User`s Manual for rev5
Contents
1. oooooooQo 2000 uu 12 394 56 SWD www abuseMarK com p an SDA SCL OR Fig 2 Bottom View A Cortex Debug Connector 10 pin 0 05 debug connector connected to SwD port of STM32 Pin 1 is marked with a triangle Connector pinout is standard http infocenter arm com help topic com arm doc fags attached 13634 cortex debug connectors pdf B 12C Connector SDA and SCL from the sensor I2C bus are connected here Can be used for additional sensors or debugging I2C bus runs at 3 3V only do not connect 5V sensors here such as 2 sonar etc C 5V tolerant GPIO connected PA15 on STM32 Can be used for sonar trigger or any other 5V 1 0 D 3 3V tolerant GPIO connected to PB5 on STM32 Cannot be connected to 5V levels as this will instantly destory the hardware E 3 3V ADC input connected to ADC12_IN5 on STM32 Not 5V tolerant Mini FunFly Flight Controller Naze32 7549 Motor and Receiver Connections 123 LIOO signal 45678 M7 M8 M9 M10 Standard Mode M5 6 M7 8 Servo Mode NOTE When using CPPM receiver only Fig 3 Motor connections Servo Standard Mode Mode Depending on selected motor configuration and receiver type up to 10 motors or servos be connected Headers on top of the board 1 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 pins2. Upload to C Enable Disable Flash protection ENABLE 71 READ PROTECTION 71 Edit option bytes eN c erify after download Fig 7 Flash Loader Demonstrator Mini FunFly Flight Controller Naze32 75 2 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 greenend org uk sgtatham putty Connect to USB Serial port at 115200 baud bit no parity 1 stop bit These are default Specify the destination you want to connect to settings for most terminal programs To enter eral line CLI type into the terminal onnection type A message will be printed C Raw Telnet C Rogn C SSH Entering CLI Mode type exit to return or help i 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 show current multirotor mixer such as Quad Hexa etc set set or
3. 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 75 2 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 THROTTLE PITCH THROTTLE PITCH 1506 ROLI 1500 ROLI 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 Alternatively make sure to execute the Gyro Calibration stick
4. only by USB Do not perform firmware update while flight battery is connected xl Entering bootloader mode TEP Server About MERI Method 1 1 Run Hercules SETUP and switch to Serial tab 2 Choose COM port baudrate of 115200 8bit no parity nm Data size 3 Click Open button 4 n any 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 Modem lines cis DTR RTS Hwg FW update 4 E Method 2 am E wwu HW group com mo Ei Hercules SETUP atility NOTE This is the rescue recovery method Under normal C Hex cen Version 323 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 Cilf 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 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
5. 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 beds Make sure the aircraft is level when powering up in standalone gimbal stabilization mode N Servo 2 Servo 1 Roll Axis 2 Pitch Axis E 1 M2 M3 Servo 7 Fig 5 Gimbal servo connections 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 Mini FunFly Flight Controller Naze32 75 54 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 http www hw group com products hercules index_en html 3 Latest baseflight firmware development http code google com p afrodevices source browse trunk baseflight obj baseflight hex NOTE Hardware should be connected
6. 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 file 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 c zl xj Flash Loader Demonstrator Erase Select the communication port and set settings then click next to open connection G All C Selection E Common for all families ownload to device Download from file UART Baud Rate m Echo emet Data Bits s Timeout s 10 y RAIS GN RTS GFF Flow Control y LE DTR GN DIR OFF If Flow control is active By default DTA amp RTS are ON F rc freeflight projects baseflight obj baseflight hex C Erase necessary pages Erase Global Erase thi 8000000 71 Optimize Remove some FFs Apply option bytes mp to the user program Upload from device
7. Flight Controller 70545 Naze32 Mini Fun Fly Create by AbuseMarK 2013 Mini FunFly Flight Controller Naze32 249 Introduction Mini Flight Controller 173 pronounced Naze 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 fully customizable motor mixer for any airframe type Flexible RC input Standard CPPM PPM Sum Spektrum satellite Battery voltage monitoring and low voltage alarm Built in FrSky telemetry converter Onboard Micro USB for setup and configuration Multiwii based configuration GUI Flying wing airplane mixer GPS position hold return to home 7 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 M 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 spectators inanimate objects a
8. 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 1 2 3 OOOOO 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 73 t2 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 connection
9. ircraft 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 afrodevices 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 Mini FunFly Flight Controller Naze32 75 47 Hardware and Connection Top 1 6 ESC Servo A Front direction Headers Y eloooooo 7 5V pad Bootloader pads m a 1 100000000111 un EE BH SUT y i EN L T o gt RC ell ama Input E d ii CPPM PWM m Motor output Gi SN LT mic mma E m mm WES UN M3 mounting hole 30 5mm spacing Dis mm OAc Dian Dau t gt o bebes gt 5 58 on 46 8 9 95 28 258 mt 5 ma SZ no 59 20 o o oo J 20 S o u gt na yu o o 5 5 N 5 Fig 1 Top View p E gd 55 gt Oe 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 co
10. nnector Described in detail in Motor and Receiver connections chapter 3 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 6S LiPo can be measured No reverse polarity protection connecting battery in reverse will instantly destroy the hardware 4 Buzzer 5V Buzzer connect a header here and are marked and should be followed 5 FrSky Telemetry output port Connect to RxD on any telemetry enabled FrSky Receiver D8R etc 6 3 3V 100mA power output from MCU regulator Use this to power low power devices such as Spektrum Satellite or 3V Bluetooth module 7 5V pad which is connected to center pin on Servo RC connector Can be used to tap BEC power for 5V devices Pay close attention not to short this pad with nearby bootloader pins as this 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 9 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 then remove the short Firmware update tool can then be used to reload firmware Mini FunFly Flight Controller Naze32 42 Hardware and Connection Bottom
11. s 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 S1 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 S1 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 9 0 OD On QuadCopter X default QuadCopter Plus TriCopter 29 OO Y6 Hexa X Hexa Plus Octo X Custom Mix Mini FunFly Flight Controller Naze32 249 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 gimbal servos Both analog 50Hz refresh and digital 200Hz refresh servos are supported 2 ein amount of servo travel for given angle of tilt is configurable for both pitch and roll axis In addition to
12. 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 Stick Actions Rig Motor Arm Y e Motor Disarm a Gyro calibration N n Acc calibration
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