Getting Started - Transmitter Calibration 

Welcome!  DO NOT SKIP THIS first STEP above photo - the very first thing you must do for your first MultiWiicopter.com PARIS v4r6 board is Calibrate your Transmitter to give accurate PWM output range - every transmitter is slightly different - Create a new model memory on the Tx and Call it PARIS.  Make sure your PC/Mac has JAVA loaded enabled - The GUI runs on JAVA - do a cold restart after installing Java - connect the Receiver (Rx) to the PARIS, connect the PARIS to your FTDI-USB - this supplies 5v power (after installing the FTDI drivers - HERE - cold restart) and turn on your Transmitter (Tx) and set ACRO(airplane) & PPM(not PCM).  If your not sure leave your Radio on factory settings.  99% of RC radios output PPM and work with PARIS out of the box.  Do NOT connect anything else yet (like ESC) to the PARIS ! -  then Launch the matching 2.2->2.2 Config or 2.2->2.2 Application/program on your PC or Mac or the latest code 2.2 and whilst looking at your PC screen - you will see that changes made on the Tx are sent to the PARIS via your Rx - and actual critical uSEC readings - 1095/1500mid/1905 can be set. If you cannot get it exact then use 1090/1500/1910.   PARIS is a digital interface and the software running invisibly inside requires very specific digital PWM uSEC numbers to hover 100% auto-level, arm, disarm etc.  So this may seem a bit weird but you will be using/pressing buttons on your Tx whilst your eyes are looking at your PC or Mac.  So move all sticks to the centre - set all Tx trims to neutral - Now use SUB TRIM MENU on your Tx to set all mid points to 1500 on these blue bars.  Then move, one at a time,move each stick to the low position and set 1095; then move each stick/switch to the high position and set 1905.  Then go back and check all your midpoints are still 1500    Do this for all sticks and switches.  

 

Orientation - the light blue bars (above) MUST move in the same direction as the stick you are moving - If they do not then REVERSE that Ch in your Tx.  So if you move the throttle stick up - then the blue Throttle bar should move up.  If you move your rudder right then the YAW bar should move right.

 

For Multwii code 2.2 or later (New Multiwii Code 2.2 use 1.0.2 Arduino HERE - make sure you use GUI 2.2 to match it -  clear the eeprom and make sure you recalibrate the ACC and MAG after any version changes - Calibrating a MAG means press the button and then rotating the Quad XYZ 360° in 30 secs)

 

thanks ..... take care and Fly Safe -  Quinton  AlouetteIII

for MultiWiiCopter PARIS customers; by AlouetteIII  © MultiWiicopter.com 2011

 

• Keep your PROPS OFF - not installed - until you are fully conversant/understand in full the functions of your Tx in full including TRAV (end Points), the arm and disarm procedures -  realise that for a noob skiping or out-of-order set-up steps or moving sticks, or even static -  PROPS may start at anytime without warning.  Never install props prior to calibration of the ESC and testing the gyro orientation, and arm/disarm testing of the board - YOU are responsible - make sure your actions and your Copter is safe.  Never ASSUME the props will not start - removing the props removes the risk.

 

 

 

 

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 - Power off failsafe condition.  You might decide to set the failsafe power to 1/3 throttle so the aircraft descends in a controlled descent - recommended if understood - For Example on FrSky - set sticks as above (or THRO to 1/3) - then Press the Rx button - 2 green flashes on the Rx itself - done.    Failsafe can also be set in Software (NOT recommended - Use only for ultra basic or legacy Tx's - if your Tx has failsafe - use that). When you turn your Tx OFF in a test the Failsafe   -  should return the Copter to level and min-throttle - 

 

 

 

 

 

 

 

 

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 -  release - you will see the GREEN LED blinking fast for a few secs 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®.  

 

Plug-n-Play PARIS boards come pre-tested - pre-configured - DO NOT reload code - chances are you have a Firmware to PC-java-driver GUI issue!

Here follows an intro to PARIS v4r6 code commenting by MultiWiiCopter customer "Deet" - thanks Deet

 

 

 

MultiWiiCopters fly on Arduino® software. 

If your getting squirrelly behaviour after updating code - and it seems very unusual to you as an experienced flyer - (like an alien flying your copter not you ) - it possible the eeprom is corrupted - so just clear it out - clearing the eeprom - note down your old PIDS or do a screen capture of them - Fire up Arduino 1.0 to load MultiWii 2.2

then relaod the fully commented out PARIS specific 2.2 code for the configuration you have ie Quad X ; Futaba SUM Rx ; Pins A0 & A1 ; Pin 8 ; Motor Stop at arm ; etc.....

