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V 3.1 

MHV Quadcopter Workshop 

Page 29 of 36 

Accelerometer Calibration 

Mission Planner 

Connect to the Pixhawk and go to 

Hardware 

-> Mandatory Hardware -> Accel 
Calibration

: 

 

Ensure the 

AC 3.0+

 checkbox is ticked and 

press the 

Calibrate Accel

 button and 

follow the prompts. 

MAVProxy 

In a console (if not already connected), 
connect to the Pixhawk in setup mode: 

mavproxy.py --baud=57600 

–

console 

–

-setup 

To start the calibration process: 

ArduCopterMega]

 setup 

Setup]

 accel 

Follow the prompts. 

APM Planner 2 

Connect to the Pixhawk and go to 

Hardware 

-> Mandatory Hardware -> Accel 
Calibration

: 

 

Press the 

Calibrate Accel

 button and 

follow the prompts. 

 

This calibration enables the Pixhawk to account for not being perfectly flat mounted on the quadcopter and for any individual variations in the accelerometer 
measurements. 

 

Содержание Quadcopter

Страница 1: ...Stephen Dade MHV Quadcopter Workshop Manual 2 July August 2013...

Страница 2: ...adcopters 5 Components 6 Generating Thrust 6 Basic Stats 7 Autopilot Modes 7 Initial charging of the battery 8 Frame assembly 8 Evening 2 10 Transmitter Firmware Upgrade 10 Transmitter setup 12 ESC Fi...

Страница 3: ...g 25 Telemetry Radio Setup 26 Telemetry Radio Connection 27 RC Radio Calibration 28 Accelerometer Calibration 29 Compass Calibration 30 Loading Parameters 31 Motor and ESC tests and calibration 32 Bui...

Страница 4: ...ach you during the workshop The hardware The following list includes all parts and some tools required to build the quadcopter Note you may need a soldering iron for electrical work Other hardware too...

Страница 5: ...planner includes the APM software in it This software is being frequently updated with bug fixes better navigation code and more features It is recommended to update when a new version is released Not...

Страница 6: ...assembly Soldering of power connectors Simulator setup Evening 2 Flight electronics installation Evening 3 Calibration and testing Safety Briefing Evening 4 Indoor flight at Dickson College Simple fl...

Страница 7: ...transmitter on the ground One way link Telemetry Link A usually 915 MHz or 433 MHz bidirectional link between the flight controller and ground station Provides current status to the ground station and...

Страница 8: ...Note quadcopters particular those 1kg are very sensitive to payloads The payload should be as close as practical to the quadcopter s centre of mass Autopilot Modes The ArdupilotMega 2 9 1 at time of w...

Страница 9: ...arger to charge both the flight battery and RC transmitter battery The settings on the battery charger should be 3S LiPo battery type charge rate 5A for the flight battery and 2 5A for the RC Transmit...

Страница 10: ...V 3 1 MHV Quadcopter Workshop Page 9 of 36 5 Assemble the top of the hub plate Note there are 3 plates here 6 Along with the bottom plate start attaching the legs...

Страница 11: ...re and settings file for the Turnigy 9XR can be found at https canberrauav readthedocs org en latest quadcopter workshops quadcopter workshop 2 html Download these files and use then as needed in the...

Страница 12: ...additional options 2 eePe programmer setup Press the burn button on the main screen and select the supplied firmware file to upload 3 The eePe software on Windows Wait for the program to complete and...

Страница 13: ...manually changing the settings of the Transmitter to match the contents of the 9XR settings file in the previous section If you have already uploaded the settings you can skip this section Turn on the...

Страница 14: ...er Press RIGHT again to get into the settings for MODEL01 The settings for it should be Name Quadcopter Go across to the MIXER page The channels should be setup as such CH1 100 AIL CH2 100 ELE CH3 100...

Страница 15: ...mponents underneath Try cutting from the side with a knife 6 Location of microcontroller on the ESC For the purposes of this workshop we are using a dedicated firmware programmer device Using this dev...

Страница 16: ...bau kkmulticopterflashtool download If you are running windows ensure to install the USBASP driver first The black corner of the firmware flasher aligns to the pin 1 corner the corner on the IC with t...

