Drofly Pro Flight Controller - MegaPirateNG - User manual
Contents
1. E PITC or JR layout H YAW A d Spektrum ITCH YAW THROTTLE ROLL AUX1 A TX standard for standard PPM layout ROTTLE YAW MOD itec Sanwa others ROTTLE YAW A UX1 UX1 FLAPS MOD You can choose your TX RX ch I G EAR SAVE 17 TR MM anne E A 1 1 X2 CAMPITCH U X2 CAMPITC U X2 CAMPITC U X2 CAMPITC U apm ch7 line with the corresponding option as above define TX CHANNEL SET Satellite Spektrum SERTAL 1 OOOO 32 ob a M9 TX standard CAMI Futaba Robbe Hi CAM CAMI RX classic GND Roll 5V Pitch Thro Yaw Aux2E Aux1 Aux4 IX Aux3 GND 5V PPM DROTEK Web shop www drotek fr ROLL tec Sanwa CAMI ROLL ROLL ROLL ls map by setting the following c To ESCs Motors MultiWii code can handle various types of flying models with different number of motors and servos Please refer to section 2 3 a to identify which type of model you re flying then connect ESCs accordingly to the flight controller Default configuration ing PIS SOME EM DROTEK Web shop www drotek fr 5 ADDITIONAL MODULES GPS You can connect a serial GPS module to the serial port 2 of the Drofly Pro With our Ublox GPS module you have to setup the GPS PROTOCOL to GPS PROTOCOL UBLOX and set the SERIAL2 BAUD to the good bau2. Drofly Pro Flight Controller MegaPirateNG User manual Version 1 0 01 08 13 DROTEK Web shop www drotek fr Table of contents 1 INTRODUCTION 2 SOFTWARE SETUP Getting started with Arduino software a Download b Install Getting started with MegaPirateNG code a Download b Install MegaPirateNG code setup APM_ config h file a Number of motors b Flight controller selection Uploading MegaPirateNG code into flight controller Using Mission Planer GUI a Installation b Usage HARDWARE SETUP Setup on your frame Connecting flight controller a To BEC b To receiver c To ESCs motors ADDITIONAL MODULES GPS DROTEK Web shop www drotek fr 1 INTRODUCTION The MegaPirateNG project focuses on porting ArduCopter2 open Source project to IMU board MegaPirateNG now supports multiple sensors and IMUs More information available here http code google com p megapirateng With this firmware it is possible to use the Mission Planer created by Michael Oborne which serve to setup the Arducopter hardware and by extension the DroflyPro with MegaPirateNg firmware This software does a lot more than its name Here are some of the features Point and click waypoint entry using Google Maps Select mission commands from drop down menus Download mission log files and analyze them Configure APM settings for your airframe See the output fro
3. Now you need to select the type of f using ontroller selection define P DROTEK Web shop www drotek fr ight controller you are RATES SENSOR BOARD PIRATES DROTEK 10DOF MPU ArduCopter Arduino 1 0 5 ex Fichier Edition Croquis Outils Aide APM Config h tab width 4 Mode C c basic offset 4 indent tabs mode nil a ifndef ARDUCOPTER APMCONFIG H _ efine ARDUCDOPTER APMCONFIG H _ ect your sensor board FREEIMU 4 New FreelMU JROTEK_1ODOF_MPU Crius AllIn Crius AllInOne Pro v2 ne Pro vli RC configuration PPM SUMICPPM Signal processing define SERIAL PPM SERIAL PPM DISABLED SERIAL PPM DISABLED Y 4 m Arduino The MegaPirateNG code is now ready to be uploaded into your flight controller Please note this user manual describes only the basics of MegaPirateNG code Additional parameters rx type gimbal parameters etc can be fine tuned in the APM Config h file Please refer to the MegaPirateNG Wiki for further details https code google com p megapirateng wiki GettingStarted tm 6 DROTEK Web shop www drotek fr Uploading MegaPirateNG code into flight controller In order to compile and upload the code into the flight controller you need to select the type of board In Arduino program Tools gt gt Board
