KKmulticontroller v.5.5 “Blackboard”
Contents
1. 009 Connect your Programmer s 6 pin socket to the ISP header on the board Pin 1 on the ISP header is usually marked with a small triangle Then connect the a 5V DC power source to the PCB pins Open AVR Studio 4 It will ask you if you want to begin a new project or open an existing project Choose Cancel and click on the connect icon AVR Studio Disassembler File Project Build Edit View Tools Debug Window Help CHE ES o decr im aale ee 1 nnnnnnnn i Ded uw xam c It will open a new window with a connection dialogue asking you to select your programmer and connection port With a programmer like the AVRISP mkII it is easy because when you select that programmer it brings back only one choice of port USB The AVR ISP500 from Olimex is recognised as a STK500 and has the option to auto choose the port If it fails to recognise the port you may need to manually set the port for the programmer in your Windows device settings to COMI up to COMA for AVR Studio to recognise it Select AYR Programmer Platform Fart Cancel Baud rate AMB Dragon E MEE AVALSP COM S Baud rate changes are I achive immediately Tip To auto connect to the programmer used last time press the Programmer button on the toolbar Mote that a tool cannot be used for programming as long as it is connected in a debugging session In that case select Stop Debugging first Disconnected Mode2. When you have chosen your programmer and port click connect and you will be taken to the AVR programming dialogue In the AVR programming window go to the Main tab and make sure that the chip you are programming e g Atmega16 is selected in the Device and Signature Bytes drop down menu Also make sure that the Programming mode and target settings are set to ISP Make sure that the settings for the ISP mode have the ISP frequency set low enough to talk to the chip I set my AVR ISP500 programmer s frequency to 115 2 kHz This is quite an Important setting to get right If you click on Read Signature and you get the response Signature matches selected device you have successfully managed to connect to your IC STK500 in ISP mode with ATmega48PA E E Sie xl Main Program Fuses LockBits Advanced Hw Settings Hw Infa Auto Erase Device 01 E 0x92 n Head Signature Signature matches selected device Programming Mode and Target Settings ISF mode Settings ISP Frequency 115 2 kHz Setting mode and device parameters UK Entering programming mode OE Heading signature Ox1E 0x92 Ox0 OF Leaving programming made OE m Also make sure that the target board or PCB 1s powered You can check this by clicking on the HW Settings tab and checking if the programmer can see any voltage STK500 in ISP mode with ATmega48PA 3 ll x Main Program Fuses LockBi
3. multicopter www kkmulticopter com KKmulticontroller v 5 5 Blackboard The Multicopter Flight Controller Based on the original design by Rolf Bakke KapteinKUK with modifications by Jussi Hermannsen and Mike Barton Table of Contents Introduction to Eet sz ti 3 Poen Conn E aaa 3 pd atiine the Email 4 Mounting the KKmulticontroller in your multicopter mnm 9 KK Osprey ROW er owner lario 10 KISTEICODGE opener lei eee ita 10 KkKQuadrocopter Conhsuration incuria 11 de CODER XC onion etr babe asi ienis Saath acurece side deb isu eceuis tues ecececaaieeaeeraaue 11 ee NE I I T T 12 KK Yocopter Hex Y Contsuration i coercere te ee eov esa a ues bates Pops eos 12 petis EE 13 Desien Schematics Tor the yos 59 VED PC DB oido et oe audae op i osi onere aa 15 Introduction to the KKmulticontroller The KKmulticontroller is a flight control board for remote control multicopters with 2 3 4 and 6 rotors Its purpose 1s to stablise the aircraft during flight To do this it takes the signal from the three gyros on the board roll pitch and yaw and feeds the information into the Integrated Circuit Atmega IC This then processes the information according the the KK software and sends out a control signal to the Electronic Speed Controllers ESCs which are plugged onto the board and also connected to the motors Depending upon the signal from the IC the ESCs will either speed up or slow down the mot
