Naze32 Rev6 Flight Controller Manual V1.2
Naze32_rev6_manual_v1.2
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NEJZG3S RGVE M3NIJ3L ill J Naze32 rev6 manual vl.2 Copyright 2015 Quadquestions LLC. All rights reserved .cnn WARNINGS NGTGS WARNING Do not use t h is hardware fo r serious business, commercial a e ria l photography, or anything else where i t s usage could endanger the end user, sp e ctators, inanimate o b je c ts , a ir c r a f t f ly in g overhead, e tc. NOTE While the f l i g h t c o n tr o lle r firm ware and c o n fig u ra tio n software is based on the Mult i w i i system, the processor is not Atmel AVR, and t h is hardware cannot be programmed through the Arduino development environment or any AVR development to o ls . For more in f o r mation on STM32 development, see the fo llo w in g lin k : h ttp ://co d e .g o o g le .co m /p 7 a fro d e v ic es/wiki/STM32Development NOTE This hardware is provided a s -is and end-user is expected to have reasonable te c h n i c a l knowledge to complete set-up and reasonable R/C experience to operate m u lti- r o to r a ir c r a f t . \ OQu S ' P) Naze32 rev6 manual vl.2 Copyright 2015 Quadquestions LLC. All rights reserved .□□M BnaRn LayniJTS acRn vs. full C P 2 1 0 X USB to serial *board colons vary Aero Board STM32 FI 32bit processor 16mbit o n b oard memory Mems MP u 6 5 0 0 invensense gyro/acc Full Board BMP 280 Barometer 128mbit on board m e m o r y ms5611 Barometer Magnetometer + upgraded Barometer & Memory ) C77U M Naze32 rev6 manual vl.2 Copyright 2015 Quadquestions LLC. All rights reserved .cnM FEWER SCHEME **main header Provide 5v power to board e ith e r v ia BEC or step down voltage re g u la to r. Many escs have bees i n cluded and th e re fo re allo w you to power the board from your esc. — used to send voltage to rx ► n e g **The Battery monitor ing connection does not power the board. To power the board 5v must be connected to a 5V connection such as via a servo lead to the main header. ► 5v ► signal * The hardware is 16v to le re n t which means th a t you can power i t d ir e c t ly w ith b a tte ry power, however t h is voltage w i l l be present at a l l 5v lo c a tio n s . I t is best p ra c tic e to use a BEC when powering the board. I f t h is warning is ignored you w i l l f r y your attached 5v hardware such as rece ive rs sensors, e tc .' telemetry 5v 5-26v battery monitoring connection SDA The I2C bus can be used fo r a d d itio n a l sensors or de bugging. I2C bus runs a t 3.3V on ly, do not connect 5V sensors here (such as I2C sonar, e tc ). \M } .CGM Naze32 rev6 manual vl.2 Copyright 2015 Quadquestions LLC. All rights reserved GROUNDING The NEG pads are on outen edge of board Warning: there is noreversevoltage polarity protection built intothis board, soif youconnect your power backwardsyouwill instantly destroy thehardware. S ' P) \ ODD Naze32 rev6 manual vl.2 Copyright 2015 Quadquestions LLC. All rights reserved .CGM GGNGREIL INPUTS ESC/servo headers/ outputs Bootloader pads Power in d ic a to r LED Micro USB connector R/C in pu ts CPPM/PWM motor output SBUS RC in p u t LED connection s o fts e r ia l * O ptional B a tte ry V o lt age M onitor To enable i n - f l i g h t b a tte ry voltage m onitoring and alarm, con nect t h is header to f l i g h t b a tte ry or power d is tr o board. Up to 25V (6S LiPo) can be measured. No reverse p o la r ity pro te c tio n - connecting b a t te ry in reverse w i l l in s ta n tly destroy the hard ware . / fi \ Board O rie n ta tio n In d ic a to r TX/RX uart Connected to USB. Spektrum S a te llite po rt Th e n a z e 3 2 is a st a t i c s e n s i t i v e device. Use caution when handling and m a k e sure t h a t you f o l l o w p r o p e r anti stat i c h a n d l i n g procedures. ---------- s. ml p ) \ / ---------s @ / 11 i=d L-i m Naze32 rev6 manual vl.2 Copyright 2015 Quadquestions LLC. All rights reserved .cm PORTS IJ3 RT 3 ND SGFTSGRiaL The N a z e 3 2 f e a t u r e s 2 d e d i c a t e d h a r d w a r e U A R T s e r i a l ports. O n e on t x & r x and one at pins 3&4 W h e n “f e a t u r e s o f t s e r i a l ” is e n a b l e d in t h e s o f t ware, it w i l l c r e a t e s o f t w a r e e m u l a t e d se r i a l p o r ts on pins 5&6, & 7&8. USB Port 5=rx 1 6=tx 1 7=rx 2 tx&rx T h e USB S e r i a l port s h a r e s t h e same U A R T as tx&rx. telemetry pins If a s e r i a l d e v i c e is c o n n e c t e d to t x / r x it w o n t w o r k w h e n t h e usb is c o n n e c t e d and v i c e versa, if t h e r e is a d e v i c e c o n n e c t e d to tx & rx t h e r e w i l l be p r o b l e m s w i t h t h e usb c o n n e c t i o n , so d i s c o n n c t d e v i c e s a t t a c h e d h ere w h e n c o n n e c t i n g t h e N a z e 3 2 to USB. Also, F r s k y t e l e m e t r y is c o n n e c t e d to t h i s same UART1, if you w a n t to use t h e t x & rx pins, y o u w i l l h a v e t o m o v e y o u r t e l m e t r y to a soft s e r i a l port or U A R T 2 . If t h e r e is no c o n n e c t i o n to tx&rx, t h e t e l e m e t r y w i l l not w o r k w h e n usb is c o n n e c t e d . T h e h a r d w a r e w i l l not o u t p u t to t h e t e l e m t r y pins w h e n c o n n e c t e d via usb, so if you are u s i n g t h e t e l e m e t r y pins, you w i l l not see t e l e m e t r y v a l u e s until t h e b o a r d has been armed. Naze32 rev6 manual vl.2 Copyright 2015 Quadquestions LLC. All rights reserved .cnM anniTinNaL fgeitijrgs 3 .3 V -to le ra n t GPIO connected to PB5 on STM32. Cannot be connected to 5V le v e ls as th is w i l l in s ta n tly destory the hard ware . ♦Bootloader pads can be shonted out in the event th a t the board cannot be flashed w ith the bootloader fla s h e r. Make sure "no reboot se quence'’'’ is checked in the firm ware fla s h e r i f these pads are shorted. I GPIO 3v3 10 5v to le ra n t t 5 V -to le ra n t GPIO connected to PA15 on STM32. Can be used fo r sonar tr ig g e r or any oth er 5V I/O . 