DroPix Flight Controller - User manual
Contents
1. c lt j 22 9 o o e o 10 e a 2 4 amm T us Franc RE Ublox NEO M8 GPS www drotek fr GND 3 2 9 Telemetry kit Telemetry kit is used to keep wireless connection between MissionPlanner and the drone You can receive all datas in real time and send orders to your flight controller B E Gel O O O 0 0 Qro 3 2 10 To sonar The sonar allows you to get an accurate measure of your drone ground distance Plug it like below o E mi 0 0 0 Cx gt gt 000 0 0 0 ga 1 aus HIA Parma TOP ix E 0 0 Bud VI po Yolo CCC Z fEielele 8 8 6111 x maes GPS se s se OOO MI 1220219 COO E ojojo Oo OO GOO gt www drotek fr 3 2 11 Optical Flow The Optical Flow module is equipped with a sonar and an optical sensor which allows the system to work without any GPS and get an accurate measure between the system and the ground The Optical flow module is approved fo2. DroPix Flight Controller User manual KT CE m mac 1 Tr x 1244444 GU M lt J ts EE i iB i 18 5 47 15 8 FEN F aa E rua 11 CECT oD Pee LEETE CO T 2 LM HEH eo Version 1 5 www drotek fr Table of Contents Introduction AND INSTRUCTIONS sees enne en 3 2 Software Install eene 2 2 1 Getting started with Mission Planner sees D 2 1 1 Download installer file esee 5 2 1 2 Install Mission Planner eese nennen nnne 5 2 1 3 Install 1775 0 1 200000000010000008 6 Fardavware SE 19 MIRROR 7 3 1 Setup on your frame n nsn 7 3 2 Connecting flight conTroller na a 8 3 2 1 Representation of inputs ouTputTSs 1 8 CR C 16 10 3 2 3 RGB LED module tenente t
3. Extended Tuning Action Alt m Standard Params Advanced Params Full Parameter Let Radius m RTL Altitude m Full Parameter Tree Planner www drotek fr SIMULATION TERMINAL Enable Altitude and Circle RTL or Land 300 4 2 Setup Advanced 4 2 1 Magnetometer Motors Calibration The system is designed to work with 2 magnetometers One on board the internal and one on GPS the external The first one is mainly used for measure the magnetic field emitted by the motors ESC power module and substract it on the second magnetometer There are 2 ways to measure your magnetic field With the Throttle stick or with the Power Module Mission Planner 1 2 62 1 0 FLIGHT DATA FLIGHT PLAN HARDWARE SOFTWARE SIMULATION 1 HELP DONATE gt Link Siats Disconnect load all took 77680 ArduCopter V3 0 1 ArduCopter V3 0 1 0 1 3 11 2 x i 4 This re Lk 4pact on the compass of running the motors The motors will spin Hold throttle low then raise to mid for 5 sec then quickly back to low AC any time you press any key to exit measuring compass vs CURRENT Saas CALIBRATION MAG ESC MOTORS www drotek fr 4 2 2 Vibration test It s possible your drone vibrates in flight due to the motors the propellers the wind To improve behavior in flight you need to measure these vibrations and try t
4. Disabled O APM 2 2 APM2 A 13 APM 2 A13 This selects an 1 3 Pixhawk SBUS the voltage is R55 When your drone is higher than 4 59 meters the barometer defines its altitude When your drone flies under 4 59 meters the sonar becomes priority Testing the sensor Distances read by the sensor can be seen in the Mission Planner s Flight Data screen s Status tab Look closely for sonarrange Radio Calibration Here you will define the extreme values of each signals It s used to set up the range of the radio signals www drotek fr 22 32 DR Link Stats Radio Endpoint Calibration E Roll 1493 Ensure your transmitter is on and receiver is powered and connected Ensure your motor does not have power no props Pitch 1494 Yaw 1435 Cabrer Radio 1 qe Progress 10 of 16 Here are the detected radio options NOTE Channels not connected are displayed 1500 2 Radio Endpoint Calibration Normal values are around 1100 1900 Channel Min 382 Rol CH1 98212005 1494 2 982 2006 CH3 982 2006 982 2006 CH5 982 2006 CH6 1494 1494 CH7 1494 1494 CH8 1494 1494 Ensure all your sticks
5. ol 10 D Anyway you can easily identify flight controller orientation using GUT Please make sure your flight controller is securely attached to your model frame and make sure propellers are removed You can refer to your frame user manual www drotek fr 3 2 Connecting flight controller 3 2 1 Representation of inputs outputs PPM SBUS Motor Outputs we DroPix GND Servo Outputs GND Current Voltage GND www drotek fr ADC2 1 C GPS CAN c gt www drotek fr Spektrum SV 2 GND Ai GND 9V TX RA CTA CRA GND 3 2 2 To Power The DroPix has redundant power supply inputs It must be powered by BEC 5V to 6V on the servo rail high power n 1 up to n 6A The second power source is the Power Module It powers the DroPix and reads voltage and current analog measurements as _ DroPix 28 sumus V y A a LI L m VET n i 4 4 r E i K s I mal maf d o o o o o oo o o o o o 12725 mmm Wes Power Module mi 3 2 3 To RGB LED module You can connect the external RGB LED module to the DroPix on the I2C bus This board was designed to be clamped on a carbon t
