Naze32 Rev 6 flight controller manual

Finally, it’s here. Naze32 Rev 6 flight controller manual.  I am open to comments, so please leave a comment if you have one, or if we missed some facts.  I hope that this helps everyone get flying a little bit faster and also helps to clarify some things for Naze32 users.  Please support innovation in this hobby by purchasing official hardware. You can purchase an official Naze32 Acro board here, and Full board here.

Another good resource for the Naze32 is the Ultimate manual.   That manual also has some good info, yet it was written for rev. 5 boards so there are some differences.

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Some text from the manual:  WARNING Do not use this hardware for serious business, commercial aerial photography, or anything else where its usage could endanger the end user, spectators, inanimate objects, aircraft flying overhead, etc. NOTE While the flight controller firmware and configuration software is based on the Mul- tiwii system, the processor is not Atmel AVR, and this hardware cannot be programmed through the Arduino development environment or any AVR development tools. For more information on STM32 development, see the following link: http://code.google.com/p7afrodevic- es/wiki/STM32Development NOTE This hardware is provided as-is and end-user is expected to have reasonable technical knowledge to complete set-up and reasonable R/C experience to operate multi-rotor aircraft. Copyright 2015 Quadquestions LLC. All rights reserved R/C inputs CPPM/PWM motor output SBUS RC input LED connection softserial * Optional Battery Volt age Monitor To enable in-flight battery voltage monitoring and alarm, connect this header to flight battery or power distro board. Up to 25V (6S LiPo) can be measured. No reverse polarity protection – connecting battery in reverse will instantly destroy the hardware . The naze32 manual is a static / fi \ sensitive device. Use caution when handling and make sure that you follow proper anti static handling procedures.When “feature softserial” is enabled in the software, it will create software emulated serial ports on pins 5&6, & 7&8. 5=rx 1 6=tx 1 7=rx 2 If a serial device is connected to tx/rx it wont work when the usb is connected and vice versa, if there is a device connected to tx & rx there will be problems with the usb connection, so disconnct devices attached here when connecting the Naze32 manual to USB. Also, Frsky telemetry is connected to this same UART1, if you want to use the tx & rx pins, you will have to move your telmetry to a soft serial port or UART2. If there is no connection to tx&rx, the telemetry will not work when usb is connected. The hardware will not output to the telemtry pins when connected via usb, so if you are using the telemetry pins, you will not see telemetry values until the board has been armed. Copyright 2015 Quadquestions LLC. All rights reserved Echo and trigger Sonar pads w/resistors added for direct connection to 5V sonar.Cortex Debug Connector 10 pin 0.05″ debug connector connected to fSWDJ port of STF132.Download the CP210X drivers by clicking here When connecting to Baseflight the first thing that you need to make sure to do is download the drivers so that your computer can communicate with the board. We also recommend testing the board before soldering so that a return can be made if needed. All Naze32s are tested from the factory before shipping. To connect for the first time., plug in your Naze32 manual to the computer, once this is done, the port should be listed in the dropdown. Look for SiLab port, select it and then click “connect”. If the dropdown shows “no ports” then you havent installed the driver properly or need to check your USB cable. You should see a blue light on the board when there is power applied. Clicking autoconnect is the easiest way to find the right port. If you click auto-connect and then plug in your Naze32, it should automatically connect to the board. The tabs at the top of the screen will not be clickable until you connect to the board. You can also connect to demo under the port dropdown to play around with settings. Copyright 2015 Quadquestions LLC. All rights reserved Set these to match your battery chemistry (initial values are setup for Lipo batteries) ^ CurrentBoard Alignment Looptime can be set here. Min looptime with ACC is 1000. Warning This value effects \/nnn DTHQ To change the board orientation, adjust these settings, fpr example, to rotate the board counter clockwise 90 degrees in the Yaw axis, you could use either a value of -90 or 270. This is the maximum angle allowed for arming. If you have troubles arming your quad in rough terrain, adjust this setting. ’Make sure to set the board alignment before you try to fly for the first time. ’also, calibrate your acc if the board is realigned. ’If you have problems arming on a level surface, ACC calibration Is a good place to start. MINCOMMAND is the signal the sent to the ESC when unarmed. CGNPIGURElTinN TEH3 PGS Enable this for use with ppm receivers. Enable this to allow batt monitoring on vbat pins Enable Level calibration during flight. Enable for use with sbus receiver- utilizes UART2 Stops motors when armed at minthrottle- useful for beginners. Use this to enable gimbal output-uses servo 1& 2 for gimbal** Use this to enable soft serial on pins 5,6 and 7,8 Enables LED ring support-output on pin 5. Enables GPS on Pins 3 & 4 Enables failsave throttle setting on PPM/PWM loss from receiver Enables Sonar Enables Frsky Telemetry output, (inverted on telemetry pins)*** Enables Current monitoring**** Enables vario over telemetry-for audible beeps when altitude changes Enables 3d mode, sets throttle midpoint at 0- use for acrobatic tricks self explanitory set this to enable Oneshot set this if enabling oneshot set your acc roll trim (acc stick commands change these values) Set your acc pitch trim (acc stick commands change these values) set this for your locale (important for accurate GPS Measurements) *Inflight level calibration procedure 1. You arm the function with a stick combo and take off as usual 2. you either trim the hover mode using the trims on the rx until it is perfectly level and not drifting or you use the acromode until it is leveled 3. you now hit the “arm” switch (usually auxl/aux2) and turn off the engine. Don’t worry the code does not turn off the engines – there is a failsafe feature. 