3.3V ADC in pu t connected to ADC12_IN5 on STM32. Not 5V t o le r a n t . You can cut th is tra c e to disa b le the onboard magnetometer on the f u l l version . I___________ 5v ♦warning- i f sh o rtin g bootloader pads., be sure to only sho rt the 2 pads together., be m indful not to short the pads to the 5v pin or hardware f a ilu r e w i l l re s u lt. u ™ .CGM Naze32 rev6 manual ul.2 Copyright 2015 Quadquestions LLC. All rights reserved TUG GaCKSinG Echo and t rigger Sonar pads ---w/resistors added for direct c o n nection to 5V sonar. Cortex Debug Connector 10 pin 0.05" debug c o n nector conn e c t e d to fS W D J port of STF132. \ S' P L r^ ED J o ra Naze32 rev6 manual ul.2 Copyright 2015 Quadquestions LLC. All rights reserved .c n n /dev/cu.SLAB_US $ Connect 115200 B Auto-Connect 18:43:37 -- Serial port successfully opened with ID: 2 18:43:40 -- Unique device ID received - 0x66dff515650877067043228 18:43:40 - Running firmware released on: Aug 27 2015 18:44:11 —Serial port successfully closed Setup Configuration PID Receiver Mode Selection driver Servos GPS Motor Testing nnwNLnan Sensor Data Logging Backups CLI Welcome to Baseflight - Configurator, utility designed to simplify updating, configuring and tuning of your flight controller. Demonstration mode can be accessed by selecting "Demo'' in port selection area and connecting. Application supports complete family of Baseflight hardware (aero naze, naze32, naze32pro and afromini). • Baseflight wiki can be found here • Latest CP210x Drivers can be downloaded from here News & Changelog 2015.07.24 - 0.68 I Backup & Restore Manager, pa tial restore, bugfixes... Backup & Restore Manager is the latest feature addit Dn (you can find it inside Backups tab) featuring new experimental partial restore which should help a great deal with firmware upgrades now and in the future, there is als< new storage area for backups that you can utilize instead of backing up to files, Updating to latest firmware is currently highly recoir imended so you can reap all the benefits from recently added features, Note that the minimum restorable API version is v l , f st firmware that supports API versioning was released February 12 2015, older releases are not supported. Improved RC fake input data from emulator (making le receiver tab look much cooler in demonstration mode), Added missing ADC (A5) to the list of supported ADC input pins in the Ul (reported through github, thanks dustin). Added Pitch and Roll values next to the Heading in 3 ) view. Bugfix for barometer graph not rendering correctly ab )'>ve 500 meters, Bugfix for emulator bug that caused unexpected beh;ic vior after restoring incompatible backup. 2015.07.20 - 0.67 I Better landing page, demo moc i The biggest feature in this release is probably the inti:r >duction of demonstration mode, which you enter by selecting "Demo" in port selection area and connecting. This mode will use an internal MSP emulator for bash MSP transactions, allowing users without a board on hand or new users that are looking to buy a board that runs baseflight hardware to test the application functionalit' / view supported features before committing to a purchase. Other changes include revamped interface on thei Ian iiing page to better utilize remaining whitespace and in turn allow more detailed changelogs to be posted, Several Ul initialization bugfixes (mostly in Receiver nd Servo tabs) and optimizations for Setup tab. Silent release vO.66.1 contained fix for RC rate not gc mg over 1.0 in Receiver tab (reported through support section on chrome store, thanks Zack C). 2015.07.11 -0.66 - Added Airplane Setup Project Supporl / Donations Sponsors This freeware utility is available free )f charge to all baseflight users, If you found the utility useful, please consider supporting its development by donating. ^ • AbuseMark (Official Naze Hardware Manufacturer) D ona Firmware Flasher Copyrigh © cTn 2015 All rights reserved, Configurator uses open source software Port utilization: D: 0% U: 0% Packet error: 0 I2C jrror: 0 0.68.3 Cycle Time: 0 D o w n l o a d th e C P 2 1 0 X d r i v e r s by c l i c k i n g h e r e ___________ W h e n c o n n e c t i n g to B a s e f l i g h t the f i r s t t h i n g t h a t you need to m a k e sure to do is d o w n l o a d t h e d r i v e r s so t h a t y o u r c o m p u t e r can c o m m u n i cate w i t h th e board. We a l s o r e c o m m e n d t e s t i n g th e b o a r d b e f o r e s o l d e r i n g so t h a t a r e t u r n can be m a d e if needed. Al l N a z e 3 2 s are t e s t e d f r o m th e f a c t o r y b e f o r e shipping. Naze32 rev6 manual vl.2 Copyright 2015 Quadquestions LLC. All rights reserved .c g m /dev/cu.SLAB_US $ Connect 115200 Qj Auto-Connect 18:43:37 -18:43:40 18:43:40 -18:44:11 -- Serial port successfully opened with ID: 2 Unique device ID received - 0x66dff515650877067043228 Running firmware released on: Aug 27 2015 Serial port successfully closed Setup Configuration PID Receiver Mode Selection Gyro n Ik I T 1^1 I Servos GPS n ^ n 1\ r i D M | ™ l l x l Motor Testing I Accel I H Sensor Data Mag H A Baro GPS Sonar ^ I H C L I G D r L C J S l I L I X Logging Backups CLI Welcome to Baseflight - Configurator, utility designed to simplify updating, configuring and tuning of your flight controller. Demonstration mode can be accessed by selecting "Demo" in port selection area and connecting. Application supports complete family of Baseflight hardware (aero naze, naze32, naze32pro and afromini). • Baseflight wiki can be found here • Latest CP210x Drivers can be downloaded from here News & Changelog 2015.07.24 - 0.68 I Backup & Restore Manager, partial restore, bugfixes ... Backup & Restore Manager is the latest feature addition (you can find it inside Backups tab) featuring new experimental partial restore which should help a great deal with firmware upgrades now and in the future, there is also new storage area for backups that you can utilize instead of backing up to files. Updating to latest firmware is currently highly recommended so you can reap all the benefits from recently added features. Note that the minimum restorable API version is v l, first firmware that supports API versioning was released February 12 2015, older releases are not supported. Improved RC fake input data from emulator (making the receiver tab look much cooler in demonstration mode). Added missing ADC (A5) to the list of supported ADC input pins in the Ul (reported through github, thanks dustin). Added Pitch and Roll values next to the Heading in 3D view. Bugfix for barometer graph not rendering correctly above 500 meters. Bugfix for emulator bug that caused unexpected behavior after restoring incompatible backup. 