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Aussie tech - PARIS Sirius™ AIR HERO•32 BorisB BetaFlight (CleanFlight) tuned for Knife - with Full metal Jacket - for mini Quads - Features a 32 bit STM ARM based CPU (Hero 32 SPI gyro data is 10x faster than other i2c f1 designs) and Runs on Open source code derived from MultiWii, ported and called "BaseFlight" which was then ported over to CleanFlight then ported altered by BorisB to be called BetaFlight with new code focusing a lot on the gyro Acro mode - BorisB BetaFlight makes freestyle Acrobatics much easier to fly and has very postive lock for 4 point rolls or flips or inverted moves - plus uses the CleanFLight interface UI - easy plug-n-play interface (free Google Chrome extension) CleanFlight which allows configuration and settings via USB - also has a CLI if needed for advanced users/dev setting (see bottom of this page).
For noob Q & A questions - see bottom of this page
Whats New in the AIR HERO*32 BetaFlight? Why is it cheaper than PARIS AIR v2 Hero? - less sensors, by comparison the AIRv2 has a more expensive gyro and Baro - however For FPV racing and 99% of fast LOS flying no BARO, GPS is used (only for RTH return home - This CleanFlight HERO•32 features IMU-Inertial-mass-damping case and offer the advantages on the previous gen Rev5sp NAZE32 ACRO with added SPI and direct SBus for X4R telemetry receivers, AIR Hero*32 is for hardcore FPV bang-for-buck survivability - The AIR Hero•32 features the MPU6500 Gyro/Acc on SPI bus, driven by an STM32F103CBT6 32-bit Cortex M3 ARM CPU so it is fast , powerful and affordable in a full metal case - importantly hero32 runs these sensors via SPI bus (not I2C). This frees the I2C for use on the flex port. Its the FIRST AIR to offer DIRECT SBus with no other hardware needed - However we removed the barometer and GPS nav is an option with MAG because we already have them in the AIR-Herov2 for people wanting RTH in a mini. Future options like BLE Bluetooth will be possible with software support coming.
Question - What's the idea of the Hero•32 metal case mass for an IMU? - the case mass resists by inertial damping the vibrations coming from the motors/props etc - so the dual function of IMU damping and crash protection are combined. The case is mounted by Gell tape and not bolted to the airframe in the same way a helicopter gyro is isolated.
Question - Hero•32 GPS? Answer - Yes - Thanks to the CleanFlight team coders ! I2C GPS is working and being refined now - we have already tested it - so it works fine on !2C via the flex port - the softwre is currently being improved
Hero•32 BetaFlight - Includes
we have pre-configured PIDS, Yaw alignment, motors stop on ARM, Channel mapping for Taranis Sbus TEAR - however as we don't know what type of RC Rx you want to use - thats something you have to do - select the correct Rx - connect it correctly (see photos above) then ensure your mid points are 1500 and your end points are <1095 ; more than 1905 ;; and you have to make decisions about failsafe and then set your RX failsafe itself too - so you MUST read the steps below - some of the things will already be set when you go to check them. DO NOT press the button called "RESET SETTINGS" it will wipe all of the pre-configured stuff we have done for you. so in summary - AL THIS STUFF BELOW IS ALREADY DONE for you except the usb driver on your PC
Also make sure your ESC are running BLHeli 14.0 or 14.1 or newer !