6. centered and throttle is down and click ok to continue Progress 10 of 16 It s possible to set up several modes please refer to this link to more details For more details please refer to FLIGHT MODES www drotek fr 23 32 Fail Safe RC failsafe is a very important part of configuration don skip it you never know when you will have problems with RC It s good for you to use RTL function failsafes modes For more details please refer to FAIL SAFE CONF 2 Mission Planner 1 3 10 build 1 1 5369 11976 W we Se FLIGHT DATA FLIGHT PLAN INITIAL SETUP CONFIG TUNING SIMULATION TERMINAL HELP DONATE 0 195 115200 DISCONNECT S ells COX Install Firmware x Mode de vol 1 Mode de vol 2 w Rede 1 Pedo 1 Stabilize gt gt Mandatory Hardware ENS 2 Disa rmed JN s GPS No GPs Accel Calibration Wizard 1084 FailSafe Options Mode de vol 2 Flight Modes 23 950 10 0 0 Radio gt gt Optional Hardware Battery Monitor Compass Motor Cali Sonar Airspeed Optical Flow OSD Camera Gimbal Antenna tracker Motor Test s Piaci ae I Creates a dome which defines the limits of flight For more details please refer to GEOFENCE FLIGHT DATA FLIGHT PLAN INTIAL SETUP CONFES TUNING Basic Tuning Enable
7. Q Q 4 O O 6 0 o 5 Sb www drotek fr Safety Switch Meanings Quick constant blinking performing system check Please wait Intermittent blinking system ready Press the safety button to activate Solid ready to arm Proceed to the arming procedure 3 2 8 To GPS module with COMPASS The GPS module provides the DroPix with positioning data during flight At each boot of the DroPix the flight controller will configure the GPS to have the true baudrate frequency and others parameters So no need to change anything on the GPSIII The DroPix has a magnetometer on board It will allow the flight controller to calculate its orientation during flight However it s possible that this sensor is disturbed by motors and ESC It s therefore advisable in some cases to use an external compass like our module Ublox In this case of a double magnetometer the board will measures the magnetic fields emitted by the engines and allows for a cleaner signal on the magnetometer exported Both magnetometers must have the same orientation Be sure to place the front of the Dropix and GPS module like the picture below www drotek fr i E 1 2 TUN im 1 i I H p L
8. Min Freq 0 Format Min Freq Baud 5 Max Freq Baud Max Freq Air Speed of Channels Air Speed of Channels Net ID 5 Duty Cycle Net ID Duty Cycle Tx Power LBT Rssi Tx Power LBT Rssi ECC RTSCTS RTS CTS Maviink Max Window ms Window ms ER Settings for Standard Mavlink Op Resend Settings for Low Latency Op Resend FORMAT this is for EEPROM format version Don t change it SERIAL SPEED this is the serial speed in one byte form see below AIR SPEED this is the air data rate in one byte form NETID this is the network ID It must be the same for both your radios TXPOWER this is the transmit power in dBm The maximum is 20dBm ECC this enables disables the golay error correcting code www drotek fr 28 32 MAVLINK this enables disables MAVLink framing and reporting MIN_FREQ minimum frequency in kHz MAX_FREQ maximum frequency in kHz NUM_CHANNELS number of frequency hopping channels DUTY_CYCLE the percentage of time to allow transmit RSSI Listen Before Talk threshold For more details please refer to Documentation 3DR Radio www drotek fr FR SKY has designed the TARANIS radio in open source concept You can use up to 16 channels The radio is available here Radio TARANIS The following tutorial named the radio s buttons as below FALIO SETUP Time zone coordinate format HMS merica etric A R A NIS Here
9. ND_MAX_CM 700 i e 7m max range e RNGFND_TYPE 4 PX4 MaxbotixI2C sonar FLIGHT DATA FLIGHT PLAN INTIAL SETUP CONFIGITUNING SIMULATION TERMINAL HELP DONATE 17 Flight Modes Command Value Desc O FFS 0 olts Offset in volts for ze GeoFence Analog pin that ran APM analog pins RNGFND airspeed port on t analog airspeed pi Extended Tuning p 4 4 airspeed port his parameter sets Most analog range RHGFND RMETRIC O No 1 Yes voltage is influence rangefinders such Advanced Params regulators so they Basic Tuning Standard Params Scaling factor betw Full Parameter List RNGFND SCALING meters Voll linear and inverted 1 hyperbolic function Full Parameter Tree The time in millisect This is only used w IRNGFND SETTLE MS millisecond around 7m this wo u B 41 _ the sonar pulse to t Planner Digital pin that enal analog rangefinder RNGFND_STOP_PIN pin is set to 1 te This can be used ti interfere with each A 21 y RNGEND_TYPE 1 Analog 2 APM2 MaxbotixI2C 3 2 20 m vea nad