2015.07.20 - 0.67 I Better landing page, demo mode ... The biggest feature in this release is probably the introduction of demonstration mode, which you enter by selecting "Demo" in port selection area and connecting. This mode will use an internal MSP emulator for basic MSP transactions, allowing users without a board on hand or new users that are looking to buy a board that runs baseflight hardware to test the application functionality / view supported features before committing to a purchase. Other changes include revamped interface on the landing page to better utilize remaining whitespace and in turn allow more detailed changelogs to be posted. Several Ul initialization bugfixes (mostly in Receiver and Servo tabs) and optimizations for Setup tab. Silent release vO.66.1 contained fix for RC rate not going over 1.0 in Receiver tab (reported through support section on chrome store, thanks Zack C). 2015.07.11 -0.66 - Added Airplane Setup Project Support/Donations ■ This freeware utility is available free of charge to all baseflight users. If you found the utility useful, please consider supporting its development by donating. Sponsors • AbuseMark (Official Naze Hardware Manufacturer) Donate Firmware Flasher Copyright © cTn 2015 All rights reserved, Configurator uses open source software Port utilization: D: 0% U: 0°/ Packet error: 0 I2C error: 0 0.68.3 Cycle Time: 0 C l i c k h ere to o p e n t h e f i r m w a r e flash er. f i ' J3] i J v ______ Naze32 rev6 manual vl.2 Copyright 2015 Quadquestions LLC. All rights reserved .CGM • • • /dev/cu.SLAB_US $ t [ 115200 Connect Q Auto-Connect 21:41:56 - Running - OS: MacOS, Chrome: 46.0.2490.86, Configurator: 0.68.3 Setup Configuration PID Receiver Mode Selection Servos | NGN FIRMNaRG ^ GPS Motor Testing Sensor Data Logging Backups CLI n | Please load firmware file Stable 2015.08.26-21:40 Available online firmware releases No reboot s c ie n c e Check if you are flashing board with bootloader pins shorted Do not verify Do not verify uploaded data (saves time when flashing multiple boards) Q Full Chip Era Flash slowly Wipes all configuration data currently stored on the board Use 115200 baudrate for flashing (useful for flashing via bluetooth) Warning Please do not try o flash non-baseflight hardware with this firmware flasher (it wont work), Do not disconnei t the board or turn off your computer while flashing. Note: STM32 boc loader is stored in ROM, it cannot be bricked. Note: Auto-Conn jet is always disabled while you are inside firmware flasher. 3. click flash firmware. 1. Click Load Firmware 2. Select load f i r m w a r e online Leave Firmware Flasher Port utilization: D: 0% U: 0% Load Firmware [Local] Packet error: 0 I2C error: 0 Cycle Time: 0 1 Load Firmware [Online] Flash Firmware / 0.68.3 You can load custom f i r m w a r e by click i n g "load f i r m w a r e (local) This will allow you to run cus t o m varients of baseflight (for advanced users) Naze32 rev6 manual vl.2 Copyright 2015 Quadquestions LLC. All rights reserved .cnM /dev/cu.SLAB_US $ p il5 2 0 0 22:00:35 22:00:35 22:00:35 22:00:40 Setup ---- Connect B Auto-Connect 5&^al port successfully opened with ID: 1 Uniqi^device ID received - 0x66dff515650877067043228 Runnin^irmware released on: Aug 27 2015 Serial porNtuccessfully closed \ r Configuration Receiver Mode Selection Servos GPS Motor Testing Sensor Data Logging Backups CLI To c onnect for the first time., plug in y our Naz e 3 2 to the computer, once this is done, the port should be listed in the dropdown. Look for SiLab port, select it and then click "connect". If the d r o p d o w n shows "no ports" then you havent i n stalled the driv e r p r o p e r l y or need to check your USB cable. You should see a blue light on the board when t h e r e is power applied. C l i c k i n g a u t o c o n n e c t is the e a s iest wa y to find the right port. If you click a u t o - c o n n e c t and then plug in y o u r Naze32, it should a u t o m a t i c a l l y c o n nect to the board. The tabs at the top of the screen will not be clic k a b l e until you connect to the board. You can also connect to demo under the port dr o p d o w n to play around with settings. Naze32 rev6 manual vl.2 Copyright 2015 Quadquestions LLC. All rights reserved .cm /dev/cu.SLAB_US P | 22:00:40 22:09:56 22:09:56 22:09:56 Setup -- 115200 i | Disconnect Q Auto-Connect Serial port successfully closed Serial port successfully opened with ID: 2 Unique device ID received - 0x66dff515650877067043228 Running firmware released on: Aug 27 2015 Configuration PID Receiver Mode Selection P Gyro Accel Mag Baro GPS Sonar 1 sensors are working p ro p e rly . GPS and sonar are red in th is instance because they are not enabled. Servos GPS Motor Testing Sensor Data Logging Backups CLI Calibrate Accelerometer Place board or frame on leveled surface, proceed with calibration, ensure platform is not moving during calibration period Calibrate Magnetometer Move multirotor at least 360 degrees on all axis of rotation, you have 30 seconds to perform this task Reset / Restore settings to default Reset Settings Heading: Pitch: Roll: Author: creyc C lic k t h is only when the quad is le v e l C a lib ra te Acc C a lib ra te Mag. Do t h is in open a ir away from m e ta llic objects Reset S e ttin g s - use th is to reset a l l setings to d e fa u lt. -35 deg -30 deg 19 deg Info Battery voltage: 0V Capacity drawn: 0 mAh Current draw: 0.00 A RSSI: 0% GPS fr o n t o f you fa c in g away from you., c lic k rese t z axis to make the 3d rendering match what the model is -doing. -----------------------------------Port utilization: D: 4% U: 2% Packet error: 0 I2C error: 0 3D Fix: False Sats: 0 Latitude: 0.0000 deg Longitude: 0.0000 deg The in fo and GPS boxes give in f o r mation from the sensors on the board. B att v o l t age is measured from the VBat pins and cu rre n t draw and rs s i Reset Z axis, offset: 43 deg 0.68.3 Cycle Time: 3503 I f you get several e rro rs , check your USB cable- these values are mostly used fo r bluetooth debugging. \ M Naze32 rev6 manual ul.2 Copyright 2015 Quadquestions LLC. All rights reserved i .COM Set these to match your