4. UK Fuse bits verification OK Leaving programming mode CK Y Check the Auto read Smart warnings and Verify after programming options at the bottom of the window and then click program If all goes to plan you should get OK response messages in the output section at the bottom of your window for Entering Programming mode writing fuse address reading fuse address Fuse bits verification and leaving programming mode If you get error messages then recheck your chip version and all the connections from your programmer to the board and that the power 1s on Also make sure that your fuse settings are as described above Flash the Firmware Click on the Program tab and have a look at the Flash section which 1s the 2nd section down Check the Input HEX file check box Then browse the unzipped firmware folder and click on your firmware HEX file suitable for the chip you are programming for an Atmegal68 Then click Program in the Flash section of the window and you should get an OK response in the output section at the bottom of the window Then click Verify to make sure that the program has been successfully uploaded and if you have an OK response coming back at the bottom of the window then you have successfully programmed the IC with the test program STK500 in ISP mode with ATmega4B8PA Main Program Fuses LockBits Advanced HW Settings Hw Info Auto Device Erase Device IW Erase device b
5. al mox Red VCC on Roll Gyro gain cia Black GND adjustment Ma ESC2 Pitch Gyro gain e adjustment c M2 ESC2 Yaw Gyro gain e M3 ESC3 adjustment Ma ESC4 Servo in Tri White Signal Mz ESCz 5 5 a Landi D E Red VCC ta dla d a DI Black GND Its OF ou M6 ESC6 NIVELE i 26322442 018950 8 Aileron Elevator Throttle Rudder In System Programming ISP header The pins marked M1 to M6 are connected to the 3 pin BEC plug from your ESCs They follow the same convention as the RX pins with the white wires connected to the inner pins the red wires to the center pins and the black wires to the outer pins The ESCs and the connected motors are plugged onto the pins M1 to M6 in the following order depending on flight rotor configuration Note also the direction of rotation for each motor This is achieved by connecting the three ESC wires to the motors and swapping two of the wires to achieve rotation in the opposite direction KKOsprey Power Tower 2 Left Servo Right Servo KK Tricopter Tail Servo KKQuadrocopter Configuration Q ACA 4 KKXcopter x Configuration de cb KKSexycopter Hex KKY6copter Hex Y Configuration Setting up the KKmulticontroller 1 Checking transmitter channels Take off the propellers Turn on transmitter and flight controller Set throttle to about 1 4 Motors should start Move pitch elevator stick for
6. efore flash programming M Verify device after programming Flash Use Current Simulator Emulator FLASH Memory Input HEX File KQuadControllet 4 3XQuadContralle4 3 M48 M88 hex i Program Verity Read EEPROM C Use Current Simulatar Emulator EEPROM Memory fe nput HEX File i Program Verity Read ELF Production File Format Input ELF Fila sa Save From jv FLASH JW EEPROM T FUSES LOCKBITS Fuses and lockbits settings must be specified before Program Save saving ta ELF Erasing device UK Programming FLASH OKI Reading FLASH OKI FLASH contents is equal to file OK Leaving programming mode OKI Mounting the KKmulticontroller in your multicopter The v 5 5 KKmutlicontroller uses Murata piezo gyros that are less sensitive to vibration than SMD type gyros but it 1s still a good idea to mount the board on a vibration dampening material The board must also be mounted with the white arrow facing the direction of forward flight When connecting your Remote Control Receiver RX you must connect the white signal wire of the channels CH1 CH2 CH3 and CH4 from your RX corresponding to the aileron elevator throttle and rudder to the inner pins on the board while the red VCC wires are connected to the center pins and the black GND wires are connected to the pins on the outer edge of your board Direction ofForward Flight Roll Gyro Yaw Gyro Pitch Gyro m ie e m D D vr White Sign