4. Please download the latest version of the MegaPirateNG code available on this page https code google com p megapirateng downloads list The downloaded file should be named as follow MegaPirateNG xxx Ry zip b Install Extract it in a dedicated folder 2 subfolders will be created ArduCopter contains the code to be uploaded onto the flight controller Libraries contains all the software librairies Move the content of Librairies folder in the Arduino libraries folder Move too the Arducopter folder into the Arduino librairies folder e gt arduino 101 Organiser Ouvrir Inclure dans la biblioth que Partegeravec Graver Nouveau dossier ads Nom 2 Modifi le EE Bureau J drivers 08 08 2012 14 0 Dossier de fichiers 4 Dropbox examples Dossier de fichiers ik Emplacements r cer Ji hardware Dossier de fichiers dj T l chargements db java 012 14 0 Dossier de fichiers d fib 06 Dossier de fichiers a J Biblioth ques libraries s Dossier de fichiers b B Documents reference 2140 Dossier de fichiers D i Images d tools 2012 14 0 Dossier de fichier d Musique e arduino 0 Application gt El Vid os cygiconv 2 dll Extension de l app 8 cygwinl dll Extension de l app b gl Ordinateur 3 libusbO dil 04 Extension de l app Type L revisions 8 04 Document texte b ig R seau 5 nexSerial dll 21 0 Extension de l app libraries Dossier d
5. d define PIRATES SEUSUR BOARD PIRATES DROTEK LODOF MPU z 5 ALLINONE 8 FFIMU FREEIMU _BLACKVORTEX FREEIMU 4 DROTEK_10DOF_MPU RC configuration ff PPM SUM CPPM Signal proc ing define SERIAL PPM SERIAL PPM DISABLED SERIAL PPM DISABLED th cod DROTEK Web shop www drotek fr will be automatically uploaded The red and green LEDs on the flight controller will blink rapidly until Done uploading message appears at the bottom left of the window Congratulations you ve successfully setup your flight controller DROTEK Web shop www drotek fr Using MegaPirateNG GUI MegaPirateNG can be used with the Ardupilot MegaPlanner 10 GUI Graphical User Interface which helps the user to setup sensors recognition accelerometer compass calibration PIDs setup rx channels calibration E You can refer to the Ardupilot MegaPlanner dedicated section Configuration via GUI available here https code google com p ardupilot mega wiki Mission DROTEK Web shop www drotek fr 3 HARWARE SETUP Now your flight controller is ready on the software side let s see how to set it up on your flying model SECURITY WARNING make sure the propellers are OFF the motors before testing Setup on your frame First you need to identify the front of your flight controller If you ve followed this guide the front of th
6. drate Fichier dition Croquis Outils Aide APM Canfig h For BlackVortex just set PIRATES SENSOR BOARD as PIRATES ELACKVORTEX GPS define GPS PROTOCOL GPS PROTOCOL UBLOX GPS PROTOCOL NONE 53 PROTOCOL NONE without GPS SOTOCOL NMEA PROTOCOL SIRF FROTOCOL UBLOX FROTOCOL MTE19 ROTOCOL BLACKVORTEX GPS PROTOCOL AUTO auto select GPS may not work define SERIALO BAUD 115200 Console port define SERIALZ BAUD 38400 GPS port define SERIALS BAUD 57600 Telemetry MAVLINE port New in 2 0 43 but unused in MegairateNG MPNG Piezo uses ANS pin in ArduCopter we uses AN5 for CLI switch define PIEZO DISABLED define PIEZ LOW VOLTAGE DISABLED define PIEZO ARMING DISABLED a Arduino Mer DROTEK Web shop www drotek fr
7. e FC is the side where the micro USB port is located Anyway you can easily identify flight controller orientation using GUI Please make sure your flight controller is securely attached to your model frame and make sure propellers are off the motors You can refer to your frame user manual Connecting flight controller a To BEC Flight controller must be powered by ESC BEC 5V on connector n 2 3 5 6 7 9 9 l0 11 12 44 or 45 DROTEK Web shop www drotek fr b To receiver Here are 2 ways to conn depending of your harware classic receiver ntroller Define this lines AL PPM S flight co define S ect your receiver to the flight controller each port of the receiver is connected to the You ER PPM rece handles a iver 11 the hardware You need to enabl Define this lines with PPM channels ERIAL PPM D nabled SA BLE iver on D can connect up to 8 channels rec number of channel jumper servo cable Ls depends of your Tx Rx le PPM receiver functionality in APM Config h file define SERIAL PPM SERIAL PPM ENABLED You can choose between many set of TX RX channels map TX setl for Graupn P ROLL P TX set2 for some H ITCH ROLL T tiWii P TX mwi for Mul TCH T er an H H layout ROLL THROTTL TX JR f