10. cable For a Spektrum DSM DSM2 or DSM X Satellite RC receiver connect to the SPEKT port of the flight controller 3 2 5 To ESCs Motors The DroPix can handle various types of flying models with different number of motors and servos Please refer to the next picture to identify which type of model you are flying then connect ESCs accordingly to the flight controller www drotek fr Y6B Zd L Clockwise rotation 27 Ws 9 Use pusher propeller 747 Counter clockwise rotation gt Use normal propeller www drotek fr 3 2 6 buzzer xs DroPix 28 The multi tone piezo buzzer indicates the different states of the flight controller as startup successful failed SD card missing i m oe armed disarmed low dizi battery 1 I m 3 2 7 To safety switch The DroPix has an internal safety button for motor 69222 name s sfs activation Ox s mi Qe x SPE eles If in your installation you don t have access to the Jo button it s possible to connect an external safety switch as the picture below us m BUS ojser 107070 seer 00 0 PRESS e Tet 2 42 4 e fo m Hm 11 Buz i mm _DroPix Vi o E mu m m m D Q
11. d sensor technology from ST Microelectronics and NuttX real time operating system delivering incredible performance flexibility and reliability for controlling any autonomous vehicle The benefits of the DroPix system include integrated multithreading a Unix Linux like programming environment completely new autopilot functions such as Lua scripting of missions and flight behavior and a custom PX4 driver layer ensuring tight timing across all processes These advanced capabilities ensure that there are no limitations to your autonomous vehicle DroPix allows existing APM PixHawk and PX4 operators to seamlessly transition to this system and lowers the barriers to entry for new users to participate in the exciting world of autonomous vehicles The flagship DroPix module will be accompanied by new peripheral options including a digital airspeed sensor support for an external multi color LED indicator and an external magnetometer All peripherals are automatically detected and configured Disclaimer 4 Warning Please read this disclaimer carefully before using the product By using this product you hereby agree to this disclaimer and signify that you have read them fully THIS PRODUCT IS NOT APPROVED FOR USE UNDER THE AGE OF 18 This product is an autopilot system designed for serious multi rotor enthusiasts providing excellent self leveling and maintaining altitude which aids in relieving the stress of flying RC multi rotors for both p
12. eens tenen 10 3 2 4 To receliver a 12 3 2 5 5 12 3 2 0 10 00226 uuu 14 3 2 7 safety SWITCH 14 3 2 8 GPS module with 59 15 3 2 9 To Telemetry 17 3 2 10 sonqr 17 3 2 11 Optical FIOW 0 ccc cccscsscscesessescssescesesscsecscsecseescsscsesecsesscsecsecsecsecessesseseeeaees 18 222 IPT Edel a S sss 19 41 19 4 2 Setup Advanced u n s thee treten then testen etes 26 4 2 1 Magnetometer Motors Calibration essen 26 4 2 2 Vibration Test anna 27 4 2 3 TelemeTry SMHH 27 5 Radio TARANIS FR SKY a a 30 www drotek fr DroPix is an advanced autopilot system designed by the PX4 open hardware project It features advanced processor an
13. ll 6 axis s in Loiter mode The iron on the drone modifies your magnetic field without calibration the magnetometer can t En transmit true values to Dropix Please click ok and move the autopilot around all axises in a circular motion For more details please refer to COMPASS CALIBRATION Progress 6 of 16 www drotek fr Aim for the White dots COM PA Pitch Yaw Compass Got 365 Samples more data needed 120 360 Aim For 0 360 dark blue axis is pointinc Yellow Green 60 360 0 red and blue 2 60 180 dark blue and blue full 360 ar 90 180 light blue axis 90 90 green axis 90 270 pink axis 90 360 0 red axis 180 0 360 yellow axis Rotate with each data point Progress 6 of 16 The Power Module The P M is used to measure your current consumption and your What autopilot version do you own 4 PocHawk What sensor are you using 3DR Power Module What size batterys are you using mah 3300 Battery Monitor Configuration battery level For working you need to modify Ver in Initial setup Optionnal Hardware Battery Monitor APM Ver select 4 Pixhawk Progress 7 of 16 www drotek fr 21 32 The Sonar Here you will define your Maxbotix I2C Please first connect with the Mission Planner and then open the Config Tuning gt gt Full Parmeter List page and set the following parameters e RNGF
