Heading RCADev

 

HOME

PHANTOM UAV

VACUUM FORMING

OpenTX

CONTACT ME

 

Previous Page – App Note 25

Next Page – App Note 27

OpenTX - Application Note 26

APM Autopilot Set Up

Introduction

Flight Controller Board Connections

Taranis Radio Set Up

  Mode Control

  Geofence Control

  Timer 1

  Timer 2

  Throttle Disable and Sticky Throttle

  Control Audio Volume with a Slider

  Elevons

Mission Planner Software Set Up

  Flight Modes

  Levelling Calibration

  Compass

  Transmitter Calibration

  Failsafe Set Up

  PID Parameter Set Up

  Optional Hardware

  Take Off Set Up

  Throttle Control Parameters

  Attitude Control Parameters

  TECS Parameters

  Ready to Fly

Introduction

The original project was to set up an APM autopilot in a Phantom FX-61 flying wing using a Spektrum DX7 radio. That project is described here.

This project is to replace the Spektrum radio with a Taranis Plus radio.

 

Much of the APM set up does not need to be changed and the complete set up is not described here. References, however, are made to the previous project where the required set up has already been done.

 

Flight Controller Board Connections

The connections are described in the Wiring Diagram. Note that the receiver has 8 channels and the receiver channel outputs are connected differently to the way the 7 channel receiver was connected. A FLVSS battery voltage sensor has also been added.

Taranis Radio Set Up

Mode Control

On the Taranis radio, to set up a 6 position switch as a mode switch, refer to Application Note 24.

Timer 1

Refer to Application Note 2 : ‘Timer – Use a Switch to Reset, Pause and Run’.

Timer 2

Refer to Application Note 7: ‘Use a Timer To Record Accumulated Flight Time’.

Throttle Disable and Sticky Throttle

Refer to Application Note 3: ‘Throttle Disable with Sticky Throttle Option’.

Control Audio Volume with a Slider

Refer to Application Note 5: ‘Control Audio Volume With A Slider’.

Elevons

Refer to Application Note 25: ‘Elevons For A Flying Wing’.

Geofence Control

On the Taranis radio, switch SC is used to control the geofence as follows.

Switch SC↑ is geofence off.

Switch SC- is geofence enabled.

Switch SC↓ is geofence enabled and reset.

Geofence Enable

The geofence enable channel in the Taranis is channel 7.

When channel 7 = -100%, the geofence is disabled. When channel 7 = 0 or +100%, the geofence is enabled.

 

The mixer controls channel 7 as follows.

 

Channel Number

 

Weight

 

Source

 

Curve

 

Trim

 

Switch

Delay /

Slow

Mix Name

CH7

100

SC

(Cstm) CV2

---

GFenceON

 

CV2 is as follows.

 

GFence01

Geofence Reset

The geofence reset channel in the Taranis is channel 6.

When channel 6 = 0 or -100%, the geofence reset is disabled. When channel 6 =+100%, the geofence reset is enabled.

The mixer controls channel 6 as follows.

 

Channel Number

 

Weight

 

Source

 

Curve

 

Trim

 

Switch

Delay /

Slow

Mix Name

CH6

100

SC

(Cstm) CV3

---

GFenceRs

 

CV3 is as follows.

 

GFence02

Geofence Audio Files

Create these audio files and transfer them to the SD card folder SOUNDS / en.

 

 

Description

Audio File Name

 

Audio Message

Geofence off

gfencoff.wav

Geofence off.

Geofence on

gfencon.wav

Geofence on.

Geofence reset

gfencres.wav

Geofence reset.

 

Use these special functions to play the geofence files. For this example, SF11 through SF13 are used.

 

Function Number

Source

Function

Parameter 1

Parameter 2

Check Box

SF11

SC↑

Play Track

gfenceoff

1x

SF12

SC-

Play Track

gfenceon

1x

SF13

SC↓

Play Track

gfenceres

1x

Check Geofence Control

In each of the SC positions, check the channel 7 value, the channel 6 value and the audio announcement as described in this table

 

Switch SC

Position

Geofence

Control

Enable

(Channel 7)

Reset

(Channel 6)

Audio

Announcement

SC↑

Off

-100%

-100%

Geofence off.

SC-

Enabled

+100%

-100%

Geofence on.

SC↓

Enabled & reset

+100%

+100%

Geofence reset.

Mission Planner Software Set Up

Flight Modes

The modes programmed into the Taranis radio above must now be set up in the APM. The modes are summarized in this table.

 

APM Mode No.