4. The copter now takes 50 measurements of the current angle and stores them in ram. 5. After landing you have to transfer the new values into the eeprom with a stick combo. ** When gimbal is enabled, motor outputs shift by 2, so motor 1 is on servo3, motor2 is on servo 4 and so on. *** Telemetry can be output to a soft serial (must be inverted and programmed via CLI) * * * * rc inputs (assuming you are using PPM) or you can use the ADC on the bottom of the board, this way baseflight will keep track of the current and send the data via MSP to the OSD. Serial Receiver GPS ?ct the GPS Type here >ct GPS baudrate (configured in modules settings) Select your serial receiver type here. Not used if “enable serial based receiver” is unchecked. + + * These values should be turned up for acrobatic flying and as you get better. Keep the rates down if you are a beginner We like to set these to around .7 for fast flips and acrobatic quads. TPA or Throttle PID Attenuation- does just that. It attenuates the PIDs at higher throttle levels, so if your quad flies nice, but shakes under full throttle, give it some TPA PID tuning is beyond the scope of this manual, however, some basics are: Start by tuning aero or gyro rate mode, auto level should be tuned last. P- adjusts snappiness of the quad to your input. If it is squishy, increase P until you get shakes then back off 10-20% I- How the quad reacts to outside forces, wind, off-balance weight such as a battery, etc. If the quad drifts when an angle is set, turn this up. The quad shouldn’t drift. If I is too high, it will oscillate a bit more slowly than P. D- The speed at which the quad returns to a position, so for auto level for instance, if D is high, it snaps back to level when you let off the stick. When D is turned down, it slows the response of the reaction back to level when you let off of the stick. D can also be used to tune out oscillation after movement. Typically, if the stock values don’t work or allow you to fly, then you have got some other issues going on that you should look into adjusting. The Naze32 manual works by looking at many factors, sensor inputs, user inputs, and all of these factors are calculated and a motor output is “written” This happens over and over again at a high rate of speed, (loop-time) The PID gains adjust this calculation and tuning the PIDS is essential to really dialing in your quad. Every quad is different, and all require slightly different settings. Also, every pilot’s opinion of how a quad should fly is also different. Be sure to consider this when tuning, it is subjective and there are many different ways to do it. PID tuning videos on you tube, and Google searches should help you get your quad dialed in. Please discuss at quadquestions.com You should set your radio up with no expo and then let the flight controller software setup your expo and rates for you. This is handy because it allows you to have different expos and rates setup on different profiles, so you could for instance have one profile setup for filming, which has smooth expo, rates, pids, etc, and then have an acrobatic profile that is aggressive, and then have a racing profile with another set of settings. Set RSSI on Aux if you port the RSSI in via a servo channel. Be sure to check this page and that your radio is functioning properly before your first flight. Check that all channels are properly mapped and that none are reversed. Check QuadQuestions.com for videos on how to do this. To make sure your servos aren’t reversed, you should see these values when moving your sticks: pitch up (right stick up)=2000 Roll Right(right stick right)=2000 throttle full=2000 \Arm- if not set to a switch, arming will happen with the left stick down and to the right. If the arm switch is set, arming via stick command is disabled. Flight modes: Angle=autolevel- the quad levels when stick is neutral Horizon=autolevel plus Aero mode at edges of stick movements, so hard right would cause flips, centering stick causes autolevel. no angle or horizon selected=gyro rate. ♦Many people have problems when first starting out because they don’t select level mode. Baro=alt hold vario=vario sent via telemetry Mag=heading hold Headfree (Full board only)- orients the quad to the user so no matter which direction the quad is facing, pitch forward is always away from you and pitch back is always towards you This works in conjunction with HEADADD which allows you to set the new yaw origin. Camstab=Camera Stabilization (works if gimbal is enabled) GPS HOME= GPS return to home (use at your own risk) GPS HOLD= GPS hold Beeper= Sounds buzzer when activated Calib- Write in flight level calib to eeprom OSDSW- Turn off OSD (if using minimosd)Atypical switch setup, arm on switch 1, alt hold and heading hold on switch 