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OpenTX - Application Note 33

S6R Receiver Set Up

This application sets up an S6R receiver for use in a Slick 360 plane.

 

 

S6R Receiver Features

Taranis Radio Set Up

  Channel Control Set Up

  Mode Announcements

  Internal RF Module

  Binding

  Failsafe Setting

  Preflight Switch Position Check

  Mode Notice

S6R Firmware Upgrade

  Firmware

   FrSky SPORT Upgrade Adapter Software

  Upgrade Procedure

S6R Configuration

  Configuration Software

  Configuration Procedure

Self Check

Pre-Flight Checks

In-Flight Observations

S6R Receiver Features

The S6R operating modes are as follows.

Normal : the channel signals are passed through to the servos without stabilisation.

Stabilisation : compensate for turbulance is made on aileron, elevator and rudder.

Automatic Level : aileron and elevator stick movements from centre control aircraft angle from horizontal. With sticks centred, aircraft flies level.

Hover : Elevator and rudder control the aircraft in nose up attitude. Throttle controls altitude. Aileron controls rotation.

Knife Edge : Aileron and rudder control aircraft in sideways attitude with wings up and down. Elevator controls steering. Throttle and rudder control altitude.

 

The operating mode is controlled using channels 10 and 11.

In stabilisation mode, the stabilisation gain is controlled by channel 9.

Taranis Radio Set Up

Channel Control Set Up

The S6R determines the channel assignment. Set up the Taranis channels as follows.

 

Channel

Function

Notes

1

Aileron left

 

2

Elevator

 

3

Throttle

 

4

Rudder

 

5

Aileron right

 

6

Elevator 2

 

7,8

 

Not used

9

Gain

Stabiisation gain control in stabilisation mode.

10

Mode

 

11

Mode

 

12

Self check

Self check procedure. DO NOT ENABLE DURING FLIGHT!

13,14, 15,16

 

Not used

 

Channels 10 and 11 together determine the mode.

Switch SE is used to control channel 10 as follows.

 

Switch Position

PWM Value

Notes

Function

SE

1000 uS

Value must be less than 1450us

Knife Edge

SE-

1500 uS

Value must be 1450 < 1500 < 1550

Off

SE

2000 uS

Value must be greater than 1550uS

Stabilisation

 

Switch SA is used to control channel 11 as follows.

 

Switch Position

PWM Value

Notes

Function

SA

1000 uS

Value must be less than 1450us

Hover

SA-

1500 uS

Value must be 1450 < 1500 < 1550

Stabilisation/Knife

SA

2000 uS

Value must be greater than 1550uS

Auto Level

 

The following mixer lines are used to set up channels 9, 10, 11 and 12.

 

Channel Number

 

Weight

 

Source

 

Offset

 

Curve

 

Trim

 

Switch

Delay /

Slow

Mix Name

CH9

50

S1

50

---

StbGain

CH10

100

SE

0

 

 

---

 

ModeA

CH11

100

SA

0

 

 

---

 

ModeB

CH12

0

Max

0

 

 

---

 

SelfChk

Stabilisation Gain

S1 pot is used to control the stabilisation gain via channel 9.

The S6R interprets the channel 9 PWM value as shown in the following left hand graph.

 

 

To make pot S1 produce a gain range of 0 to 100% as it it turned from 0° to 270°, channel 9’s weight is 50% and it’s offset is 50%.  This is shown in the right hand graph above.

Self Check

Moving channel 12 away from 1500uS PWM (PWM <1450uS or PWM > 1550uS) initiates the self check so channel 12 is set to be always 1500uS. This prevents the self check being accidently initiated during flight. For more information see here.

Mode Selection

Mode selection is summarised as follows.

 

Flight Mode

Switch SE

Switch SA

Notes

Normal

SE-

SE

SA,  SA-,  SA↓.

SA,  SA↓.

 

Knife Edge

SE

SA-

 

Stabilisation

SE

SA-

Pot S1 controls stabilisation gain

Automatic Level

SE

SA

 

Hover

SE

SA

 

Mode Announcements

Audio files are used to announce the S6R mode when it changes.

Logic switches calculate which mode is selected from the SE SA switch combination.

The S6R is in normal mode for switch combinations not otherwise specified here, so LS16 is on when no other mode is selected.