battery chemistry (initial values are setup for Lipo batteries) ^ CDNFIGIJRaTinN TEH3 PG 3 Use these values to setup your current sensor, (battery current monitoring must be enabled) Battery Voltage Current 3.3 : Minimum Cell Voltage ADC input pin for an external current sensor 3.5 Warning Cell Voltage Scale the output voltage to milliamps [1/10th mV/A] 4.3 : Maximum Cell Voltage Offset in millivolt steps no : Voltage Scale Enable support for legacy Multiwii MSP current output Misc Board Alignment Roll Adjustment [degrees] o: o: Pitch Adjustment [degrees] Yaw Adjustment [degrees] Port utilization: ^ 0% U: 0% Packet error: 1 Looptime can be set here. Min looptime with ACC is 1000. Warning This value effects your PIDS I2C error: 0 25 : Looptime [microseconds] Maximum angle permitted for arming [degrees] Save Cycle Time: 3474 To change the board orientation, adjust these settings, fpr example, to rotate the board counter clockwise 90 degrees in the Yaw axis, you could use either a value of -90 or 270. It is extremely important to set this up properly. You can verify that it is setup by making sure that the model moves according to the actual movements of the quad. A uthor: creyc 3500 C Heading: Pitch: Roll: -60 deg -35 deg -6deg 0.68.3 This is the maximum angle allowed for arming. If you have troubles arming your quad in rough terrain, adjust this setting. ’ Make sure to set the board alignment before you try to fly for the first time. ’also, calibrate your acc if the board is realigned. ’ If you have problems arming on a level surface, ACC calibration Is a good place to start. m Naze32 rev6 manual ul.2 Copyright 2015 Quadquestions LLC. All rights reserved .cnn Port Disconnect ( /dev/CU.SLAB_US $ ') ( 115200 22:33:24 22:33:26 22:33:26 22:33:26 Q Auto-Connect Gyro -- You need to connect before you can view any of the tabs -- Serial port successfully opened with ID: 4 - Unique device ID received - 0x66dff515650877067043228 - Running firmware released on: Aug 27 2015 Setup Configuration PID Receiver Mode Selection _ _ _ _ —m _ _ __ _ 1 1^ 1 |h 1 1 1 1 I W I J I X M Servos GPS Mixer Motor Testing Accel 1 Mag _ _ _ ^1 H J I X Sensor Data Baro GPS Sonar PG1 Logging Backups CLI Features This is where you make most changes to your setup in c lu d in g changes to your mix, changes to your general setup. Enable PPM input (and disable PWM input) Enable Battery voltage monitoring Enable in-flight level calibration Enable Serial-based receiver Don't spin the motors when armed Enable servo gimbal Enable 3rd serial port Enable LED ring support Enable GPS (PPM or 3rd serial port required) Enable failsafe settings on PPM/PWM signal loss Enable sonar Enable FrSky- compatible telemetry output Enable Battery current monitoring Enable VARIO Enable 3D mode (for use with reversible ESCs) C lic k here to change your mix Enable GPS Return to Home for Fixed Wing Enable Oneshot (Syncs PWM output with the main loop) Enable FastPWM (lowers the PWM pulse length to 1/8th) Throttle Accelerometer & Magnetometer 1150 : Minimum Throttle Accelerometer Roll Trim 1500 Middle Throttle [RC inputs center value] Accelerometer Pitch Trim 1850 : Maximum Throttle Magnetometer Declination [degrees] 1200 : Failsafe Throttle iooo : Minimum Command i Brushed Motors OFF Serial Receiver GPS SPEKTRUM1024 SPEKTRUM2048 NMEA Type i __SELUS______________________ Port utilization: D: 0% U: 0% Packet error: 1 I I2C error: 0 I Cycle Time: 3518 Min t h r o t t le - t h is value should be set fo r your escs. BLheli and Kiss escs work w e ll w ith a the stock minimum t h r o t t le o f 1150., simonK firm ware should be set at 1064, oth er escs vary- i t s best to s ta r t low and tu rn t h is value up u n t il your motors s ta r t r e lia b ly . middle t h r o t t le - The center value f o r your RC in p u t max th ro ttle -m a x value f o r the escs at f u l l power f a ils a f e t h r o tt le - th e t h r o t t le value set when f a ils a f e is in it ia t e d . 0.68.3 Brushed M o to rs -s e ttin g to 8000 w i l l use brushed mode a t 8kHz sw itching frequency. Up to 32kHz is supported. Note, th a t in brushed mode, m in th ro ttle is o ffs e t to zero, -must use e x te r nal fe ts \ ____ i d J 2 ) / i= d 1 1 = J Naze32 rev6 manual ul.2 MINCOMMAND is the s ig n a l the sent to the ESC when unarmed. Copyright 2015 Quadquestions LLC. All rights reserved .COM Motor Testing GPS Sensor Data Logging Backups C G N P IG U R E lT in N TEH3 PG S CLI Features a Enable PPM input (and disable PWM input) Enable this for use with ppm receivers. Enable Battery voltage monitoring Enable this to allow batt monitoring on vbat pins Enable in-flight level calibration Enable Level calibration during flight. Enable for use with sbus receiver- utilizes UART2 Enable Serial-based receiver - 4 Don't spin the motors when armed Enable servo gimbal Enable 3rd serial port Enable LED ring support Enable GPS (PPM or 3rd serial port required) Stops motors when armed at minthrottle- useful for beginners. Use this to enable gimbal output-uses servo 1& 2 for gimbal** Use this to enable soft serial on pins 5,6 and 7,8 Enables LED ring support-output on pin 5. Enables GPS on Pins 3 & 4 Enable failsafe settings on PPM/PWM signal loss . Enables failsave throttle setting on PPM/PWM loss from receiver Enable sonar Enables Sonar Enables Frsky Telemetry output, (inverted on telemetry pins)*** Enable FrSky- compatible telemetry output Enable Battery current monitoring Enable VARIO ^ Enable 3D mode (for use with reversible ESCs) Enable GPS Return to Home for Fixed Wing . Enable Oneshot (Syncs PWM output with the main loop) Enable FastPWM (lowers the PWM pulse length to 1/8th) Enables Current monitoring**** Enables vario over telemetry-for audible beeps when altitude changes Enables 3d mode, sets throttle midpoint at 0- use for acrobatic tricks self explanitory set this to enable Oneshot set this if enabling oneshot Accelerometer & Magnetometer Accelerometer Roll Trim set your acc roll trim (acc stick commands change these values) Accelerometer Pitch Trim Set your acc pitch trim Magnetometer Declination [degrees] - set this for your locale (important for accurate GPS Measurements) (acc stick commands change these values) *Inflight level calibration procedure 1. You arm the function with a stick combo and take off as usual 2. you either trim the hover mode using the trims on the rx until it is perfectly level and not drifting or you use the acromode until it is leveled 3. you now hit the "arm" switch (usually auxl/aux2) and turn off the engine. Don't worry the code does not turn off the engines - there is a failsafe feature. 