user manual - abusemark.com
Contents
1. 77 Firmware Upgrade part 2 actual update Once hardware is in bootloader mode see previous page Flash Loader Demonstrator can be used to flash the firmware Firmware update 1 Run Flash Loader Demonstrator 2 Choose COM port baudrate of 115200 make sure parity is set to EVEN 3 Click Next button several times When asked to choose device size if 128K is not selected choose it 4 On the last page see Fig 7 Flash Loader choose Download to device Browse to the location of hex Tile to update Choose Erase necessary pages to keep settings firmware may still clear them or Global Erase to erase all settings and return to defaults Check Jump to user program checkbox Uncheck Verify after download checkbox 5 Click the Next button After successful update the board will reboot flashing status LEDs in the usual pattern Flash Loader Demonstrator o lm A Flash Loader Demonstrator Select the communication port and set settings then click next to open Erase connection Common for all families f Al Selection if UART ownload to device l Download from file Port Name i i i l Frc freeflight projects basetlight ob basetlight hex Baud Rate To mee Be z f c 5 Data Bits E gt Timeouts Erase necessary pages No Erase f Global Erase ou h S000000 M imp to the user program ATS GH AS MEE a W Flow Control OFF E FITS UFF Optimize Remove2. Motor Mixer Settings Images below show motor numbering and propeller rotation for various supported mixes The number corresponds to the motor index M1 to M8 from Fig 3 Motor connections NOTE Configurations with more than 6 motors require CPPM receiver In all cases the front arrow on flight control board should point in same direction as red arrow in these illustrations For Y4 and Y6 mixes purple motors are top and blue is bottom In servo mode Tri Bi Camera Stabilization motor numbers change according to the diagrams below When using CPPM receiver additional 4 motor outputs are available for Hexa with gimbal or Octo configuration NOTE In Tri copter mode tail tilt servo connects to 1 and motors M1 M3 as shown in Fig 3 Motor connections on the previous page When camera stabilization is enabled gimbal pitch roll servos connect to 1 S2 and motor connectors shift as well It s also possible to program a completely custom mix for up to 10 motors For more details see the Serial Console chapter OO O O OQ a OE QuadCopter X default QuadCopter Plus TriCopter yy ogo Y6 Hexa X Hexa Plus Octo X Custom Mix Mini FunFly Flight Controller Naze32 7 Camera Stabilization and Gimbal Mode Naze32 can be used as a Standalone camera gimbal stabilization unit By setting multirotor type to Standalone Gimbal Stabilization servo outputs 1 and 2 can drive camera
3. http www hw group com products hercules index_en html 3 Latest baseflight firmware development http code qoogle com p afrodevices source browse trunk baseflight obj basefliqht hex NOTE Hardware should be connected only by USB Do not perform firmware update while flight battery is connected Entering bootloader mode ETE EES ha ae Method 1 1 Run Hercules SETUP and switch to Serial tab 2 Choose COM port baudrate of 115200 8bit no parity 3 Click Open button 4 In any 3 of the Send boxes write in R 5 Click the Send button All 3 LEDs will be ON indicating the hardware is in bootloader mode 6 Proceed to Firmware Update steps on next page Hig Puy update eee mle A cts PF OTR Pats HES Send HEX Send Method 2 ww Hi group com Hercules SETUP atility Yersion 3 2 3 NOTE This is the rescue recovery method Under normal circumstances it should not be necessary 1 Temporarily short the bootloader pads using tweezers Fig 6 Hercules SETUP or a paper clip Do NOT solder them together 2 While bootloader pads are still shorted apply power Only the POWER blue LED will be ON at this point Slt any of the status LEDs blink repeat from beginning 3 After confirming that only POWER LED is ON bootloader pads can now be unshorted 4 Proceed to Firmware Update steps on next page Mini FunFly Flight Controller Naze32
4. Flight Controller J Is Naze32 Mini Fun Fly won GE um Create by ADuseMarK 2012 Mini FunFly Flight Controller Naze32 77 Introduction Mini Flight Controller 744 pronounced Naze J 36x36mm 6 grams no headers 8 grams with Modern 32 bit ARM processor running at 3 3V 72MHz MEMS gyro accelerometer compass and pressure sensor Acrobatic auto level heading hold head free altitude hold flight mode Support Quad Tri Hex Octo various coaxial configurations as well as Tully customizable motor mixer for any airframe type Flexible RC input Standard CPPM Spektrum satellite Battery voltage monitoring and low voltage alarm FrSky telemetry transmission support Onboard USB for setup and configuration Multiwii based configuration GUI Flying wing airplane mixer GPS position hold return to home Designed for use with small indoor or small to mid sized outdoor multirotor craft or as a Standalone camera stabilizer the Naze32 flight control is simple to setup with configuration based on the familiar MultiWii software Work in progress WARNING Using this hardware with any DJI frames is not supported This includes FlameWheel 330 450 550 or any future or past frames released by DJI WARNING Do not use this hardware for serious business commercial aerial photography or anything else where its usage could endanger the end user s