APM

Mode

 

Description

1

RTL

Return to launching place

2

Auto

Execute list commands

3

Loiter

Circle while holding altitude

4

FBWA

Sticks centred = level flight

5

Training

Not stabilized, roll and pitch limited

6

Manual

No flight assistance

 

Assigning modes to the mode numbers is done in Mission Planner on the ‘Config/Tuning’ page under ‘Flight Modes’. For each flight mode, select the mode name from the pull down menu. Press ‘Complete’ to write the modes into the APM.

 

MP FlightModes01

 

For reference, all the possible modes are listed here.

 

APM

Mode

 

Description

Manual

No flight assistance

Stabilize

Roll and pitch stabilization

FBWA

Roll and pitch stabilization with limits

FBWB

FBWA and altitude stabilization

Cruise

FBWB with heading lock

Training

Roll and pitch limited only.

Acro

Attitude lock for acrobatics

RTL

Return to launch (location)

Circle

Circle without holding altitude

Loiter

Circle while holding altitude

Auto

Execute commands in command list

Guided

Navigate to a destination at a set altitude

Autotune

FBWA with auto-tuning of roll and pitch

 

Check that the mode switch selects the correct mode on the ‘Flight Data’ screen. Select each of the 6 switch positions and check the display on the artificial horizon displays the correct mode.

Levelling Calibration

The accelerometers have been calibrated previously here under ‘Levelling Calibration’.

Compass

The compass has been set up previously here under ‘Compass Set Up’.

Transmitter Calibration

Manual Mode Calibration

Select manual mode using the 6 position switch.

Set the Taranis radio channel controls to correctly control each control surface. Reverse any channel in the radio if necessary. For elevons, set up these also in the radio. Refer to Application Note 25.

FBWA Mode Calibration

Select FBWA mode using the 6 position switch.

In Mission Planner, connect to the APM. On the Initial Setup Screen select Mandatory Hardware – Radio Calibration.

 

Mission Planner Radio Calibration

 

Move the throttle, roll, pitch and yaw sticks and check the control surfaces move in the correct direction. Reverse them as required.

Click ‘Calibrate Radio’.

 

    Red range limit lines are shown on each of the channel graphs.

 

Follow the instructions to set the range of travel that each channel uses. Ensure the sticks move into all the corners to ensure correct calibration! Ensure each of the following channels is moved to their maximum and minimum ranges.

 

Roll (aileron),

Pitch (Elevator),

Yaw (rudder),

Throttle,

Radio 8 (Mode),

Radio 7 (Geofence enable), and

Radio 6 (Geofence reset).

Radio 5 is not used.

 

Press ‘Completed’ when complete to store the settings in the APM.

 

Now, roll and pitch the plane. Set the elevon config boxes to ensure the control surfaces move to oppose the roll and pitch. Reverse as required.

 

Each final channel has the settings shown

Box

Tick

in this table.

Roll Reverse

No

 

Pitch Reverse

No

 

Throttle Reverse

No

 

Yaw Reverse

No

 

Elevons

Yes

 

Elevon Rev

No

 

Elevons CH1 Rev

No

 

Elevons CH2 Rev

Yes

Failsafe Set Up

On the Taranis, on the Model Setup screen under ‘Internal RF’, ‘Failsafe mode’, select ‘No pulses’. This programs the X8R receiver to send no pulses to the APM when the receiver loses signal from the Taranis radio.

The APM responds to no pulses by entering Failsafe mode.

The APM failsafe parameters have been set up previously here under ‘Failsafe Set Up’

PID Parameter Set Up

The PID parameters have been previously set up here under ‘PID Parameter Set Up

Optional Hardware

The optional hardware has been set up previously here under the following headings.

  Optional Hardware - Power Module

  Optional Hardware - 3DR Telemetry Radio

  Optional Hardware - Airspeed Sensor

  Optional Hardware - Stabilised Camera Gimbal

  Optional Hardware - Steering Control

Take Off Set Up

The Take Off parameters have been set up previously here under ‘Take Off Set Up’.

Throttle Control Parameters

The Throttle Control parameters have been set up previously here under ‘Throttle Control Parameters’.

Attitude Control Parameters

The Attitude Control parameters have been set up previously here under ‘Attitude Control Parameters’.

TECS Parameters

The TECS parameters have been set up previously here under ‘TECS Parameters’.

Ready To Fly

With the aircraft ready to fly, the next step is Autopilot Flight Preparation.

 

Phantom Divide

 

Previous Page – App Note 25

Next Page – App Note 27

 

Footer RCADev