8. e fichiers Modifi le 08 08 2012 14 06 DROTEK Web shop www drotek fr Before editing the configuration file of the ArduCopter project you must edit the following file AP InertialSensor MPU6000 I2C cpp in the Librairies AP InertialSensor folder Search at line 145 the following code else if board Type PIRATES DROTEK 10DOF MPU board Type PIRATES CRIUS AIO PRO V1 board Type PIRATES CRIUS AIO PRO V2 gyro data index 0 5 X gyro data index 1 4 X gyro data index 2 6 Z gyro data sign O0 1 X gyro data sign 1 X gyro data sign 2 Ec Z _accel data index 0 1 _accel data index 1 0 _accel data index 2 2 _accel data sign 0 1 _accel data sign _accel data sign 2 1 And replace it with else if board Type PIRATES CRIUS AIO PRO Vl board Type PIRATES CRIUS AIO PRO V2 gyro data index 0 5 X gyro data index 1 4 X gyro data index 2 6 Z gyro data sign O0 1 4X gyro data sign 1 X gyro data sign 2 1 LJ A _accel data index 0 1 _accel data index 1 0 _accel data index 2 2 _accel data sign 0 m _accel data sign zu _accel data sign 2 1 DROTEK Web shop www drotek fr Jelse if board Type PIRATES DROTEK 10DOF MPU gyro data index 0 4 X gyro data index 1 5 15 er gyro data index 2 6 Z gyr
9. etected and installed USB port on computer USB cable PC Once the message device successfully installed and ready to use is displayed you can select the relevant COM port in Arduino Tools menu Fichier dition Croquis Aide Formatage automatique Ctrl T Archiver le croquis APM SD PR TDCI R parer encodage amp recharger Moniteur s rie Ctrl Maj M 0 D_FROTOCQ oups com forums DSD PR TDCI Type de carte Port s rie For Black ortex define GPS PROTOCO GP3 PROTOCOL NONE Graver la s quence d initialisation fe Programmateur GPS FROTOCOL NONE without GES DROTEK Web shop www drotek fr click on the upload button APM Config h tab width 4 Mode C c basic of __ARDUCOPTER_APMCONFIG H _ ARDUCOPTER APMCONFIG H ff Select your sensor board define PIRATES SENSOR BOARD PIRATES DE TELF i PIRATES ALLINONE PIRATES FFIMU PIRATES FREEIMU PIRATES BLACEVORTEX This will compile and upload the code into the flight controller You can see compilation progress bar at the bottom right of the Arduino window Once compilation complete into the flight controller 5 Ard Fichier dition Croquis Outils Aide APM Config h ff tab width 4 Mode C c basic ifndef ARDUCOPTER APMCONFIG H define ARDUCOPTER APMCONFIG H 4 indent tabs mode nil Select your sensor boar
10. gt gt Arduino Mega 2560 amp 9 ArduCopter Arduino 10 5 Fichier Edition Croquis Outils Aide Formatage automatique Ctri T Archiver le croquis R parer encodage amp recharger Moniteur rie Ctrl Maj M 7 foups Con forums Type de carte Arduino Una Pert s rie Arduino Duemilaneve w ATmega378 um Arduino Diecimila or Duemilanave w ATmegal58 Arduino Nano w ATmega328 Arduino Nano w ATmegal s Arduino Mega 2560 or Mega ADK Arduino Mega ATmegal280 Arduino Leonardo define GP3 PROTOCC Graver la s quence d initialisation Mais Arduino Esplora Li Arduino Micro Arduino Mini w ATmega328 Arduino Mini w ATmegal63 define SERIALO BAUD 115200 role Arduino Ethernet Wdefine SERIALZ BAUD 38400 PS port Arduino Fio define SERIAL3 BAUD 57600 1 t Arduino BT w ATmega328 Arduino BT w ATmegal6s LilyPad Arduino USB LilyPad Arduino w ATmega328 LilyPad Arduino w ATmegal 8 Arduino Pro or Pro Mini SV 16 MHz w ATmega328 Arduino Pro or Pro Mini SV 16 MHz w ATmegal58 Arduino Pro or Pro Mina 3 3V 8 MHz w Almega378 Arduino Pro or Pro Mini 3 3V 8 MHz w ATmegal 8 Arduino NG er elder w ATmegal s Arduino NG or older w ATmega Arduino Robot Control Arduino Robot Motor DROTEK Web shop www drotek fr the serial port Now connect the flight controller to your PC using a miniUSB USB cable For Windows users on first plug a new device should be automatically d
