a height of one to two meters and keep it as still as possible After 45 seconds the tricopter will automatically exit auto trim and if it feels stable then the user is done with the autotrim Otherwise repeat the procedure 4 3 Description of the different flight modes This chapter will describe the different flight modes available how to use them and how to activate them Since some of the flight modes are unavailable through the radio controller the user manually has to activate them through APM Figure shows how it can be done It s recommended to change either the third AUX1 middle level originally manual mode or the first channel AUX1 upper level originally autonomous mode Course name Control Project F mail tsrt10 tricopterQgmail com Project group Triforce Document responsible Karl Johan Barsk Course code TSRT10 Author s E mail karba878 Q student liu se Project Tricopter Document name User manual tricopter pdf AA Tricopter 10 amp Triforce Planner 1 3 37 Build By Michael Oborne Triforce group RC ES Boon A APM 2x AC2 Planner Set
15. up Reset Radio Input Modes Hardware ArduCopter2 AC2 Heli BETA BATT CAPACITY BATT MONITOR Current Mode Stabilize Current PWM 5 1416 Flight Mode 1 AUTO Fr Flight Mode 2 STABILIZE f Flight h wM 1491 1620 MVM 1621 1749 Flight Mode6 LOITER wM 1750 583983200 Figure 12 How to change flight mode through APM 4 3 1 Manual mode Manual mode is good for general flying and during flight using the camera The input of the sticks will be equal to the reference angles for the tricopter to hold So if no control sticks are turned the tricopter will hover on spot and try to stabilize itself Yaw will try to maintaining the current heading if the yaw stick is turned the tricopter will rotate at a specified rate depending of the input from the control sticks You can activate this mode by moving the AUX1 stick to its middle level see figure D 4 3 2 Autonomous mode Autonomous mode will use the GPS to fly between specified coordinates The route planning is done in the APM mission planner by setting waypoints according to BLA When the autonomous mode is turned on the tricopter will follow the specified route and when it reaches the last waypoint it will stay there and hover 4 3 3 Simple mode This mode allows you to fly the compass not the tricopter When the tricopter get armed it will store its current heading in its work memory and use this in simple mod
16. utputs Connect the desired displaying device to one of these outputs The video transmitter will send the video signal on channel four and will be transmitting as long as the tricopter is powered The channel selector on the front of the receiver see figure M is then needed to be set to the appropriate channel Figure 3 Back of the video receiver Figure 4 Front of the video receiver Course name Control Project E mail tsrt10 tricopterQgmail com Project group Triforce Document responsible Karl Johan Barsk Course code TSRT10 Author s E mail karba878Qstudent liu se Project Tricopter Document name User manual tricopter pdf Tricopter 4 Figure 5 i Theatre video glasses The video glasses are connected through the composite video connector yellow colour To connect the laptop to the video receiver a Dazzle Tv video converter is used and connected via USB to the laptop The composite video input is located at the front of the converter see figure D Figure 6 Dazzle Tv video converter Course name Control Project E mail tsrt10 tricopterQgmail com Project group Triforce Document responsible Karl Johan Barsk Course code TSRT10 Author s E mail karba878Qstudent liu se Project Tricopter Document name User manual tricopter pdf Tricopter 5 3 Using the software Developed for this project is a modified version of the open source software APM PLAN NER from now on referred to
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