4. The copter now takes 50 measurements of the current angle and stores them in ram. 5. After landing you have to transfer the new values into the eeprom with a stick combo. ** When gimbal is enabled, motor outputs shift by 2, so motor 1 is on servo3, motor2 is on servo 4 and so on. *** Telemetry can be output to a soft serial (must be inverted and programmed via CLI) * * * * r c inputs (assuming you are using PPM) or you can use the ADC on the bottom of the board, this way baseflight will keep track of the current and send the data via MSP to the OSD. Serial Receiver GPS SPEKTRUM1024 SPEKTRUM2048 SBUS SUMD Select the GPS Type here NMEA (J15200 Auto-detect Select your serial receiver type here. Not used if "enable serial based receiver" is unchecked. * * x x Y n iJ M UST CLICK TUG G 0VG B IJT T G N 3 T TUG B G TTG M GF TUG PE1GG TG GE1VG YGIJR S G T T IN G 5 BGFGRG MGVING GN TG 0N G T H G R T 3 I3 • Baud rate Select GPS baudrate (configured in GPS modules settings) * Select Ground assistance type. (auto is fine for most circumstances Naze32 rev6 manual vl.2 Copyright 2015 Quadquestions LLC. All rights reserved .CGM /dev/cu.SLAB_US i Disconnect 115200 Q Auto-Connect Gyro 01:58:44 - Serial port successfully opened with ID: 21 01:58:46 - Unique device ID received - 0x66dff515650877067043228 01:58:46 -- Running firmware released on: Aug 27 2015 01:58:53 -- ASCII scraps: M>IZ Configuration PID Name Receiver Mode Selection Proportional Servos Integral GPS Motor Testing Derivative 4.0 : 0.030 C 23 : PITCH 4.0 : 0.030 : 23 : YAW 8.5 : 0.045 : o : : o.ooo : o : 12.0 ; 0.045 : i : Pos o .ii : o O o <> o o <> 0.045 c : 0.080 C : i.4 : LEVEL 9.0 : MAG 4.o : o.20 o 2.0 o PosR <> 5.0 VEL 00 ALT NavR Sensor Data Roll rate ROLL io o : Mag Baro GPS Sonar the e s s e n tia l PIDS fo r f l i g h t are ROLL, PITCH, YAW, and LEVEL. P in PEIGG O Setup Accel o.oo : + Logging Pitch rate o.oo : + Backups CLI Yaw rate TPA o.oo : o.oo : * These values should be turned up fo r acrobatic f ly in g and as you get b e tte r. Keep the rates down i f you are a beginner We lik e to set these to around .7 fo r fa s t f l i p s and acrobat ic quads. TPA or T h ro ttle PID A tte n u a tio n t h a t. I t attenuates the PIDs at t l e le v e ls , so i f your quad f l i e s shakes under f u l l t h r o t t le , give does ju s t higher t h r o t n ic e, but i t some TPA Profile A ▼ 1 ◄ You can set m u ltip le p ro file s in B a s e flig h t. This is nice because you can have 3 d if fe r e n t sets o f s e ttin g s . I f the p r o file gets changed you wont be able to f l y unless you setup th a t new p r o f ile , so keep th is in mind. This is the f i r s t th in g to check when you are havine arming issues. Profile 1 Profile 2 C O - Profile 3 Port utilization: D: 0% U: 0% You can s e le c t the p r o f ile w ith s tic k inputs when unarmed using these commands. PID tuning is beyond the scope o f th is manual, however, some basics are: S ta rt by tuning aero or gyro ra te mode, auto le v e l should be tuned la s t . P- adjusts snappiness o f the quad to your in p u t. u n t il you get shakes then back o f f 10-20% I f i t is squishy, increase P I - How the quad reacts to outside fo rc e s , wind, o ff-b a la n c e weight such as a b a tte ry , e tc . I f the quad d r if t s when an angle is s e t, tu rn th is up. The quad shouldn't d r i f t . I f I is too high, i t w i l l o s c illa t e a b it more slowly than P. D- The speed a t which the quad returns to a p o s itio n , so fo r auto le v e l f o r in stance, i f D is high, i t snaps back to le v e l when you l e t o f f the s tic k . When D is turned down, i t slows the response o f the re ac tio n back to le v e l when you l e t o f f o f the s tic k . D can also be used to tune out o s c illa tio n a f t e r movement. Refresh Packet error: 1 I2C error: 0 Cycle Time: 3487 0.68.3 T y p ic a lly , i f the stock values d o n 't work or allo w you to f l y , then you have got some other issues going on th a t you should look in to a d ju s tin g . The Naze32 works by looking a t many fa c to rs , sensor in p u ts , user in p u ts , and a l l o f these fa c to rs are c alc u late d and a motor output is “w ritte n " This happens over and over again a t a high ra te o f speed, (lo o p -tim e ) The PID gains a djust t h is c a lc u la tio n and tuning the PIDS is e s s e n tia l to r e a lly d ia lin g in your quad. Every quad is d if f e r e n t , and a l l re q u ire s lig h tly d if fe r e n t s e ttin g s . Also, every p ilo t 's opinion o f how a quad should f l y is also d if f e r e n t . Be sure to consider th is when tu n in g , i t is su b jective and th e re are many d if fe r e n t ways to do i t . PID tuning videos on you tube, and Google searches should help you get your quad d ia le d in . Please discuss a t quadquestions. com Save Naze32rev6 manual vl.2 Copyright 2015 Quadquestions LLC. All rights reserved .cnii /dev/cu.SLABJJS i 115200 i Disconnect O Auto-Connect 01:59:15 02:25:55 02:25:57 02:25:58 - Serial port successfully closed Serial port successfully opened with ID: 22 Unique device ID received - 0x66dff515650877067043228 Running firmware released on: Aug 27 2015 Setup Configuration 1 i 0.50 : PID Profile Throttle MID Receiver Mode Selection GPS RGCGIVGR TE1I3 Servos GPS Motor Testing Roll EEoo n oo Throttle RC Rate 0.65 : RC EXpo Disabled i Backups CLI [E o o AUX 1 i AUX 2 Channel Map AETR1234 Logging E °o Throttle Expo 0.90 : Sensor Data Pitch Yaw o.oo : Sonar RSSI on AUX Channel Map- AETR1234 stands fo r the 8 channel Inputs 12345678 so th a t means th a t AETR1234 has a ile ro n s on channel 1, e le v a to r on channel 2, and so on. This is im portant because many stock rad io mixes d i f f e r from one another. The Taranis X9D plus f o r ex ample has a channel output o f AETR but others are TAER which has t h r o t t le on channel AUX 3 AUX 4 153E I t is very important to set your radio servos so th a t they id le a t 1060, center a t 1500 and max a t 2000. The trim s on the radio should remain centered when s e t tin g these up. On the Taranis, th is is done on the Servos tab 50 ms i Mapping your t x outputs to chan nels should be done in the mixer in your ra d io , so i f you want to have a s p e c ific switch c o n tro l aux 1, you would have to set th is up in your ra d io . 