 

Logic Switch

 

Function

AND

Switch

 

Mode

 

Audio

 

Filename

LS11

AND SE↓ SA↓

 

Auto Level

“Mode auto level”

modautlv.wav

LS12

AND SE↓ SA-

 

Stabilisation

“Mode stabilisation”

modstab.wav

LS13

AND SE↓ SA↑

 

Hover

“Mode hover”

modhovr.wav

LS14

AND SE↑ SA-

 

Knife  Edge

“Mode knife edge”

modknif.wav

LS15

AND !L11 !L12

!L13

-

 

 

LS16

AND L15 !L14

 

Normal

“Mode normal”

modnorm

 

The audio file for normal mode announces “Mode normal” with filename modnorm.wav.

Special functions announce the mode audio files.

 

Special Function

Source

Function

Par 1

Par 2

Check Box

SF10

L16

Play Track

modnorm

1x

SF11

L11

Play Track

modauto

1x

SF12

L12

Play Track

modstab

 

1x

SF13

L13

Play Track

modhovr

 

1x

SF14

L14

Play Track

modknif

 

1x

Internal RF Module

The S6R uses channels up to channel 12, so on the Model Setup screen, set the channel range of the Internal RF module as follows.

 

Binding

1. On the S6R receiver, press the F/S switch while applying power. The green LED is on.

2. On the Taranis in the Model Set Up screen under the ‘Internal RF’ heading, use the ‘-‘ and ‘+’ keys to select the ‘[Bind]’ parameter. Press ENT to bind the Taranis model to the receiver. The Taranis beeps and the [BIND] text flashes while in binding mode.

3. After about one second, the receiver red LED flashes. This indicates that binding has been completed. On the Taranis, press EXIT to exit the bind mode.

4. Disconnect power to the receiver.

5. Reconnect power and confirm that the receiver is bound. The green LED is on constantly for normal operation. The red LED flashes slowly if the receiver is not receiving signal.

Failsafe Setting

The failsafe settings are set in the Taranis.

(The F/S button does not set the failsafe settings. It performs the self check! See here.)

Ensure to set channels 9, 10, 11 and 12 as well as the usual aileron, elevator, throttle and rudder when you set the failsafe settings.

Here, under failsafe conditions, the throttle is minimum, ailerons, elevator, rudder are centred, the stabilisation gain is 40, channels 10 and 11 select Auto Level mode and channel 12 disables the self check.

Preflight Switch Position Check

I recommend that the preflight switch check checks for SE- which sets normal flight mode.

Mode Notice

To remind me which mode is which, this notice is stuck to an aluminium bracket screwed to the neckband lug.

 

S6R Firmware Upgrade

I found upgrading the firmware was not necessary for the S6R to work OK. However, the firmware of the S6R receiver can be upgraded using the STK, the FrSky SPORT upgrade adapter software and an .frk type firmware file.

Firmware

Download the file ‘firmware-S6R.rar’ from the following web site.

http://www.frsky-rc.com/download/view.php?sort=Firmware&down=285&file=Firmware-  S6R

 

This is a compressed file so decompress it. To decompress it, I use the free Ap ‘Open RAR’.

Folder ‘FCC’ contains the file  ‘S6R_FCC_20160816.frk’. (International version)

Folder ‘LBT contains the file ‘ S6R_LBT_20160816.frk’. (European version)

FrSky SPORT Upgrade Adapter Software

Download the file ‘FrSky SPORT upgrade adapter.zip’ from the following web site.

http://www.frsky-rc.com/download/view.php?sort=Tool&down=115&file=UpgradeLite-S.Port%20Telemetry

Unzip this file. The executable file is ‘frsky_update_Sport.exe’

Upgrade Procedure

Set the STK switch to ‘Upgrade’, plug the STK into the PC and then connect the S6R as follows.

 

 

Run the ‘frsky_update_Sport.exe’ application.

 

1

2

3

4

 

1.    Select the COM port that the STK uses and load the firmware file ‘S6R_FCC_20160816.frk’ (for international users).

2.    Click ‘Download’ to start.

3.    The bar graph shows progress and it takes about 3.5 minutes to complete.

4.    On completion, click ‘End’ and the Upgrade application disappears.

Disconnect the S6R and remove the STK from the PC.

S6R Configuration

The Lua scripts for S6R configuration do not run with OpenTx v2.1. OpenTX v2.2 is required but that is not yet available for an X9D Taranis Plus. The script causes an error when run so I use the alternative way of configuring the S6R, the STK.

 

Use the STK (Smart port Tool Kit) and the PC configuration software to configure the S6R receiver.

 

 

I bought the STK from here. https://www.horusrc.com/en/frsky-stk.html

 

 

Configuration Software

Download the configuration software from here.

http://www.frsky-rc.com/download/view.php?sort=&down=305&file=Tool-config%20tool%20for%20S6R

 

 

This downloads the file ‘PC config tool.zip’.

In this zip file is the file S6RConfig_v1.2_EN.

