1. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. BAE Systems C2C SWAT Project Tutorial 2, Digital Compass Mar 2014

2. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Tutorial 2, Digital Compass describes how to correctly setup the Digital Compass to your unit, including how to establish a connection to the SWAT Controller. This section is not compulsory, however, if you wish to complete it, please purchase the LSM303DLHC 3D Compass and Accelerometer Carrier with Voltage Regulator. 2 Scope

3. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Tutorial 2 > Set Up Insert the SD Card into your computer and open the SD Card Library. Open the folder “Tutorial 2, Digital Compass” and run the file titled “setup”. 3 Note:Running the “setup” file updates the “SWAT_pin.cfg” and “SWATctrl.cfg” files in the SD Card Library, using the files from the “Tutorial 2, Digital Compass” folder.

4. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Tutorial 2 > Step 1 Eject the SD Card from your computer and insert the SD Card into the WF32 board. 4 WF32 Board SD Card

5. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Attach the battery connector to the motor shield terminal P6. It is recommended to use a splitter cable to enable the battery to provide power to the shield and the ESC. 5 Splitter Cable To Motor Shield Terminal P6 Motor Shield Note:“P6” is written below the terminal on the motor shield Terminal P6 From Splitter Cable GND (negative) +11.1V (positive) From Splitter Cable GND (negative) +11.1V (positive) Tutorial 2 > Step 2

6. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. On the WF32 board, ensure that jumper J15 is in the external (EXT) position to receive power from the battery. 6 Note:The UART position on jumper J15 is used when the WF32 board is connected to your computer WF32 Board EXT UART J15 Tutorial 2 > Step 3

7. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. On the WF32 board, ensure that jumper JP4 and JP5 are in the I2C position. 7 WF32 Board JP4 JP5 JP4 JP5 I2C position Tutorial 2 > Step 4

8. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Physically attach the WF32 board underneath the motor shield using the connecting pins. 8 Tutorial 2 > Step 5 Note:Be careful not to bend any of the connecting pins. Motor Shield WF32

9. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Attach the power plug from the motor shield terminal P7 to the WF32 board J17. 9 Terminal P7 From WF32 Board GND (negative) +11.1V (positive) From WF32 Board GND (negative) +11.1V (positive) Motor Shield Note:“P7” and “J17” is written below the terminals on the motor shield and WF32 board. WF32 Board (top view) WF32 Board (top view) Power Connection To WF32 WF32 Board (side view) WF32 Board (side view) Tutorial 2 > Step 6

10. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. 10 Tutorial 2 > Step 7 Digital Compass Breadboard Tip:Use different coloured wires between the digital compass and the motor shield to distinguish connections easily. To connect the digital compass to the motor shield, use a breadboard and wires. When mounting the compass, have x-axis forward, y-axis right and z-axis down. The compass is heavily affected by the magnetic field of the motor. Mount it as far away as possible.

11. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Connect “SDA” (digital compass) to “A4” on the motor shield. 11 Tutorial 2 > Step 8 Digital Compass Note:The “A4” label on the motor shield cannot be seen, it is the forth from the left on P2 (motor shield). Motor Shield A4 P2 SDA

12. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Connect “SCL” (digital compass) to “A5” on the motor shield. 12 Tutorial 2 > Step 9 Digital Compass Note:The “A5” label on the motor shield cannot be seen, it is the third from the left on P2 (motor shield). Motor Shield A5 P2 SCL

13. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Connect “GND” (digital compass) to either the second or third pins on the single pin row of P3, on the motor shield (illustrated in the diagram below). 13 Tutorial 2 > Step 10 Digital Compass Note:This pin correlates to the GND pins in J3 of the WF32 board. Motor Shield P3 GND

14. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Connect “VIN” (digital compass) to the fifth pin on the single pin row of P3, on the motor shield (illustrated in the diagram below). 14 Tutorial 2 > Step 11 Digital Compass Note:This pin correlates to the 3V3 (3.3V) pin in J3 of the WF32 board. Motor Shield P3 VIN 3V3

15. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Attach the motor shield, using the splitter cable, to the battery, to power up the board. 15 Splitter Cable To Battery To Splitter Cable Battery Note:The battery is always the last component to connect. Tutorial 2 > Step 12

16. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Turn on your Wi-Fi unit and connect your computer to this. Open the “SWAT Controller” on your computer (previously installed). 16 Tutorial 2 > Step 13 SWAT Controller

17. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Once the “SWAT Controller” has established a connection to the WF32, feedback can be seen for the Digital Compass (Bearing, Pitch and Roll). 17 Tutorial 2 > Step 14 SWAT Controller Digital Compass feedback

18. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Move the Digital Compass to view the feedback change on the SWAT Controller. The diagram below shows the directions of the Digital Compass. 18 Tutorial 2 > Step 15 Bearing Pitch Roll

19. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Once testing is complete, disconnect the battery first from the splitter cable. 19 Note:The battery is always the first component to disconnect. Splitter Cable From Battery From Splitter Cable Battery Tutorial 2 > Step 16

20. BAE SYSTEMS PROPRIETARY – Internal Use Only Unpublished Work Copyright 2014 BAE Systems. All rights reserved. Next Modules Please continue to: Tutorial 3, GPS.pptx (not compulsory) or Tutorial 4, Final.pptx (not compulsory) Please note, Tutorial 4, Final, combines the ESC, Servo, Digital Compass and GPS. 20