The GUI & the Conf JAVA files for the latest MultiWii versions (Jan 2013)  Multiwii Code 2.2 use 1.0 Arduino HERE - make sure you use GUI 2.2 to match the firmware (so also v2.2) -  clear the eeprom if you get any weirdness and make sure you recalibrate the ACC and MAG after any version changes) - For PC the 64bit version of GUI Java has a bug - please use the 32Bit version of GUI for 32bit and for 64bit PCs.  The Mac version works with all known version of OSX including the latest OSX updates for 32bit or 64bit Macs.

 

Unzip the download and you get 2 folders - the Arduino Sketch files are in MultiWii_2_x Folder - dont relaod RAW sketch files into a PARIS - they will not work - a sketch file must be comment first to activate sensors and other important code features. The other folder MultiWiiConf_2_x  contains the JAVA program/App - this is the GUI -  The Conf is a JAVA Application which allows you to control lots of parameters on your PARIS and see feedback on-screen  - If it does not run ; then update your JAVA.

 

Both/either the Arduino App (to load new version of firmware) and;or the JAVA-configGUI App are required to interact/tune the PIDs on a PARIS.

 

Apply 5v power for PC/PARIS-WiiBoard CPU/software - limited 5v comes from the USB cable from the PC/Mac via an FTDI connector(built-in to v4r6) and this is all that is need for a PARIS board and Rx during initial setup (PARIS & Rx not connected to the 4 ESCs yet).  However 5v power from USB is limited (amp output on USB 5v by your PC is limited) - and once all your ESC speed controllers are connected to the PARIS - then you also need the main LiPo cell connected & props off (this will activate the 5v power BECs in each ESC) to make changes to a finished and flight ready PARIS and Scarab multicopter. Common noob mistake is to connect all ESC and then not connect the main aircraft LiPo.

 

1) Connect the 5v to the PARIS via USB (or on older PARIS any 3pin ESC pin (do not reverse the pin or you will damage the PARIS) ;

DownLoad the FTDI Drivers HERE ; restart PC/Mac ; connect your USB plug to the USB/FTDI on your PARIS (disconnect any Bluetooth for code loading)

ParisUSB & PARISBluetooth CANNOT be used concurrently! Its either one or the other on the RS232 port!

2) Download the Arduino software application - Open it/run it

3) Set the Tools->Serial Port->Com8  PC create artificial comm port No's - this takes a minute before the comm port appears (for Mac (providing you have installed the ftdi drivers (above) it will be instant - something like /dev/tty.usbserial-A8004Yt1 (7 digit alpha numeric) - if you see several listed pick the bottom one that has USB) - this selects the USB port you have the PARIS/warthox plugged in

 

 

4) Set the Tools->Board->Arduino Duemilanove  ATmega328

5) File-> Dowload  MultiWiiConf_2_2 java app (will go into your downloads)  -----for the sketch .pde code - download then open the Quad_X code for PARIS here unzip it - this file is common to Mac or PC
Using Arduino App - > Only open and UPLOAD the main file 9red circle)
 

6) Now in Arduino - you will see the raw code(sketch)  written in Arduino code. (this code is pre-commented for PARIS) - Important - Black items are active - Grey items are not active - Go to Config.h TAB

7) for example delete the // infront of a line to activate it - so - to #define MINTHROTTLE 1180 for your Quad

(already done if I have sent you the code) delete the // infront of this line (only do this to one of the MINTHROTTLES)

8) Defined Copter type - such as # define QuadX ; or #define TRI  - if you want to define QUAD-X  change to #define QUADX (you have to deleted the // - this is called commenting it into code) - comment out the type that was there before //#define TRI

9) Define Yaw direction (for Tricopters)  #define YAW_DIRECTION 1 you can change this to the next line -1 t reverse it   #define YAW_DIRECTION -1.  Most types use +1 - but the exception is Triikopta which uses minus -1

10) To upload the new code (It wil overwrite everthing that was on the board before) File->Upload to I/O Board ; In the blue at the bottom you will see Uploading to I/O board ; after about 35secs it will say  Done Uploading in the blue bar at the bottom

 

Gimbal - connect the gimbal servos to Cm1 (gimbal pitch) and Cm2(gimbal roll) - If you need to trigger a camera manually by pressing a button/servo - then connect this servo to Trg to activate the camera slave for a Gimbal mount on a Quad or Tricopter. Then alter the values for TILT_PITCH_PROP and TILTROLL_PROP until your gimbal remain level - reverse the servo by using minus (ie -10) - the default values of 10 needs to be changed to 22 for a Scarab Gimbal.