1 ill rim 1500A 1500A 1500A 1500a 1500a 1500a You should set your radio up w ith no expo and then l e t the f l i g h t c o n tro lle r software setup your expo and rates fo r you. This is handy because i t allows you to have d iffe r e n t expos and rates setup on d iffe r e n t p r o file s , so you could fo r instance have one p r o file setup fo r film in g , which has smooth expo, ra te s , pids, e tc , and then have an acrobatic p r o file th a t is aggressive, and then have a racing p r o file w ith another set o f s e ttin g s . Refresh Save To make sure your servos aren't reversed, you should see these values when moving your sticks: p itch up ( r ig h t s tic k up)=2000 R o ll R ig h t(rig h t s tic k rig h t)= 2000 t h r o t t le fu ll= 2 0 0 0 yaw right=2000 Set RSSI on Aux i f you port the RSSI in v ia a servo channel. Be sure to check th is page and th a t your radio is func tio n in g properly before your f i r s t f l i g h t . Check th a t a l l channels are properly mapped and th a t none are reversed. Check QuadQuestions.com fo r videos on how to do t h is . EM .can Naze32rev6 manual vl.2 Copyright 2015 Quadquestions LLC. All rights reserved Setup Configuration PID Profile: 1 Receiver Mode Selection Servos Motor Testing Sensor Data AUX 2 AUX 1 Name GPS HIGH LOW MED Logging Backups AUX 4 AUX 3 HIGH LOW MED CLI HIGH LOW MED HIGH ARM HORIZON BARO VARIO MAG HEADFREE HEADADJ CAMSTAB GPS HOME GPS HOLD BEEPER CALIB OSD SW Arm- i f not set to a switch, arming w i l l happen w ith the l e f t s tic k down and to the r ig h t . I f the arm switch is s e t, arming v ia s tic k command is disab led . Motor Arm F lig h t modes: A ngle=autolevel- the quad le v e ls when s tic k is n e u tra l When setting the modes, a check box sets the mode to a switch. SO, a typical flight mode selection switch, with low being angle mode, mid being horizon and high being rate mode would look something like this: H orizon=autolevel plus Aero mode a t edges o f s tic k movements, so hard rig h t would cause f l i p s , centering s tic k causes a u to le v e l. no angle or horizon selected=gyro r a te . ♦Many people have problems when f i r s t s ta rtin g out because they d o n 't s e le c t le v e l mode. Baro=alt hold v ario = v a rio sent v ia tele m e try Mag=heading hold Headfree ( F u ll board o n ly )- o rie n ts the quad to the user so no m atter which d ire c tio n the quad is fa c in g , p itch forward is always away from you and p itch back is always towards you This works in conjunction w ith HEADADD which allows you to set the new yaw o rig in . P ro file: 1 i Nam e AUX 1 LOW ARM ANGLE H O R IZ O N O I —] t —^ BARO GPS HOME= GPS retu rn to home (use a t your own r is k ) GPS HOLD= GPS hold M AG HEADFREE Beeper= Sounds buzzer when a ctiva ted C a lib - W rite in f l i g h t le v e l c a lib to eeprom OSDSW- Turn o f f OSD ( i f using minimosd) Copyright 2015 Quadquestions LLC. All rights reserved H IG H ■ ■ ■ Camstab=Camera S ta b iliz a tio n (works i f gimbal is enabled) V A R IO MED rn ■ ■ ■ t— \ -- \ f /dev/cu.SLAB_US i 22:57:53 22:57:53 22:58:33 22:58:57 Setup 115200 Disconnect Q Auto-Connect Gyro o Mag -- Unique device ID received - 0x66711515650877067051425 -- Running firmware released on: Aug 27 2015 -- Backup saved successfully -- Backup saved successfully Configuration PID Receiver Mode Selection Servos GPS Motor Testing Sensor Data Logging Backups CLI Save Port utilization: D: 4% U: 1% Packet error: 0 I2C error: 0 Cycle Time: 1202 | 0.68.2 Atypical switch setup, arm on switch 1, alt hold and heading hold on switch 2, flight modes on 3, and heading hold again /OSDsw on switch 4. You can see that all switches are in the mid position, so this quad is flying horizon with altitude hold and heading hold active. m Naze32rev6 manual vl.2 Copyright 2015 Quadquestions LLC. All rights reserved i .cnM /dev/cu.SLAB_US 03:27:25 03:39:06 03:39:09 03:39:09 Setup ----- t ) S ) | Disconnect f r i5 2 0 0 G Auto-Connect Serial port successfully closed Serial port successfully opened with ID: 34 Unique device ID received - 0x66dff515650877067043228 Running firmware released on: Aug 27 2015 Configuration PID Receiver Mode Selection servos Servos GPS Motor Testing Tara Sensor Data Logging Backups CLI Model: Gimbal / Tilt Servos Servo 0 Min Max Rate (%) Middle : <> o 1500 : CO <> o CN O 20 00 Direction of movement Roll Reverse Pitch □ Yaw Throttle AUX 1 AUX 2 AUX 3 AUX 4 □ Servo 1 Min Max 1020 Rate (%) Middle 2000 : : 1500 : 30 : Direction of movement Roll Pitch Yaw Throttle AUX 1 AUX 2 AUX 3 AUX 4 Reverse Enable Live Mode: Save Servos- lets you set your servo movement. You can set it to the throw of your sticks depending on your check-box, so if aux 1 is checked, you can set the servo to follow the switch when camstab is not enabled. To reverse the movements, set the rate % to a negative value. This screen will not be available if Gimbal is not enabled. Port utilization: D: 0% U: 0% | Packet error: 1 | I2C error: 0 Cycle Time: 3500 0.68.3 Naze32 reu6 manual vl.2 Copyright 2015 Quadquestions LLC. All rights reserved .cm Setup Configuration PID Receiver Servos Mode Selection GPS Sensor Data Motor Testing 3D Fix: False ID Quality Signal Strength Altitude: 0m Idle Latitude: 0.0000 deg Longitude: 0.0000 deg Speed: 0 cm/s Sats: 0 Dist to Home: 0m 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 " 1 1 .. 