5. 6S LiPo can be measured No reverse polarity protection connecting battery in reverse will instantly destroy the hardware 8 Telemetry Bluetooth XBee serial port RX and TX connectors from the USB Serial converter are available here Can be used to connect Bluetooth XBee etc to allow changing settings without connecting USB Cannot be used at same time with USB connection Mini FunFly Flight Controller Naze32 77 Hardware and Connection Bottom g N N D O M www abuseMarK com 7 O OO oO O O 000 og O O Bootloader O00 DA SCL Ai OF light USB O00 OO 2 0 0 Fig 2 Bottom View E 5 Bootloader pads In case automatic firmware update fails or for upgrading from older firmware Use a paperclip or tweezers to short pads together and connect power to the board Firmware update tool can then be used to reload firmware 6 Cortex Debug Connector 10 pin 0 05 debug connector connected to SWD port of STM32 Pin 1 is bottom left 7 2C Connector SDA and SCL from the sensor I2C bus are connected here Can be used for additional sensors or debugging Mini FunFly Flight Controller Naze32 7 Motor and Receiver Connections 12 3 LIOO O O OO sSignal 45678 M5 M6 M7 M8 NOTE When using CPPM receiver only Fig 3 Motor connections Servo Standard Mode Mode Depending on selected motor configuration and receiver type up to 8 motors or servos can be c
6. gimbal servos Both analog 50Hz refresh and digital 200Hz refresh servos are supported a gain amount of servo travel for given angle of tilt is configurable for both pitch and roll axis In addition to standalone stabilization camera outputs can also be enabled when used as a Standard multirotor controller In case of standard receiver this limits to Quad mixer In case of CPPM receiver up to Octo can be supported while still allowing for camera control Channels AUX3 AUX4 can be assigned to tilt roll the camera mount in addition to Stabilization See Serial Console chapter for more details a Make sure the aircraft is level when powering up in standalone gimbal stabilization mode JX Servo 2 Servo 1 Roll Axis Pitch Axis WARNING If using high current draw servos for camera stabilization consider powering them from a separate BEC Only connect Signal and GND wire to the board and 5V wire from servos to a separate power source OO OO 5V O O Signal Servo Mode Fig 5 Gimbal servo connections Mini FunFly Flight Controller Naze32 7 Firmware Upgrade part 1 bootloader Hardware is shipped with the most current firmware at the time of assembly It is recommended to upgrade to latest stable or development firmware for new features Update requires the following tools 1 Flash Loader Demonstrator http code google com p afrodevices downloads list 2 Hercules SETUP utility
7. some FFs P Werify after download DTA GH DE SFE a betes El If Flow control is active By default OTA amp ATS are ON nimme Upload to file Enable Disable Flash protection ENABLE READ PROTECTION Bl Edit option bytes Fig 7 Flash Loader Demonstrator Mini FunFly Flight Controller Naze32 7 Command Line Interface configuration Command Line Interface hereafter CLI is used to configure most functions of the board A terminal program such as PuTTY or HyperTerminal should be used Download PuTTY from http www chiark qreenend org uk sqtatham putty Connect to USB Serial port at 115200 baud 8bit no parity 1 stop bit These are default Specify the destination you want to connect to settings for most terminal programs To enter efiabling Spe CLI type into the terminal Fi artic type A message will be printed f Baw Tenet Rogn SSH Entering CLI Mode type exit to return or help 3 d j Fig 8 PuTTY Configuration Command line is interactive and most commands will print something in return Available commands help print out a list of all commands with short description of each defaults reset all settings to built in defaults and reboot feature enable disable or list enabled features such as CPPM input GPS etc map configure RC channel mapping for CPPM and standard receiver cmix create custom motor mix for non standard airframe type mixer set or sho