11. m APM s serial terminal Even if using MegaPirateNG is simple even for a beginner it requires a few hardware and software initial tasks This mode user manual will guide you through the basic steps to get your flyi ng This section will explain how to edit setup and upload the MegaPirateNG code into your flight controller DROTEK Web shop www drotek fr 2 SOFTWARE INSTALL Getting started with arduino software As described in the introduction MegaPirateNG project uses Arduino development platform This section will explain how to setup Arduino software on your computer in order to edit and upload MegaPirateNG code into your flight controller a Download Latest Arduino software version is available here http arduino cc en Main Software Select and download a V1 0x version available for your computer operating system then extract the zip file The version 1 5x is not compatible with the MegaPirateNG code b Install Open the extracted folder and Open Arduino program arduino exe for Windows users This window will be displayed ic sketch jun20a Arduino 10 File Edit Sketch Tools Help sketch jun2 a DROTEK Web shop www drotek fr Arduino software is now installed and ready to use on your computer Getting started with MegaPirateNG code This section will explain how to tune MegaPirateNG code to fit your flying model a Download
12. o data sign O0 1 X gyro data sign 2 1 X gyro data sign 2 1 E _accel data index 0 0 _accel data index 1 1 _accel data index 2 2 _accel data sign 0 i _accel data sign 517 _accel data sign 2 1 And save the file The goal of this code is to adapt the sensor orientation of the Drofly Pro with the MegaPirateNG code DROTEK Web shop www drotek fr Open Arduino program arduino exe for Windows users Open the File menu in the Examples section You must see the Arducopter in the list sketch aug30a Arduino 1 0 5 H x DEEM Edition croquis Outils Aide Nouveau Ctrl N Ouvrir Ctrl O Carnet de croquis Exemples O1 Basics B Fermer Ctrl W 02 Digital k Enregistrer Ctrl S 03 Analog Enregistrer sous Ctrl Maj S 04 Communication T l verser Ctrl U 05 Control T l verser avec un programmateur Ctrl Maj U 06 Sensors B 07 Display Mise en page Ctrl Maj P h Imprimer Ctrl P i 09 USB Pr f rences Ctrl Comma 10 StarterKit r Quitter Ctrl Q ArduCopter EEPROM Esplora Ethernet Firmata GSM LiquidCrystal Robot Control Robot Motor Arduino Pro or Pro Mini SV 1 sD Servo SoftwareSerial SPI Stepper TFT WiFi Wire Click on ArduCopter it opens the full project code DROTEK Web shop www drotek fr MegaPirateNG setup APM Config h file The MegaPirateNG code is splitted in
13. several files displayed in different tabs in Arduino Each one of them is dedicated to a specific functionality radio commands motors eo APM Config h is the parameters file to be edited in order to fit your flying model WARNING Do NOT modify other files unless you re an advanced user Click on the APM Config h tab to enter the cod a Flight controller selection define PIRATES SENSOR BOARD PIRATES DROTEK 10DOF MPU b Number of motors Multicopter models can take numerous different designs and number of motors MegaPirateNG code can handle all the listed types of models DROTEK Web shop www drotek fr DROTEK Web shop www drotek fr line in Example define define Identify the type of model you need then uncomment the rel the code for a quadricopter X 2 front motors FRAME CONFIG QUAD FRAMI FRAME ORIENTATION X FRAMI LH LH ArduCopter Arduino 1 0 5 levant just remove at the beginning of the line 2 rear motors Fichier dition Croquis Outils Aide APM Config h define FRAME CONFIG QUAD FRAME QUAD FRAME TRI FRAME HEXA FRAME Y6 FRAME OCTA FRAME OCTA QUAD FRAME LI FRAME define FRAME ORIENTATION X FRAME PLUS FRAME X FRAME define CH _OPTION CH7 D NOTHING CH7_DO NOTHING CH7 FLIP cu Arduino Mega 2560 or Mec 1K on COMI2 c Hightc
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