1 i 1 1 1 I 1 1 1 I I i 1 i 1 i I i I 1 ...........1 i _ _ _1 i I 1 _J 1 _ _ _ _ _ _ _ _ _ _ _=□ GPS Debug Info GPS update rate: - ms SVINFO rate: - ms POS LAT deviation: - POS LON deviation: - POS deviation: - cm Horizontal accuracy: 0.00 m Vertical accuracy: 0.00 m Port utilization: D: 3% U: 1% Idle Idle Idle Idle Idle Idle Idle Idle Idle Idle Idle Idle Idle Idle Idle ■ GPS ■ ■ IMES ■ QZSS Packet error: 1 SBAS I2C error: 0 □ Galileo Backups CLI GPS Deviation Test Satellites GPS Logging ■ BeiDou 5m t Area radius Start Deviation Test ■ Glonass 0.68.3 Cycle Time: 3544 This page can help you to view and tro u b le sh o o t your gps i f in s ta lle d . I f the GPS is hooked up but the GPS box on the top r ig h t o f B a s e flig h t is red, t r y swapping your TX and Rx lin e s . J@@TD@I. c ^mJ nj Naze32 rev6 manual trl.2 Copyright 2015 Quadquestions LLC. All rights reserved /dev/cu.SLAB_US Disconnect | Q Auto-Connect 115200 Gyro 03:47:14 -- You need to connect before you can view any of the tabs 03:51:01 - Serial port successfully opened with ID: 37 03:51:01 - Unique device ID received - 0x66dff515650877067043228 03:51:01 -- Running firmware released on: Aug 27 2015 Setup Configuration PID Receiver Mode Selection Accel Mag Baro GPS Sonar MOTUR TG5TING Servos GPS Motor Testing Sensor Data Logging Backups CLI Accelerometer - [Reset] 1.31 ■ UOD 0 • Refresh: 20 ms t Scale: 2 t X: 0.00 (0.03) “U OD Y: -1.31 ■ -0.01 (0.07) Z: 1 2 3 4 Motors 5 Servos 6 7 8 1 2 3 4 5 6 7 8 Motor Test Mode Notice: Moving the sliders will cause the motors to spin up. In order to prevent injury remove ALL propellers before using this feature. If you understand these instructions check the box below to enable motor test. Q Check 1460 1460 1460 1460 1000 1000 1000 1000 Master MBRNING-NUT REMOVING YOUR PROPS MILL RESULT IN INJURY OR OGETH MHGN USING THIS PEGG- YOU hlBVG GGGN MBRNGO. Port utilization: D: 8% U: 2% | Packet error: 1 | I2C error: 0 | Cycle Time: 3514 SHARP EDGES \ W I L L CUT Use This page to test your motors. Make sure to remove your props. This is the first place you should go to test your motor rotation. This is also a good place to visually inspect what your motors and servos are outputting. The motor value will take into ac count your mixing, so if the quad is not level, and in angle mode, these values might not all be the same. You can use the sliders to spin motors individually, or you can use the master slider to spin all of the motors at once. Naze32 rev6 manual vl.2 'cnM Copyright 2015 Quadquestions LLC. All rights reserved Raw Setup Configuration PID Receiver Mode Selection Servos GPS Motor Testing naTa sensgr Sensor Data Logging Backups CLI Keep in mind that using fast update periods and rendering multiple graphs at the same time is resource intensive. We recommend to only render graphs for data that you are interested in while using reasonable update periods. Q Gyroscope Q Accelerometer Q Magnetometer Q Barometer Q Kinematics Q Debug Gyroscope - deg/s Refresh: 40 ms A Scale: 2000 A r ▼ X: -0.24 Y: -4.88 Z: 0.49 Barometer - meters 0.3 - 0.1 Refresh: 100 ms i • 0 • X: nv/— 0.05 --------------- A You should use the raw sensor data page to check your sensors. When moving the board, you should see movement on the a c celerometer, gyro, magnetometer, b a r o m e ter, etc. If you have an item that is flat-lined at 0, even with lots of movement of the board, then that is indicative of an issue with the sensor. You can see in the above example that there was rapid m o v e ment of the board showing that the s e n sors w e r e working, followed by the board sitting still which is shown by the flat lines. J g U3. J@ m Naze32rev6 manual vl.2 Copyright 2015 Quadquestions LLC. All rights reserved l .cnM /dev/cu.SLAB_US i | 04:23:49 04:23:58 04:23:59 04:23:59 Disconnect 115200 GPS Q Auto-Connect Sonar - You need to connect before you can view any of the tabs -- Serial port successfully opened with ID: 11 - Unique device ID received - 0x66cff505650877067201939 - Running firmware released on: Aug 27 2015 Setup Configuration PID Receiver Mode Selection Servos GPS Motor Testing Sensor Data Logging Backups CLI Data will be logged in this tab only, leaving the tab will cancel logging and application will return to its normal "configurator" state. You are free to select the global update period, data will be written into the log file every 1 second for performance reasons. MSP_RAW_IMU □ MSP_ATTITUDE 9 columns (accel[x, y, z], gyro[x, y, z], mag[x, y, z]) 3 columns (x, y, z) MSP_ALTITUDE MSP_RAW„GPS 7 columns MSP_ANALOG MSP_RC Logging tab- useful for logging in Baseflight when your aircraft is connected to computer via blue tooth MSP MOTOR MSP_DEBUG 100 ms i Samples Saved: 0 Log Size: 0 Bytes Select Log File Port utilization: D: 0% U: 0% Packet error: 2 I2C error: 0 Start Logging Cycle Time: 3502 0.68.3 c Naze32rev6 manual vl.2 Copyright 2015 Quadquestions LLC. All rights reserved .CHM /dev/cu.SLABJJS t J | 115200 * vx -------------- 04:27:21 04:27:24 04:27:25 04:27:25 Setup i ’ — .........J - o Disconnect • — a — — Gyro Q Auto-Connect -- Serial port successfully closed - Serial port successfully opened with ID: 12 - Unique device ID received - 0x66cff505650877067201939 -- Running firmware released on: Aug 27 2015 Configuration PID Receiver Mag Accel GPS Baro O Sonar - * Mode Selection rc a c K ijp s Servos GPS Motor Testing Sensor Data Logging Backups CLI Stored Backups Backup & Restore manager can save your configuration to a file or inside application storage (backups are saved locally). Manager also comes with improved back-end which can perform partial restore (between incompatible API versions). You can select any of your saved configurations by clicking on them inside the Stored Backups area. Name: Date: Version: You are running firmware with API Version: 4 sparrow kiss 1960 fu 2015.10.12 - 22:58 4 Backups can be stored and reopened here. Self explanatory and a great tool if you work with many different setups. Restore [From File] Port utilization: D: 0% U: 0% Backup [To File] Packet error: 2 Backup [To Storage] I2C error: 0 0.68.3 Cycle Time: 3503 pT n L J IZ a Ik J .cnM Naze32 rev6 manual vl.2 Copyright 2015 Quadquestions LLC. All rights reserved c /dev/cu.SLABJJS Disconnect 115200 □ Auto-Connect 04:30:21 -- You need to connect before you can view any of the tabs 04:30:22 - Serial port successfully opened with ID: 13 04:30:22 -- Unique device ID received - 0x66cff505650877067201939 04:30:22 -- Running firmware released on: Aug 27 2015 Setup Configuration PID Receiver Mode Selection GPS Mag Sonar TUG CLI Servos GPS Motor Testing Sensor Data Logging Backups CLI Note: Leaving CLI tab or pressing Disconnect will automatically send "exit" to the board, which will make the controller save all the changes and