1. Basic setup of a naze32 and FPV Version 3.2

2. Agenda  Global wire layout  Calibration  Flight Controller alignment  Check motor ID and rotation direction  Minimum motor throttle  Failsafe  Flight mode setup  SBUS setup  Accelerometer trim  Buzzer & battery monitor  RC rate  PID Tuning example  Adding Bluetooth  Taranis tips  FPV setup

3. FC Global Wire layout PDB -+-+-+-+-+-+ -+-+-+-+-+-+ 12v 5v ESC s s s s PDB: Power Distribution Board BEC: Battery Eliminator Circuit ESC: Electronic Speed Control FC: Flight Controller 2 3 1 4 Lipo 3S: 3x3.7v=11.1v 4S: 4x3.7v=14.8v 1 2 3 4 Radio RX s s BEC

4. Calibration  Put your quadcopter on a leveled surface Setup: Set the horizon “level”

5.  If flight controller installed in a non-default alignment (presenting USB port on a side) 1. Configuration tab Flight controller alignment 1. Put a 90° or -90° 2. Save +90°-90°

6. 2. Setup tab: Check correct alignment by moving your frame along each axes Flight controller alignment

7. Check motor ID and rotation  Motors tab: Remove propellers first! 1. Confirm you’ve removed all propellers 2. Increase value of each motor, one by one, and check its correct ID and rotation direction If rotation inverted for a motor: Don’t change cable but reconfigure ESC rotation with BLHeliSuite but reconfigure ESC rotation with BLHeliSuite

8. Measure minimum throttle  Your ESC needs to be calibrated first! Your ESC needs to be calibrated first!  Motors tab: propellers still removed! 1. Confirm you’ve removed all propellers 2. Increase master value until ALL motors start to spin reliably and without twitches 3. Write the number

9. Set the minimum Throttle 1. (Setup tab) ADD 20 to the number found previously and set it here 2. If you don’t like to have your motor spinning in ARMED mode, enable this feature 3. Save

10. Failsafe 1. Failsafe tab: A racer is designed for being “droped” 2. Save

11. Flight Modes  Default (un-configured) is ACRO mode  Good for FPV racing or acrobatic. No self-leveling!  Angle mode  Always keeps horizontal level (maximum angle of 50°)  Horizon mode  Keeps horizontal level but switch into ACRO if you push sticks to maximum  Air mode (advanced)  Used for “no gravity” flight (need to manage ACRO before to try this mode)

12. Flight Mode example for a newbie 1. Modes tab: Force one ANGLE mode ONLY for each value send by the remotecontrol “switch” 2. save

13. Flight Mode example for intermediate  Switch down: ANGLE  Switch middle: HORIZON (learning looping)  Switch up (unconfigured): ACRO

14. Flight Mode example combining ARM  Switch down: DISARMED  Switch middle: ARMED + ANGLE  Switch up : ARMED + HORIZON

15. SBUS Concept  PPM (parallel) wire setup:  SBUS (serial) wire setup: Radio RX Flight controller Channel 1 Channel 2 Channel 3 Channel 4 Channel 5 Channel 6 Channel 1 Channel 2 Channel 3 Channel 4 Channel 5 Channel 6 Radio RX Flight controller SBUSUART2 serial (Channel 4 on naze32/flip32) If radio-RX=FrSky AND FC didn’t include SBUS inverter; then inverter cable (or radio RX hack) needed

16. SBUS on FrSky X8R and X4R-SB If your Flight Controller didn’t include SBUS inverter you need: A SBUS cable inverterSBUS cable inverter Or hacking your X4R-SB for bypassing internal fucking inverterhacking your X4R-SB for bypassing internal fucking inverter

17. SBUS setup Ports tab: Configure the second serial ports as a “Serial Receiver” Configuration tab: Set RX_Serial and serial protocol to SBUS

18. Accelerometers trim  My quadcopter always want to got left/right/forward/backward! 1. Land 2. Disarm motor 3. Push throttle to maximum and move roll/pitch stick to opposite direction. One move each time (onboard LED should blink or beeper for each move) 4. Reset throttle to minimum 5. Arm, flight and test: Return to 1 if still not OK

19. Accelerometers trim  In Mode 2 (left stick and right stick position) Default mode. Disabled if you configure a switch for ARM Need to be Disarmed first

20. Buzzer & battery monitor  Naze32 board uses a 3-5V piezo buzzer  Useful for ARMed, flight mode change, Cell alarm, lost quadricopter.  Naze32 needs to have its integrated voltmeter (BATT pin) connected to lipo (you should have a free port on your PDB) for being able to monitor Cell voltage.  For “lost quad” mode, assign a radio channel:

21. Buzzer & Cell monitor FC PDB -+-+-+-+-+-+ -+-+-+-+-+-+ 12v 5v ESC s s s s BEC Batt Buzzer Plug your battery and check if this value is updated to current battery voltage 1 2

22. RC rate  My quadcopter turn/loop too slow 1. Receiver tab: Check RC rate set to 1 2. PID Tuning: Start by increasing and testing the YAW rate (less dangerous to try) 3. PID Tuning: For loop, increase the ROLL and PITCH rate 4. save

23. PID tuning example  PID controller (default): MultiWii (Rewrite)  Roll/pitch increase (+4) for Aér’O 250 setup  Fast yaw  Medium rool/loop

24. Adding bluetooth (Complex!) 1. Needs: 1. Bluetooth Serial HC-05 adapter (4€ on banggood)4€ on banggood 2. Arduino kit (for configuring HC-05 adapter) about 20€ for Uno20€ for Uno 3. Some cables 4. Optional: USB/TTL converter for checking correct TX/RX pinsUSB/TTL converter 5. Optional: Small switch for power off Bluetooth when not neededSmall switch 2. Using your Arduino: Configure HC-05 at 115200 baud (because default 9600 is too slow) and change its name and PIN code Using your Arduino: Configure HC-05 at 115200 baud (because default 9600 is too slow) and change its name and PIN code 3. Connect it to the Flight Controller Serial/UART port 1. VCC => VCC 2. GND => GND 3. TX => RX 4. RX => TX 4. Limitation: ESC calibration and ESC firmware upgrade/setup are not supported

25. Taranis tips 1. Your stick needs to be correctly calibrated  Basics of Calibration on the Taranis Basics of Calibration on the Taranis 2. CleanFlight need channel value between 1000 and 2000 with 1500 as middle  You can precisely configure your endpoint values You can precisely configure your endpoint values 3. Cool sounds pack: AmberAmber

26. Basic of FPV  TX: Video transmitter parts (mounted on your multicopter)  FPV camera  600TVL minimum  Video Radio Transmitter (VTX)  25mW maximum in France (mandatory for official meeting), you can use 200mW or 600mW if you are a rebel  Raceband compliant  Never power on without an Antenna!  Antenna  RX: Video receiver parts (mounted on your head)  Video radio receiver (VRX)  Diversity automatically select best signal from 2 Antennas  Screen  Battery  Antenna

27. Antenna connector Jungle  Use same connector on VTX and VRX: Antenna are often sell in pair

28. RHCP and LHCP Antenna  Do not mix RHCP and LHCP antenna !  3 leafs are used for TX and 4 leafs for RX  Left Hand Circular Polarization (LHCP)  Right Hand Circular Polarization (RCHP) Animated GIF (press shift+F5)

29. FPV TX Wire layout: Easy way PDB -+-+-+-+-+-+ -+-+-+-+-+-+ 12v 5v PDB: Power Distribution Board BEC: Battery Eliminator Circuit Lipo 3S: 3x3.7v=11.1v 4S: 4x3.7v=14.8v BEC Cam With large input range 5-16V Video Radio TX With large input range: 7-16V V V Optional ON/OFF switch 1.VTX and Cam have only “video” link in common 2.No need of BEC on PDB

30. FPV TX Wire layout: Hard way PDB -+-+-+-+-+-+ -+-+-+-+-+-+ 12v 5v PDB: Power Distribution Board BEC: Battery Eliminator Circuit Lipo 3S: 3x3.7v=11.1v 4S: 4x3.7v=14.8v BEC Cam 5V only Video Radio TX 12 V only V V 5V out GND 12V in GND 1.BEC mandatory for VTX and Cam

31. FPV Setup Example  Camera: RunCam Swift or Owl plusRunCam Swift Owl plus  Needs 5-17V (BEC useless)  VTX: ImmersionRC Raceband 25mWImmersionRC Raceband 25mW  SMA connector  Needs 7-25V (BEC useless)  Screen: Quanum V2 ProQuanum V2 Pro  Needs 7-13V  Includes power spliter cable for screen & RTX  RTX: Quanum RC540R DiversityQuanum RC540R Diversity  SMA connector  Needs 6-18V  Lipo: 2S 1500 mAh for screen & RTX2S 1500 mAh for screen & RTX  SMA Antenna pair: AomwayAomway