2.0 KiB
2.0 KiB
Hardware
Pinout
!
!
Software
- compile the correct firmware and flash it to the flight controller
- Setup the correct airframe and calibrate the controller
- import the last px4-fmuv5 config files and check the correct settings
- check every peripheral independently.
- Optical flow
- pwm outputs (virt swash and servos)
- rc
- i2c --> angle sensor
- telem 1 --> mavlink router
- telem 2 --> micrortps bridge
- USB --> flashing, debugging, etc.
Virtual Swashplate Calibration
Requirements to fulfill before starting the calibration routine:
- Make sure that the motors turn in the correct direction, else swap 2 ESC-Motor cables
- Do this calibration routine with a battery and do not use a power supply. The power supply would limit the current and thus interfere with the swashplate modulation, falsifying all results.
- Wear a bike helmet for protection if you do the manual calibration
- Set the PARAM1 Tuning channel to a nice continuous potentiometer type knob on your RC: !
- Prepare Parameters to do the calibration routine:
- Set all
MC_*parameters to have feedforward only control: Meaning force saving PID values to 0 for all axes (roll, pitch and yaw) and setting the FF parameter to 0.15: !
- Set the drone to ACRO mode
- Set all
- Calibrate every virtual swashplate individually (upper and lower, explained for the upper swashplate with ID=0). Repeat for ASR012_VS_EN values for: upper:1, lower: 2, both: 3
- Enable only the upper swashplate under Q->ASR012->ASR012_VS_EN=1
- Apply the RC_TO_PARAM option for the Upper Swash Offset parameter (ASR012_0_OFFSET)!
- Wear the bike helmet
- Hold drone in your hand and pitch forward. Turn the knob until the pitch/roll directions you feel correspond to what you command with the stick.
- Reset RC-To-Param: Tools->Clear All RC to Param