restart. Entering CLI Mode, type 'exit' to return, or 'help' # dump Afro32 CLI version 2.3 Aug 27 2015 / 12:37:56Current Configs Copy everything below here... aux 0 0 aux 1 0 aux 2 0 aux 3 0 aux 4 0 aux 5 0 aux 6 0 aux 7 0 aux 8 0 aux 9 0 aux 10 0 aux 11 0 aux 12 0 aux 13 0 aux 14 0 aux 15 0 aux 16 0 aux 17 0 aux 18 0 aux 19 0 aux 20 0 aux 21 0 aux 22 0 aux 23 0 mixer QUADX servo 1 1020 1500 2000 30 servo 2 1020 1500 2000 30 servo 3 1020 1500 2000 100 servo 4 1020 1500 2000 100 servo 5 1020 1500 2000 100 servo 6 1020 1500 2000 100 servo 7 1020 1500 2000 100 servo 8 1020 1500 2000 100 feature -PPM feature -VBAT feature -INFLIGHT ACC CAL___________________________________________________________________ |/Vrite your command here Port utilization: D: 0% U: 0% Packet error: 2 I2C error: 0 0.68. Cycle Time: 3498 The CLI is an excellent tool for power users, you can quickly load settings, and configure the quad for your needs. When w o r k i n g with support, you can go to the CLI, type "dump" and the copy and paste all of your settings into an email- this is also a handy wa y to take notes of your setup. We recommend that you get familiar with the CLI and do some searches for Multiwii CLI commands to find out all of the neat things that you can do. Naze32rev6 manual vl.2 Copyright 2015 Quadquestions LLC. All rights reserved .cnM N 3ZG 3S STICK CCMMaNDS S tic k commands can be used to i n i t i a t e actio ns w ith o u t the need o f a computer., these actions in clu de th in g s lik e C a lib ra te Accelerometer, Change p r o file s . C a lib ra te mag and more. In order to use s tic k commands, the quad must be powered and un-armed. Mode 2 Stick Functions ARM \ * Disarm w In F lig h t Level C a lib ra tio n j • P r o file 1 j ^ P r o file 2 j P r o file 3 ^ ^ C a lib ra te Gyro ^ | C a lib ra te ACC ^ | C a lib ra te Compass (mag) ^ | ^ Trim ACC L e ft ^ Trim ACC Right ^ Trim ACC Forwards ^ Trim ACC backwards ^ | \ ^ When the quad is powered and unarmed, you can in p u t these commands w ith the tra n s m itte r. “ Some o f the fu n c tio n s w i l l be diabled depending on your c o n fig u ra tio n . The a u to le v e l mode requires a w e ll c a lib ra te d Acc. I f i t is not c a lib ra te d , the quad w i l l d r i f t when i t is hovering. You should trim the ACC to make up fo r the d r i f t and leave your tra n s m itte r trim s cen ter. To trim the quad, hover 2-3 fe e t o f f o f the ground and then center your s tic k s (use t h r o t t le to m aintain a ltitu d e ) i f the quad is d r i f t in g r ig h t , land, then disarm, then use t h is s tic k command. You w i l l need to hold the s tic k command and watch the lig h ts on the Naze32. You w i l l have to watch the lig h ts fla s h several times before there is any no ticeable change in the ACC tr im . We u s u a lly go about 5 fla sh e s, then arm and te s t again. Repeat as needed. Do not move the Naze32 when f i r s t p lu g ging i t in and during the f i r s t few seconds o f power up. The GYRO must be id le or the i n i t i a l c a lib ra tio n w i l l be o f f . You can watch the lig h ts on the board during power up, they w i l l fla s h when the i n i t i a l measurements are taken and then they w i l l tu rn s o lid when the board is ready to arm. J Naze32 rev6 manual vl.2 Copyright 2015 Quadquestions LLC. All rights reserved .c m CLI CHMMElNnS CLI commands can be found here: h t t ps://github.com/multiwii/baseflight/wiki/CLI-Variables GSC C 3LII3R 3TinN The Rev6 hardware is sharing the 5v power from the USB connection and allowing the ESCs to power up as soon as USB is connected. Please be very careful as this can lead to a motor spinning at full speed when the flight battery is connected if you use the old method of calibration. The f ollowing workaround will allow you to calibrate ESCs properly and safely. Please note that the flight battery is never connected during this procedure. 1 disconnect all ESCs from the flight control board 2 props off, flight control board plugged into computer, configurator open, flight battery not connected 3 on the configuration tab, set minimum command to 1050 and save 4 go to motors tab, check motor test mode box at bottom, raise master slider to full 5 plug just one ESC into any of the motor outputs 1-4, wait a few seconds for ESC beeps to finish 6 un-check motor test mode box - values should drop back down to 1050 7 wait a few seconds for beeps to finish, unplug ESC from control board 8 repeat steps 4-7 for the remaining ESCs 9 on the configuration tab, set minimum command back to 1000 and save. FIN3L C 3VG 3TS This hobby is in its infancy and it is supported and developed by a community of open source contributors and innovators that are designing the hardware that goes along with it. PLEASE PURCHASE OFFICIAL HARDWARE--- There is rampant copying going on right now and the innovation that has made our great hobby what it is will be lost if the pioneers cannot innovate anymore, so boycott copied hardware, and please contribute to these projects to help the t e c h n o l o g y continue to d e v e l op. If you have any questions, please go to Quad q u e s t i o n s . c o m and post a q u e s tion. We are happy to answer, and will be quick t o respond. Have fun flying! A n t h ony & team Q u a d Q u e s t i o n s .com 4 1 2 - 2 2 9 -QUAD J i@ § T O lM ] Naze32 rev6 manual irl.2 Copyright 2015 Quadquestions LLC. All rights reserved .COM
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File Type : PDF File Type Extension : pdf MIME Type : application/pdf PDF Version : 1.5 Linearized : No Tagged PDF : Yes Page Count : 30 Keywords : Naze32, Flight Controller, Manual, Multiwii, baseflight, QQ, QuadQuestions, cli, pid, stm32, FC, 250, quad, drone, fixed wing, abusemark, afro32, acro, full, cleanflight, instruction manual, instructions, directions, setup, how to, nase32, naze, magnetometer, accelorometer, gps, configurator, layout, firmware, bootloader Author : Anthony Jacobs QuadQuestions LLC. Subject : Naze32 rev6 Flight controller and Baseflight manual. Producer : ABBYY FineReader OCR Pro Title : Naze32 Rev6 Flight controller manual Create Date : 2015:11:16 04:36:49Z Creator : Adobe Photoshop CC 2015 (Macintosh) Modify Date : 2015:11:16 04:36:49ZEXIF Metadata provided by EXIF.tools