11) MOTOR STOP at Arm -  I personally don't use motors-spinning-at-arm - It does not protect you from accidently dis-arming your copter in mid-air! So I first define MOTOR_STOP

Then after arming - the motors will twitch - but not spin up. :) Then - most importantly - I trim up on the Tx Throttle 5-6 clicks so all the props are turning at the MIN speed I require for an emergency decent - Then I fly.   In this trimmed up condition it is impossible for me to accidentally disarm in flight even if I use full yaw in a full descent.  The second major advantage of trim-up on the Tx is activating the stability system in a full-rate descent.    That's my preference and each pilot must set his own FAILSAFE (see above) and set his own safety features ;  The Captain of the aircraft (You) is responsible for his own training, the way he flies and his set-up.

 

12) In Arduino always SAVE your code before you upload - to make chages to your PARIS MultiWiicopter CPU - press UPLOAD in Arduino (see point 10) above) - it will do a complie check then upload.  Errors are either code complie rrors - or FTDI comms errors - wrong Arduino type selected or  PC/Mac issues.

 

13) Quit Arduino 1.0 software (two applications cannot share the serial RS232 connection)

 

 if you have GUI problems - assume you have a GUI mis-match to firmware issue - do not immediate load raw code and stuff up a perfect plug-n-play board

 

 

Refer Picture ABOVE - Note be sure to Quit Arduino® software before trying to run the GUI (two applications cannot share the ftdi -connection) - Do not reload default code! Stay calm.  Your pnp PARIS has already been tested and calibrated.  Open (or search for) the java App called MultiWiiConf2_1.app (PC apps end in .exe) Start this application (program)    a1) After pressing  the COM link - wait 2 secs - then press Start a2 -> then wait 2 secs -> wait 4 secs - (if you click these buttons without waiting 2 secs you can erase your eeprom and all the values will read ZEROS)  press READ a3  ; Your GUI is now connect live to your PARIS - again - don’t rush the clicks or you may wipe the eeprom.   Make a note of all your values before you change them (Screen Capture/Print Screen) - just incase you have to go back to them (general rule is never change more than one thing at a time) It should look like the values from my screen capture above    b4 - Transmitter Calibration - covered on Pg 1  - connect your Tx - Rx and USB->  You will now importantly see the values for low stick / mid stick / high stick  VERY IMPORTANT - using your Tx - alter the travel (futaba call these end points) to first get 1500 for mid stick ; then 1095 for low stick ; then 1905 for high stick - then -  ESC THROTTLE LEARNING - NOW go back and do the ESC calibration one by one for THORTTLE-LEARNING (an ESC function - nothing to do with Multiwiisoftware)    b5 - check the values in this area are all even (the same) at low throttle settings - if not then make sure - again - that you are in ACRO mode and the mid stick is at 1500 - see b4    c6 - Click and hold the boxes to change them - then press write c7.   If you got a PNP board D8 & D9 are already done for you.  with the PARIS ACC perfectly level and still press calib_acc d8   -  then wait 4 secs - then press Calibrate_MAG d9 - the LED blinks rapidly - you have 30secs to rotate the board (or better still the entire Quad with LiPo) 360° degress in all axis X, Y and Z - when the LED stops blinking it will save all the MAG tilt errors to eprom.  The actual heading shown is effected by magnetic forces - metal objects - EMI

 If your Copter is not flying stable or close to stable on default PIDs, as shown above e10 then do not alter the PIDs like a madman - The electronics/software will not save you from un-balanced props - or a bad combination of PROPS/ESC/MotorWindings.  Light weight props and Medium/high timing are required. Balance your props on a magnetic balancer until they run silky smooth...then balance them one at a time on a hand-rig for dynamic balance.  With a motor on a boom run each one atdifferent RPM to check the running (dynamic ) balance of that prop - use electrical tpe to balance them  ---- to change values in e10 - click-hold-drag ; then press write.  

