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All Sorted !!

posted 27 Sep 2012, 23:19 by Evert Bez   [ updated 28 Sep 2012, 03:52 ]
It's been a hectic few days with the Quad ...but happy to report she's 90% done ....

Getting ready for first flight , thats why I put the Kit propellers on everyone predicts , she will crash nay sayers !

I Confirmed my setup of the transmitter to work according to this ...

Here is how the outputs should be setup for each channel:

  • CH 1: Roll Left = low PWM – Roll Right = High PWM
  • CH 2: Pitch Forward = low PWM – Pitch Back = High PWM
  • CH 3: Low Throttle = low PWM – High Throttle = High PWM
  • CH 4: Yaw Left = low PWM – Yaw Right = High PWM
  • CH 5: Flight Mode
  • CH 6: up to you
  • CH 7: not engaged = low PWM – engaged = High PWM

To get this to work I had to reverse some channels on my receiver (Servo Reverse)

I did this to the ESC's to check they work ...

Automatic ESC calibration (all at once)

This method works once you have all the ESCs connected to the power distribution board and have connected all your RC cables as instructed earlier in the manual and have otherwise set up your quad.

Safety First! - Remove the props!

  1. Disconnect USB
  2. Put the radio throttle at maximum, then connect the Lipo to power the APM
  3. When the APM boots, the ABC lights will cycle continuously
  4. Leave the throttle at full, disconnect the Lipo and reconnect it again to reboot APM. The radio will now pass through APM directly to the ESCs, triggering calibration
    1. You will hear a musical note and then 2 beeps. After the two beeps there is a pause, immeadiately after the two beeps and during this pause drop the throttle to full down. You should hear a confirmation/arming beep or two. Your motors will now spin if given a little throttle.
  5. Move the throttle a little to confirm all ESCs are armed and the motors are working in sync.
  6. Unplug the battery. Your ESCs are now calibrated. No further action is required.

Note! After performing an Automatic ESC calibration, (even if the motors seemed to operate correctly immediately after setup,) but do not initialize after power off / on sequencing (ESCs still beep quickly and continuously) you will need to do a Manual ESC calibration sequence as described below.

It took me a few tries to get this right ...Listen to the motors when you move the sticks ...Aileron for example slowed the motors almost down to a stop ...So I recalibrated Radio and ESC's ....Now it sounds good , you can actually hear motor speed up and down ..

Close up on Receiver with Telemetry unit , still must check what this give me to Xbee 868 ...Now working ...yeah ...

The XBEE Pro 868 setup was a Pain ! I followed this ...
  1. If you have the XBP09-DP modules, you must download XBP09-DP firmware. If you have downloaded XBP09-DM firmware, it will kind-of work, but will fail at the PID-config screen.
  2. X-CTU will report the module as XBP09-DM. Ignore that. Go to the Modem Configuration tab and do the following:
    1. Select Modem as XBP09-DP, Function Set XBEE-PRO 900, Version 1002. It is important that you select 1002. Version 1061 does not work at first.
    2. Click the Show Defaults button under the Parameter View.
    3. Click the Write button under "Modem Parameters and Firmware".
    4. Go back to PC Settings, change Baud to 9600. Click Query. It will show XBP09-DM. Ignore that.
    5. Go back to Modem Configuration. Click Read. It should show XBP09-DP as the modem. Version 1002.
    6. Now select Version 1061.
    7. Click "Show Defaults"
    8. Click on the DD parameter and set it to 0. This step is important, otherwise the 1161 firmware download will fail.
    9. Click "Write". Now your firmware is XBP09-DP Version 1161.
  3. Now change the baud rate and Modem VID, redownload and you should be good to go.

It will still show XBP09-DM in the PC Settings Query. Don't worry about that.ALSO ...!! This got it working Finally for me ...

Addressing  ( See here )

There are multiple parameters that need to be configured correctly for two modules to talk to each other (although with the default settings, all modules should be able to talk to each other). They need to be on the same network, as set by the ID parameter (see "Configuration" below for more details on the parameters). The modules need to be on the same channel, as set by the CH parameter. Finally, a module's destination address (DH and DL parameters) determine which modules on its network and channel will receive the data it transmits. This can happen in a few ways:

  • If a module's DH is 0 and its DL is less than 0xFFFF (i.e. 16 bits), data transmitted by that module will be received by any module whose 16-bit address MY parameter equals DL.
  • If DH is 0 and DL equals 0xFFFF, the module's transmissions will be received by all modules.
  • If DH is non-zero or DL is greater than 0xFFFF, the transmission will only be received by the module whose serial number equals the transmitting module's destination address (i.e. whose SH equals the transmitting module's DH and whose SL equals its DL).

Again, this address matching will only happen between modules on the same network and channel. If two modules are on different networks or channels, they can't communicate regardless of their addresses.

I had to make female to female cables ....3 Is throttle and that supply your receiver with power.

Big Photo !  DVD Cover

Pretty Lights !!!

My one ESC gets VERY VERY Hot , I understand thats more or less normal ...will look into a BEC at later stage ...