Страница 17: ...ing module for new pilots and you can practice your flying skills in a safe environment Simply connect the audio stereo cable to the rear of your RC transmitter this cable plugs into the dongle which...

Страница 18: ...smitter controls the simulator correctly Use this simulation to get a feel for the quadcopter s controls and movement Wiring up the system Power train Connect the ESC s up to the motors and thread the...

Страница 19: ...the propellers are balanced equal mass on both sides If they are not the quadcopter may have a slight spin or drift when it is flying To balance them you need a propeller balancer 12 Propeller balance...

Страница 20: ...nna connected you could damage the TX Module 2 Hook up one of the ESC s to the RC receiver to provide power Attach a servo to channel 3 3 The binding wire the loop should be plugged in to the bind plu...

Страница 21: ...night The MAAA Model Aircraft Association of Australia are the recognised association for model aircraft pilots They are mostly focussed on fixed wing aircraft but can offer training and airfields for...

Страница 22: ...fire or explode if not maintained properly LiPo guidelines When not in use keep in a fire resistant enclosure Never charge a battery unattended If a battery looks damaged or puffy discharge it cut off...

Страница 23: ...To make them easier to undo consider trimming the two small tabs at the end of the wide blank face GPS Compass Pixhawk this uses 2 polarised cables The GPS Compass module should be as far away from t...

Страница 24: ...of the Pixhawk Putting all of these parts together gives 16 Pixhawk system connections The Pixhawk itself should be placed on the foam feet in order to reduce vibrations The GPS Compass module should...

Страница 25: ...o worth colour coding the landing legs to identify which direction is forwards on the quadcopter This is useful in maintaining situational awareness during flight Connecting the ground station Hook up...

Страница 26: ...er py port dev ttyACM0 where dev ttyAM0 is the name of the serial port that the Pixhawk is using APM Planner 2 Go to the Initial Setup Install Firmware tab Ensure the correct serial port is selected i...

Страница 27: ...t command mode Check the below settings list to ensure all your settings are correct APM Planner 2 Make sure you are not connected to the APM Go to Initial Setup 3DR Radio Change the NET ID number to...

Страница 28: ...assuming you only have one connected Otherwise use the master port argument APM Planner 2 Rotate the quadcopter and check the roll pitch values look sensible Go outside and confirm a solid GPS lock C...

Страница 29: ...the Pixhawk in setup mode mavproxy py baud 57600 console setup To start the calibration process ArduCopterMega setup Setup radio Follow the prompts APM Planner 2 Connect to the Pixhawk and go to Init...

Страница 30: ...eady connected connect to the Pixhawk in setup mode mavproxy py baud 57600 console setup To start the calibration process ArduCopterMega setup Setup accel Follow the prompts APM Planner 2 Connect to t...

Страница 31: ...bration process ArduCopterMega setup Setup set COMPASS_DEC 12 19 Setup set COMPASS_ORIENT 8 Setup set AUTODEC 0 Setup compassmot Follow the prompts APM Planner 2 Connect to the Pixhawk and go to Initi...

Страница 32: ...t quadcopter workshops quadcopter workshop 2 html Mission Planner Connect to the Pixhawk and go to Software Adv Parameter List Press Load to open the open the parameters file Press Write to write the...

Страница 33: ...6 Wait for the ESC s to beep three times 7 Put the throttle to 0 and wait for a single beep 8 Move the throttle up a little to confirm all ESCs are armed and the motors are working in sync It is impo...

Страница 34: ...d connect to the quadcopter via the telemetry radio links ARM the quadcopter by 1 Pressing and holding the safety switch of the quadcopter until the ESC s beep 2 Tilting the left stick to the right fo...

Страница 35: ...sticks to change the lat long altitude setpoint RTL Fly the quadcopter around for a bit and switch the Channel 7 which is mapped to RTL in the provided params file to on The quadcopter will then fly...

Страница 36: ...r at a position for a period of time return to land and others Of particular note are the altitude settings red circles Double check them before your write the waypoints to the APM The radius settings...

Страница 37: ...6 DIYDrones community site www diydrones com MHV Quadcopter repository https canberrauav readthedocs org en latest quadcopter workshops quadcopter workshop 2 html ER9X firmware http code google com p...

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