2, flight modes on 3, and heading hold again /OSDsw on switch 4. You can see that all switches are in the mid position, so this quad is flying horizon with altitude hold and heading hold active. Copyright 2015 Quadquestions LLC. All rights reserved Servos- lets you set your servo movement. You can set it to the throw of your sticks depending on your check-box, so if aux 1 is checked, you can set the servo to follow the switch when camstab is not enabled. To reverse the movements, set the rate % to a negative value. This screen will not be available if Gimbal is not enabled.This page can help you to view and troubleshoot your gps if installed. If the GPS is hooked up but the GPS box on the top right of Baseflight is red, try swapping your TX and Rx lines. Use This page to test your motors. Make sure to remove your props. This is the first place you should go to test your motor rotation. This is also a good place to visually inspect what your motors and servos are outputting. The motor value will take into account your mixing, so if the quad is not level, and in angle mode, these values might not all be the same. You can use the sliders to spin motors individually, or you can use the master slider to spin all of the motors at once.You should use the raw sensor data page to check your sensors. When moving the board, you should see movement on the accelerometer, gyro, magnetometer, barometer, etc. If you have an item that is flat-lined at 0, even with lots of movement of the board, then that is indicative of an issue with the sensor. You can see in the above example that there was rapid movement of the board showing that the sensors were working, followed by the board sitting still which is shown by the flat lines. Copyright 2015 Quadquestions LLC. All rights reserved The CLI is an excellent tool for power users, you can quickly load settings, and configure the quad for your needs. When working with support, you can go to the CLI, type “dump” and the copy and paste all of your settings into an email- this is also a handy way to take notes of your setup. We recommend that you get familiar with the CLI and do some searches for Mul- tiwii CLI commands to find out all of the neat things that you can do.Stick commands can be used to initiate actions without the need of a computer., these actions include things like Calibrate Accelerometer, Change profiles. Calibrate mag and more. In order to use stick commands, the quad must be powered and un-armed. Mode 2 Stick Functions ARM Disarm Profile 1 Profile 2 Profile 3 Calibrate Gyro Calibrate ACC Calibrate Compass (mag) The autolevel mode requires a well calibrated Acc. If it is not calibrated, the quad will drift when it is hovering. You should trim the ACC to make up for the drift and leave your transmitter trims center. To trim the quad, hover 2-3 feet off of the ground and then center your sticks (use throttle to maintain altitude) if the quad is drifting right, land, then disarm, then use this stick command. You will need to hold the stick command and watch the lights on the Naze32. You will have to watch the lights flash several times before there is any noticeable change in the ACC trim. We usually go about 5 flashes, then arm and test again. Repeat as needed. Do not move the Naze32 manual when first plugging it in and during the first few seconds of power up. The GYRO must be idle or the initial calibration will be off. You can watch the lights on the board during power up, they will flash when the initial measurements are taken and then they will turn solid when the board is ready to arm. Copyright 2015 Quadquestions LLC. All rights reserved CLI commands can be found here: https://github.com/multiwii/baseflight/wiki/CLI-Variables The Rev6 hardware is sharing the 5v power from the USB connection and allowing the ESCs to power up as soon as USB is connected. Please be very careful as this can lead to a motor spinning at full speed when the flight battery is connected if you use the old method of calibration. The following workaround will allow you to calibrate ESCs properly and safely. Please note that the flight battery is never connected during this procedure. 1 disconnect all ESCs from the flight control board 2 props off, flight control board plugged into computer, configurator open, flight battery not connected 3 on the configuration tab, set minimum command to 1050 and save 4 go to motors tab, check motor test mode box at bottom, raise master slider to full 5 plug just one ESC into any of the motor outputs 1-4, wait a few seconds for ESC beeps to finish 6 un-check motor test mode box – values should drop back down to 1050 7 wait a few seconds for beeps to finish, unplug ESC from control board 8 repeat steps 4-7 for the remaining ESCs 9 on the configuration tab, set minimum command back to 1000 and save. This hobby is in its infancy and it is supported and developed by a community of open source contributors and innovators that are designing the hardware that goes along with it. PLEASE PURCHASE OFFICIAL HARDWARE— There is rampant copying going on right now and the innovation that has made our great hobby what it is will be lost if the pioneers cannot innovate anymore, so boycott copied hardware, and please contribute to these projects to help the technology continue to develop. If you have any questions, please go to Quadquestions.com and post a question. We are happy to answer, and will be quick to respond. Have fun flying! Anthony & team QuadQuestions.com 412-229-QUAD Copyright 2015-2016 Quadquestions LLC. All rights reserved

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