14. o reduce them A good vibration yield allows a good Loiter mode Log Browser 2013071121483 log O Value Graph 4 x X Y acceptable range 3 3 i EAS TECTA a li m 27 table range 15 For more details please refer to MEASURING VIBRATIONS 4 2 3 Telemetry Kit The telemetry kit is used to get a feedback on your ground station and view in flight data in real time You can send orders to the drone like changing missions on the fly Plug your telemetry on your computer then select the port com of your device with 57600 bauds speed of data sending of telemetry kit Then clic on Connect www drotek fr M 1200 2400 TLELI 4800 CONNECT S600 115200 32 1600 1500000 To configure your telemetry data sending disconnect from MissionPlanner then go in 3DR Radio menu and Load Settings Mission Planner 1 3 10 build 11 5369 11976 FLIGHT DATA FLIGHT PLAN INITIAL SETUF CONFIG TUNING SIMULATION TERMINAL HELP DONATE 57600 CONNECT 26 CF OCs Install Firmware Status Leds Wizard Remote M SiK 1 6 HM TRP FREQ_433 DEVICE ID SiK 1 6 HM TRP DEVICE Optional Hardware vomon 5 Version TRP L R RSSI 159 99 L R noise 75 37 pkts 4981 3DR Radio RSSI txe 0 me 0 stx 0 sx 0 ecc 0 0 temp 276 dco 0 Antenna tracker
15. on Planner installer file is available here Download this file on your computer operating system 2 1 2 Install Mission Planner Open Mission Planner file MissionPlanner latest EL MissionPlanne The Setup Wizard will install Mission Planner on your computer It will automatically installany necessary software drivers Mission Planner is now installed and ready to use on your computer An icon to open the Mission Planner is created www drotek fr have more informations we advise you to go here 2 1 3 Install firmware Foremost check that you have a microSD card fully inserted into the DroPix memory card socket You can follow the instructions in this page to load firmware onto the DroPix If you have problems connecting in Mission Planner you can read the troubleshooting page here www drotek fr 3 HARDWARE SETUP Now that your flight controller is ready on the software side let s see how to set it up your flying model SECURITY WARNING make sure the propellers are REMOVED before testing 3 1 Setup on your frame First you need to identify the front of your flight controller There is an arrow drawn on the top of the DroPix 1010 oO oO 1010 oO lt gt O 0 IR VI 6 4 0 0 0 0 0 0 1001000 D e i QUA Ch 6 gt 4
16. pleted the main components have obvious faults obvious defect or missing accessories 9 Damage s or injuries caused by flying in the following situations such as the aircraft in magnetic interference area radio interference area government regulated no fly zones or the pilot is in backlight blocked fuzzy sight and poor eyesight is not suitable for operating and other conditions not suitable for operating 10 Damage s or injuries caused by using in bad weather such as a rainy day or windy more than moderate breeze snow hail lightning tornadoes hurricanes etc 11 Damage s or injuries caused when the aircraft is in the following situations collision fire explosion floods tsunamis subsidence ice trapped avalanche debris flow landslide earthquake etc 12 Damage s or injuries caused by infringement such as any data audio or video material recorded by the use of aircraft 13 Damage s or injuries caused by the misuse of the battery protection circuit RC model and battery chargers 14 Other details that are not covered by the scope of Drotek liability www drotek fr 2 SOFTWARE INSTALL 2 1 Getting started with Mission Planner Mission Planner is a ground control station for APM Plane APM Copter and APM Rover It is compatible with Windows only Mission Planner can be used as a configuration utility or as a dynamic control supplement for your autonomous vehicle 2 1 1 Download installer file Missi