7. gg RI i EE VCC A PH2 5S 0C1B8 POINT2 BBaoMOSUDC2APCINT3 i PRAMISOMPCINTA TT 7 PBSISGH PCINTS GND N PBi1 OC3A PCINT GND OUTPUT D GND ATMEGA48 88 168 AU Ua CT Multicopter Controller by Rolf R Bakke May 2010 GND V 5 5 with onboard ENC 03 revision by Jussi Hermansen october 2010 45V aae EEN DN e HEN am POV cum toe GND GND GND FH cal ey Cl e EH Cl alc 7 eil oy r cC E SUN 2 tti SH sftt stii m o act act Motor 1 Motor 2 Motor 3 Motor 4 Motor 5 Motor amp HA Yaw Breakout Board Schematic GNO QUTPUT
8. ors and tilt the rear rotor with a servo in a Tricopter in order to establish level flight The board also takes a control signal from the Remote Control Receiver RX and feeds this into the IC via the aileron elevator throttle and rudder pins on the board After processing this information the IC will then send out a signal to the motors Via the M1 to M6 pins on the board to speed up or slow down to achieve controlled flight up down backwards forwards left right yaw on the command from the RC Pilot sent via his Transmitter TX In the case of a Tricopter one of the pin connectors M4 will control a servo to achieve yaw authority The v 5 5 has an Atmegal68 chip on board and an ISP header which gives users the option to tweak and upload their own controller code Flight Configurations The KKmulticontroller can be used in several different flight configurations depending upon which firmware is loaded onto the chip These configurations are s KKOsprey 2 Rotor e KKTricopter 3 Rotor 1 servo e KKQuadrocopter 4 Rotor configuration s KKXcopter 4 Rotor x configuration s KKSexycopter 6 Rotor e KKYcopter 6 Rotor Y configuration Updating the Firmware The v 5 5 Blackboard has an Atmegal68 chip on board which allows users to tweak and load non standard firmware Set IC Fuses amp Flash Flashing the Firmware Connect the AVRISP MK2 or similar Programmer to the six pin ISP header on the Kkmulticontroller board
9. ter being hard to control and or always wanting to tip OVer 6 Checking gyro directions Take off the propellers Turn on transmitter and flight controller Set throttle to about 1 4 Motors should start Tilt multicopter forward Forward motor should speed up If not reverse pitch gyro Tilt multicopter to the lett Left motor should speed up If not reverse roll gyro Turn multicopter CW Front and back motor should speed up If not reverse yaw gyro 7 Reversing gyros Set roll gain pot to zero Turn on flight controller LED flashes rapidly 10 times Move the stick for the gyro you want to reverse LED will blink continually Turn off flight controller If there is more gyros to be reversed goto step 2 else set roll gain pot back 8 Final check Hold the multicopter firmly over our head and slowly advance to about 1 2 throttle Hold it steady when you start increasing the throttle becouse the multicontroller calibrates its gyros when throttle leaves zero and then the gyros need to be at rest If the multicopter tries to twist away check propeller and motor directions gyro placement and trim settings A slight twist is OK If not try to twist the quad It should resist your movements More gyro gain gives more resistance If it starts to oscillate reduce the gain You should not need to reduce the gain below 40 Note the correct procedure for taking off from the ground is as follo