8. natively make sure to execute the Gyro Calibration stick sequence prior to arming Fig 9 Trim First flight should always be in gyro only mode Do not enable auto level baro headfree etc until you know what you re doing If model immediately flips on take off double check board orientation front facing each motor number rotation direction and type of prop installed Refer to Motor Mixer chapter for details Trim transmitter once and never trim in flight Connect to GUI and subtrim on transmitter until all channels are centered at 1500 If using Futaba gear center might be 1520 In that case set midrc value in config to 1520 then subtrim to center all channels at 1520 Do not use trim in flight for either gyro or auto level mode Use acc trim function Cover the barometer with open cell foam and keep it away from direct sunlight Placing the flight controller in a plastic enclosure of some kind is recommended Mini FunFly Flight Controller Naze32 7 Stick Actions Rig Motor Arm g o Motor Disarm y n Gyro calibration n Acc calibration A n Mag calibration ice Acc trim
9. onnected Headers on top of the board 1 can be used for 6 motors or 2 servos and 4 motors The pins towards center of the board are signal pins Following that is 5V and then Ground GND pins WARNING Incorrect or reverse connection to these pins will instantly destroy the hardware When CPPM receiver is used RC input connector can be used for additional motor and servo outputs Refer to the diagram in Fig 3 Motor connections Some CLI configuration options affect motor and servo numbering see the Serial Console chapter for more details G 12 3 LIJOOO0O l OOO0OO0OO Fig 4 Receiver connections 45678 With the connector facing out the pins are used as follows Unmarked pin left most top side is ground pin marked with dot is 5V supply the rest are RC signal pins for CPPM channel 1 or channels 1 through 8 Standard female to female servo cable can be used to connect a CPPM receiver Default channel order is AIL ELE THR RUD AUX1 AUX4 A breakout cable is provided for connection to standard receiver When GPS feature Is enabled channels 3 and 4 are are used for 3 3V GPS connection 3 TX 4 RX with CPPM receiver these are normally unused with standard receiver connect AIL to 1 ELE to 2 THR to 5 RUD to 6 and AUX1 2 to channels 7 and 8 With CPPM receiver channels 5 to 8 can also be used as motor or servo outputs depending on airframe type and configuration Mini FunFly Flight Controller Naze32 77
10. pectators inanimate objects aircraft flying overhead etc NOTE While the flight controller firmware and configuration software is based on the Multiwii 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 p atrodevices wiki STM32Development NOTE This hardware ts 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 Mini FunFly Flight Controller Naze32 7 Hardware and Connection Top 1 6 ESC Servo A Front direction Headers lt 3 Buzzer connector 2 gt gt RC Input CPPM PWM Motor output M3 mounting hole 30 5mm spacing Status LEDs Red Green A A Power LED Battery Connector Fig 1 Top View Blue USB Port for Voltage Monitor Board is 36x36mm square with mounting holes for M3 screws spaced 30 5mm 1 ESC Servo Headers 2 RC Input Servo Output CPPM PWM GPS connector Described in detail in Motor and Receiver connections chapter 3 Buzzer 5V Buzzer connect a header here and are marked and should be followed 4 Optional Battery Voltage Monitor To enable in flight battery voltage monitoring and alarm connect this header to flight battery or power distro board Up to 25V
11. w current multirotor mixer such as Quad Hexa etc set set or list available parameters Many settings are available status print out system status voltage uptime enabled sensors etc version print out firmware version and build date time save exit Save settings and reboot WARNING Any changes to settings in cli in particular related to motor output throttle values etc are accepted REALTIME and may result in motors starting up without warning Always configure with props disconnected or when model is only powered by USB Common usage examples To enable CPPM receiver enable PPM feature feature ppm save To disable battery voltage monitoring disable VBAT feature feature vbat Save To enable camera stabilization and change mixer to Quad Plus mixer quadp feature servo tilt save To configure CPPM receiver for EATR channel order and swap AUX1 2 map EATR2134 Save Settings are applied real time however not saved until save or exit command Is executed Mini FunFly Flight Controller Naze32 7 Frequently forgotten things Few things need to be done to ensure smooth flying experience The guidelines below should cover most common 1514 1499 setup issues 004 004 THROTTLE PITCH THROTTLE PITCH 1506 ROL 1500 ROL Do not move the model while plugging in the battery and during the first few seconds after power up Gyro must be idle or else initial calibration will be wrong Alter
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