HERO*32 Engine numbers
ESC are connected with the control wire facing up (yellow or white at the top) - do NOT reverse these wires - NOTE you MUST use the below engine number mapping - NOT the GUI mapping
HERO*32 CLI commands
Use the newest versions of the CleanFlight Chrome extension, v0.65 or later, this makes all but 1 CLI redundant now. However always type SAVE before exiting the cli in cleanFlight - as it will not save if you don't, usually a trap for pilot used to Baseflight which does auto save - so all your changes will be lost unless you type SAVE in cleanFlight CLI - then click the other tabs ! ; -
One of the most useful CLI commands is
this gives you a report on all setting stored in the PARIS AIR Hero•32
HERO*32 Tuning - it Comes pre-set by MWC - no need to mess with it !!! - Flight tests on a Scarab Knife by Alouette III showed Borisb BETAFlight when combined with BLHeli 14.1 and MWC settings = smooth ACRO flight from the start - ( combined with Quinton's PIDs (see PID photos at top) gave the best results in both ACRO with 6x4.5 props
set dterm_cut_hz=15 (default is 40 - this will be fine if your motors and props are balanced - however if your aircaft is "dirty" - vibration noise from unbalanced gear, damaged or nicked props - you can dial in lower number like 30, 20 or 15 - but this will dull down the responsiveness ; then
you MUST really balance all motors and props and you must understand that different props, different weight motors also require different PID settings/tuning- default PIDs are for RED/Black motors - for heavier RACE SpecR motors you can increase "P" for pitch/roll by +1.8
I cannot see any comm ports in CleanFlight? - You have not loaded/installed the Silabs driver - see downloads above
I am obsessed with loading new firmware when i buy things - Should i wipe the HERO32 and install the latest firmware online? NO NO NO ! - in 99.9% of cases if you try to install new firmware you will brick the product - ! it's always something else and not a firmware issue. Your AIR HERO•32 has been Flashed with the latest CleanFlight firmware, then tested by a human pilot who knows what's going on - then sent to you - DONT MESS WITH FIRMWARE - this will wipe all the settings and PIDS too as well as other stuff - Experts - only - At your own risk
My HERO*32 flops around and won't fly? Do not move it during the first 5 secs after powering up the main LiPo - during the first few seconds the GYRO is calibrating itself
All my Motors Chirp as soon as i connect the main LiPo and keep chirping? Motor Chirp is a safety warnng that the RC Tx/Rx signal is dead ; or the THRO signal is NOT <1100 uSec - set your end points to 1090/1500/1910 and if using OneShot make sure min command and min throttle are at least 90 points different ie 999 vs 1089 ; also make absolutely sure when the left stick is at the bottom (towards you) that the UI shows throttle channel is <1090 (you may need to reverse the Ch if the throttle UI bar is high >1800 when you check this) - if your motrs only chirp after 2 mins - that normal for BEACON or lost model chirping.
When i increase throttle nothing happens? For safety make sure ALL your props are OFF - then learn the ARM and Disarm stick commands below
How do i make sure i am in Acro mode? Go to the UI MODES tab and make sure you mode switch (usually SB) is in the position for all modes Red - a green mode means that mode such as HORIZON or ANGLE(atti) are active -
My HERO*32 is twitching in the hover - This is very rare now with our new props and CarbonBird motors ; but - 1) Balance your motors and your Balance/check your props fully - lazy pilots don't get smooth Quads - suck it up and balance your props while watching southpark 2) ensure your looptime = 1500 (or 2500) see above 3) Check your PIDs are as per the above photo above
My HERO*32 won't connect - load the USB drivers above - shut down - restart your PC
My HERO*32 motors all start at different times - yourRC centres are not at 1500 - use the CleanFlight GUI to trim your RC Tx to 1500
My Receiver has no Power on USB? - The Receiver shares the DC rail with the ESC connectors - but is NOT powered by USB. To power up the Rx you need to connect the ESC's and leave at least one red wire connected (if you have Opto ESC then add a uBEC to any free pin - see photos above to see polarity)
I tried to use my old MuliWiiConf - now various things are messed up? Do NOT ever use MultiWiiConf GUI code as it's out of date compared to BaseFlight - if you accidentally invoke multiwiiConf java window - you must backup your settings - reload the code from scratch via BaseFlight and restore those settings - or send it back for a paid firmware fix.
I want to connect a MinumOSD to my Hero•32? Use the R & T pads internally (receive Transmit + GND and 5v from the back pins) enabled uart3 as a msp in the PORTS tab of cleanflight and enabled telemetry in the Configuration tab, save. these have been moved on Hero•32r2 to be external
For Hero•32 r1 5.0v Vcc is connected to centre pins for ESC 1-6 ; however for Hero•32 r2 the 5.0v Vcc must be connected to 4 Quad ESC centre pins as the other 2 pins are now used for OSD data output (see blue/green circles below)
I want to connect RGB LED strips to my PARIS Hero•32? You must be running either Sbus or CPPM Rx - then use Pin RC5(blue wire port) as the signal wire - RGB Leds use 5v, GND and this pin - then connect them in series - in->out->in_>out etc
I am getting glitches/flips at random with my Hero•32 naze and my FrSky X4R (D4RII) - Why? It's critical to keep any RC Rx away from ESCs by at least 50-80mm - this can be tricky on a mini - so we recommend wrapping the Rx in heat shrink - then Copper tape as a RF shield, then adding a final layer of heatshrink to ensure no short circuit. Then still do your best to keep it 35mm away from ESCs.