10. ts Advanced HW Settings Hay Info Auto Voltages VT arget lock Generator 60 43 kHz a p 60432 Read Write Getting VTARGET 5 3v DK Getting AREF 5 3 ORP 0s01 W Ox3c OF Now it is time to set the fuses so click on the Fuses tab AVR Studio is very good in this respect as it will work out the fuse settings for your particular IC depending upon the check box options you choose Set the check boxes according to the following SELFPRGEN unchecked RSTDISBL unchecked DWEN unchecked SPIEN checked WDTON unchecked EESAVE unchecked BODLEVEL Brown out detection at VCC 1 8 V CKDIVS unchecked CKOUT unchecked SUT CKSEL Int RC Osc 8 MHz Start up time PWRDWN RESET 6 CK 14 CK 65 ms The fuse setting output will be displayed at the bottom of the window STK500 in ISP mode with ATmega48PA ma Mam Program Fuses LockBits Advanced Hw Settings Hw Info Auto Fuse Value SELFPRGEN i RSTDISBL DEM SPIER m WOTOM d EESAVE BODLEVEL Brown out detection at vz DM w CEDE LEOUT SUT_CKSEL Int RE Osc 8 MHz Start up time PWWACW NY HESET 6 CK 14 CK 65 me EXTENDED OxFF HIGH OxDE LOW OxE 2 M Auto read M Smart warnings v Verify after programming Frogram Verify Entering programming mode OK Writing fuses address O to 2 sEZ OxDE OxFF UK Reading fuses address O to 2 OxgE 2 ODE sFF
11. ward Back motor should speed up If not reverse pitch elevator channel Move roll aileron stick to the left Right motor should speed up If not reverse roll aileron channel Move yaw rudder stick to the left Front and back motor should speed up If not reverse yaw rudder channel 2 Transmitter throttle adjustiment Turn on transmitter and flight controller If led does not turn on and stays on lower your trim If still no go you may need to reverse the throttle channel On Tri v1 5 and Quad v4 5 firmware and above you need to Arm your board by putting the left stick down and to the right for the LED to come on If this does not happen adjust your throttle and yaw trim down and to the right on your transmitter Make sure you do not have any mixing switches on your Transmitter enabled 3 Initial transmitter ATV servo range settings Pitch elevator 5090 Roll aileron 5090 Yaw rudder 10090 4 ESC throttle range Turn yaw pot to zero Turn on transmitter Throttle stick to full Turn on flight controller Wait until the ESCs beep twice after the initial beeps Plush and SS ESC s Throttle stick to off ESCs beep Turn off flight controller Restore the yaw pot 5 Initial Gyro gain pot value is 50 Increase until it starts to oscillate rapidly then back off until it is stable again Fast forward flight needs lower gain Too low gain is recognized by the multicop
12. wing 1 The quad and its propellers needs to be motionless 2 Increase the throttle collective Just as the throttle leaves zero gyro calibration 1s performed 3 Enjoy And remember to close the throttle if you lose control Much less damage NOTES Do not use bigger propellers than you need Light propellers gives faster response and more stability Try to get it to hover at about midstick 1 3 to 2 3 throttle Use smaller bigger propeller different motor Kv or more less Battery cells to achieve that for the v 5 5 SMD PCB Design Schematics lective RX Rall Rx Pitch RX Gal T M C ca c Od ci T La i h A RE h ere e i Jr EI 100 Ohm gt J Li 3 f i bei GND eu GND eu GND bei GND GNO GND 47 cl Pitch PC2 ADCS PCINT 100 0hm TI ICG VRE CAADCAPCINT0 m ES VCC VBEF PCSADCAPCINTH 0 68 pF d R3 SV x PCA ADCA SDA PCINT 12 eR E Wi 680 Ohms PCSIADCS SCL PCINT13 LZ ND cir z PBE X TALI TOSCH PCINTE ance GND OUTPUT A Lu Z PBz XTAL2TOSCZ PCINT T ze e PDoXDIPCINT g 3 192 1 BUT DD1 TXDIPCINTI7 POIUNTO PCINT18 PDA3IINTI OC2B PCINT 19 5 D4 ToXCK PCINT20 PDS TI OCOB PCINT2 1 HE PCEURESETPCINT14 PCOYADCO PCINTa PCTADCAPCINTS GI In kO R5 Doll C Ta Ti Ci tt Gh ND 47 cl Roll 3 a P317 i 3 GND GN PD7 AIN1 PCINT23 2 2 m GND von ppm Li E n 6B uF i YOC VREF PBOICP1 CLKO PCINTO E cv
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