17. r advanced users More details here https pixhawk org modules px4flow Orientation 23 5 www drotek fr 4 SETUP YOUR DROPIX 4 1 Wizard The Wizard is the most simple way to configure your drone You need to do what is displayed on screen seriously and correctly and your board will be able to start flying In Initial Setup menu clic on Wizard on the top left side FLIGHT DATA FLIGHT PLAN INTIAL SETUP CONFIG TUNING SIMULATION TERMINAL HELP DONATE 195 5200 CONNECT EE CF OCS Install Firmware Wizard lt a gt gt Optional Hardware The Wizard is composed of 9 important parts FRAME LAYOUT Please select your frame layout from below It s the geometric shape and the number of motors on your drone Progress 1 of 16 Set up the last released version of Arducopter firmware www drotek fr drone needs to know its 0 ACCELEROMETER CALIBRATION position the wizard ask you To Turn Here we will calibrate the minimum and maximum values seen the drone on its sides by your accelerometer Please click start and follow the pictures indicated For more details please refer to ACCELEROMETER CALIBRATION Progress 5of 16 Its important to calibrate your Mese magnetometer s to get good results wispa qa flight You will be more accurate full 360 around the left right axis for a
18. rofessional and hobby applications Despite the system having a built in autopilot system and our efforts in making the operation of the controller as safe as possible when the main power battery is connected you must remove all propellers when calibrating and setting parameters Make sure all connections are good and keep children and animals at a safe distance at all times Drotek accepts no liability for damage s or injuries incurred directly or indirectly from the use of this product in the following conditions www drotek fr 1 Damage s or injuries incurred when users are drunk taking drugs drug anesthesia dizziness fatigue nausea and any other conditions no matter physically or mentally that could impair your ability 2 Damage s or injuries caused by subjective intentional operations Any mental damage compensation caused by accident 3 Failure to follow the guidance of the manual to assemble or operate 4 Malfunctions caused by refit or replacement with non Drotek and parts 5 Damage s or injuries caused by improper operation or subjective misjudgment 6 Damage s or injuries caused by mechanical failures due to erosion aging 7 Damage s or injuries caused by continued flying after low voltage protection alarm is triggered 8 Damage s or injuries caused by knowingly flying the aircraft in abnormal condition such as water oil soil sand and other unknown material ingress into the aircraft or the assembly is not com
19. ube The deportation of this board allows the pilot to view the different states of the machine during flight www drotek fr LED Mean ings Flashing red and blue initializing Please wait Double flashing yellow error System refuses to arm Flashing blue disarmed searching for GPS Autonomous loiter and return to launch modes require GPS lock Flashing green disarmed GPS lock acquired Ready to arm Quick double tone when disarming from the armed state Solid green plus single long tone armed and ready to fly Flashing yellow RC failsafe activated Flashing yellow plus quick repeating tone battery failsafe activated Flashing yellow and blue plus high high high low tone GPS glitch or GPS failsafe activated www drotek fr SCL 75 RESET www drotek fr 3 2 4 receiver There are 3 ways to connect your receiver to the flight controller depending of your hardware classic receiver if you have a classic receiver you have to use a PPM encoder up to 8 channels Don t forget to enable the solder bridge on top if you want to power your receiver via the DroPix ES _DroPix 9 VI cee a LIA 0 0 0 0 6 0 SBUS receiver if you have a SBUS receiver as the X8R from FrSky you have to connect it to the RC port on the DroPix Spektrum satellite as with the PPM receiver all channels go through one servo jumper
20. we will show you how to configure the basics MENU The Binding is used to assign your receiver to your transmitter Video Youtube Press 1 to enter in the menu then select your profile using 4 5 buttons Once is done press 2 to continue Then the 6 allows you to naviguate in the menu When on BIND the next 15 on the receiver www drotek fr Hold the 5 button pressed Then power your receiver The red LED will blinking Now press the 6 button on the TARANIS for Binding Disconnect and connect to power the green LED will show you that procedure is succesful _ You need to return in the menu please press 1 Now the settings the 6 page So press 5 times the 2 button Then select your channel with lt 4 5 gt and edit by holding 6 In the menu press 1 Press now 6 times the 2 button Select your channel with 4 5 then press 6 to configure it and re use 4 5 to navigate up to Direction column Press 6 to invert your signal www drotek fr 0 0 100 100 INV or TARANIS acd www drotek fr
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