I want to add extra i2c stuff via the Flex port? How? CleanFlight code for the Flexport allows I2C comms with devices like i2C oLED or I2C GPS/Mag ; the flex port is enabled for i2C by default - if you need to run a serial device such as BLE Bluetooth go to PORTS and select MSP for UART 3; other options for flex port = 1)Spektrum Serial Rx - see above ; or 2) Serial BT - we dont write the software - its open source written by a team of coders at CleanFlight GitHub - realistically if you need to add something else then your most likely buying the wrong product - it is intended as an FPV racer controller to be flown in ACRO mode most of time- internally you will find the R & T pins for OSD - requires soldering same as NAZE
I want to add a serial GPS and code it for Aeroplanes - RTH etc - This option is not supported but there is a hack - use C-PPM on RC 1 - then RC pins 3(TX) & 4(Rx) can be set for serial GPS ; feature=GPS via cli - for planes AIL to M6, ELE to M5, THR to M4, RUD to M1
How do i add a Lost model Alarm (LMA) buzzer or LED strip ? For a PARIS Sirius AIR Hero•32 bit buzzer the pad internally marker "LED" is a GND trigger for up to 1A. Can also be used for a buzzer or LED strip lights etc ...... To trigger a 5v buzzer connect buzzer -ve GND ->LED ; connect 5v + to one of the centre 5v rail pins. this applies to a std piezo 5v buzzer with two wires Red/Black -
PWM LMA Buzzer or a FPV Camera-tilt servo ( note never disconnect or connect a servo with live 5v power ! - you may permanently damage the Hero32 outputs/CPU - POWER OFF FIRST) - For a Pilot activated or Failsafe activated option on PARIS Sirius AIR Hero•32 bit buzzer - ie a more sophisticated LMA using a PWM 3-wire buzzer and C-PPM Rx setup these go active >1500uSecs - so you can pass Aux1->2 to Rx RC 5&6 - ideally Aux 2 would be passed to RC6 - the last wire Purple would be connected to the buzzer white wire); and then GND->GND ; +ve to 5v (same for a servo tilting your FPV camera down - we removed the servo orange wire and connected it to RC6 purple wire and then plugged the servo connector (now only had red/black) to M1 to provide 5v power)
Question = What are the stick commands for CleanFlight? For Mode 2 (throttle on left) use these stick combinations - be aware that the stick must be held in this position for approx 1 sec
Question - For the 6 wires Receiver (Rx) cable what are the inputs ? answer = Most Rx have the THROttle on Channel 1 - but futaba (DevO) have throttle on Ch3 - some radio makers call channel 5 and channel 6 by old outdated fixed wing names like Gear or flaps)
so for Devotion ( = futaba) the wires have THRO = white on Ch3 -then the same sequence as the other end
Yellow = Elevator = Ch 1
Orange= Aileron = Ch 2
White = Throttle = Ch 3
Green = Rudder = Ch 4
Blue = Gear = Ch 5
Purple = Aux 1 = Ch 6
For Taranis / JR / Spektrum - the wires have the same colour sequence at both ends of the cable Rx->PARIS
White = Throttle = Ch 1
Yellow = Elevator = Ch 2
Orange= Aileron = Ch 3
Green = Rudder = Ch 4
Blue = Aux1 = Ch 5 (Spektrum call this Ch GEAR)
Purple = Aux 2 = Ch 6 (Spektrum Call this Ch Aux1)
Posted by josh keating on 1st Nov 2015
I upgraded to this board from a cheaper one, and the pre-set PID's are perfect for my setup - haven't had to adjust them at all. By stepping the RC rate from 1 to 1.5, I'm doing accurate flips for the first time, and not hitting the ground soon after. I'd recommend this to anyone.