e10  - So what are PIDS on a PARIS board  - these relate mainly to the size and weight of the Multicopter - its disc loading ; rigidity of the props - soft flexible props need higher P and very rigid stiff props need lower P       P = Proportional ; I = Integral ; D = Derivative  -    Start with P.    NB:Never change more than one value at a time - make small changes = 5-10% - then fly - then change it again then fly - make small changes - sometimes a change of 0.1 will make the difference between too soft feeling poor control ; and at the other extrem rapid oscillations and good stability.  Main work flow of tunings is start in ACRO mode - level PIDS on defaults as supplied - process is - fly/hover briefly in the hover -> Rapid Oscillations = P is too high (especially roll)  ; or wallowing - swaying around with a feeling of RC disconnection requiring large stick movements = P value is too low.  Make a note of all your values before you change them - then change P by 0.1->0.3 steps and fly.  After hover tuning you can do fast forward flight check - sometime in fast flight you need to back doown the P value by another 0.2      Remember - before you start - do this [Screen Capture/Print Screen] - just incase you have to go back to defaults (general rule is never change more than one thing at a time) It should look like the values from my screen capture below.  For a full explaination of PIDs we recommend Bajgik's guide here

If you see a problem - this is called an indicator - dont ignore it - so if all your props do NOT start together - turning at the same moment - dont go to the next step - PID tuning is done after the previous mile-stone steps are completed correctly.

Sirius® Navigator IMU - v4r3->

 

Question : What are Pullups?

 

--------------------------------------------------------------------------------------------------------------------

 

Oscillations during climb or duduring high power throttle moves.

These rapid oscillations occur in short compact airframes such as Stealth Series of Scarab when the P gains are set high - especially in LEVEL mode - and all you need do is back the LEVEL P value down by 0.5 and then set the Throttle PID Attenuation to 0.32 - see red circle below - this reduces the effective PIDS gains above 50% and has an ever increasing effect as the throttle is raised thru 75% to 100%

 

 

-------------------------------------------------------------------------------------------------------------------------

Q. Whats Required to be a UAV Pilot in Australian Skies?
A. You need a Controllers Certificate CC - There is no specific Course for UAV yet to get your CC , at Dec2012 it is the just the BAK/PPL (private pilot) Course. You can do either the Heli or the Plank wing course - generally the heli course is more expensive so I would recommend the aeroplane PPL subjects unless you have ambitions of flying a real heli too and want to get of some serious cash in the process. For PPL(A) I have known Bob Tait for more than 20 years in my time as a Flight Instructor - his theory school is the real deal - goto www.bobtait.com.au   click on Full Time Courses, BAK/PPL and you will find the dates for next year as well as the cost.  
 
The costs approx of the three week Full Time Course is ($)1,400 course is full time only. I recommend to get away from your normal work and crack the course in peace and quite.   The CASA PPL Exam is approx ($)180, the Study Guides are ($)86 ea - the Students also require some CASA Documents.  Bob Tait Aviation Theory School Theory does not supply these Documents but they can be ordered from a Pilot Supply Shop or direct from Air Services.  It's best if the Students leave these documents until they go to the Course and we can order them, just so no-one ends up spending money they may not have to.

To obtain a AUV Controllers Certificate 1 (CC) [below 400ft AGL and within line of sight], it is necessary to pass the current CASA PPL examinations.  To operate beyond line of sight, it is necessary to also pass the current CASA IREX exam.

Although the current GA system requires a candidate to pass a flying school’s BAK exam before undertaking the PPL exam, this requirement will be waived for candidates wishing to obtain only a UAV certificate.  The process is as follows.

1. Obtain an ARN [Aviation Reference Number] by filling in a form which can be downloaded from the CASA web site.
2. Study the material required by the PPL syllabus – either by home study or by attending a full-time course at .  See our web site at www.bobtait.com.au
3. Contact Phil Presgrave at CASA  [email protected]  for a letter of dispensation for the requirement to sit the BAK exam.
4. Arrange with ASL or an approved flying school to sit the PPL exam.
5. Complete your CC application form and pay the CASA fee - approx ($)180 - check this form carefully and include your log book to show 5 hrs & manufacturer training cource on type.

CASA intends to eventually approve certain UAV operators to conduct UAV specific integrated courses.  Candidates who complete one of those courses will not need to sit the CASA PPL exam.  However that will not be happening any time soon.

Once you have a CC in your hand you need to team up with a Certified Operator who has a Full OC - then work directly under his Company licence using his CASA approved Operations Manual and comply in full with his procedures.

Hope this helps guys! 

Quinton Marais