Run this file to install the Configuration software.

 

 

This icon is placed on the desktop to run the S6R configuration software.

 

Before running the S6R Configuration Software, find out which COM port is created by your PC when you insert the STK into a USB port of your PC.

Check the  STK COM Port

Connect the STK module into the PC.

In the Device manager under ‘Ports (COM & LPT)’, check which comport is allocated to the ‘Silicon Labs CP210x USB to UART Bridge’. In the following case, COM3 is allocated.

This COM port number is used when the S6R Configuration software is run.

Configuration Procedure

On the STK, put the switch in the ‘CONFIG’ position. Plug the STK into the PC. Connect the STK via the cable to the S6R Smart Port. The S6R red LED slowly flashes.

 

WARNING Do not connect to the S6R while the servos are also connected to the S6R. The current drain caused by the servos may exceed the PC USB 5V supply rating! USB 2.0 can supply only 500mA and USB 3.0 can supply only 900mA.

 

 

Run the S6R Configuration software.

Enable Stabilisation

To enable all the S6R stabilisation features, ensure  ‘S6R Enable’ is ticked. The default state is enabled. Otherwise, all stabilisation is disabled.

Connect to the S6R Receiver.

Next to ‘Serial’, select the COM port number that was shown in the Device Manager. In this case it is COM3. Click ‘Open’. The ‘Open’ button changes to ‘Close’ and the ‘Read’ and ‘Write’ buttons are enabled.

Wing Type

 

 

On the ‘Wing Type’ screen, Wing_Rud_Ele_Ail is selected, as shown.

Mounting Type

 

 

On the ‘Mounting Type’ screen, ‘Level’ is selected as shown.

Gain Setting

 

In Stabilisation mode, check that ailerons, elevator and rudder move to compensate as the aircraft is moved manually. If a servo direction needs to be reversed, select ‘-‘ next to the servo type under the heading  ‘Compensation Direction’. Here, AIL, AIL2, ELE and ELE2 have all been reversed.

 

The gain values are left at the default values.

Offset Angle Setting

 

 

If the S6R is not level in the aircraft, the offset is entered here.

 

The offset angles for this example are left at the default values.

 

Accelerometer Calibration

 

To start, place the receiver on a level surface with the label up, then press ‘Calibration’. The yellow LED blinks during the calibration. When the yellow LED stops blinking, the calibration for this orientation is complete.

Press ‘Next’ and follow the instructions for each of the other orientations until the first orientation is again displayed..

Writing the Configuration to the Receiver

To transfer the configuration from the Configuration Software to the S6R, click the ‘Write’ button. While the data is being written to the receiver, the message ‘Tip: Writing configuration’ is displayed in red text. When the writing is complete, the message ‘Complete write configuration’ is displayed in green text.

NOTE If an error appears instead of the completed message, it is probably because your USB is v2.0 instead of v3.0. The data, however, has probably been written correctly. You can verify this by reading from the S6R.

Reading the Configuration from the Receiver

To transfer the configuration from the S6R to the Configuration Software, click the ‘Read’ button. While the data is being read, the message ‘Tip: Reading configuration’ is displayed in red text. When reading is complete, the message ‘Complete read configuration’ is displayed in green text.

The configuration that was in the S6R can now be viewed on each of the configuration screens.

Completing the Configuration

Click ‘Close’ to close communication with the STK and the receiver.

Disconnect the receiver and the STK.

Further Reference

https://www.youtube.com/watch?v=Qve8B1pP-eg#t=9.78875

Self Check

I have chosen to disable the Taranis control of the self check. (See here.) Instead I recommend using the F/S button on the S6R to perform the self check.

Self Check Procedure

1.    Turn on the Taranis and ensure the aileron, elevator and rudder sticks in the neutral positions.

2.    Power up the aircraft and keep it stationary while the S6R performs its initialisation.

3.    Orientate the aircraft with the slightly nose up attitude it would have in level flight and level wings.

4.    Press the button on the S6R while keeping the aircraft still.

5.    The blue LED is on during the self check. When the blue LED turns off, the self check is complete.

6.    Now set the range of each channel. Move all the sticks except the throttle so that all the servos are moved to their physical limits. (Use high rates.) Move S1 from full anticlockwise to full clockwise. Select all 3 positions on switches SE and SA.

7.    Remove power to the S6R. All the configuration values will be saved.

Pre-Flight Checks

With the throttle off, select the following modes and check the control surface movements.

 

Mode

SE

SA

Aircraft Response

Normal

SE-

n/a

Ailerons, elevator and rudder directly controlled by sticks. No stabilisation.

Auto Level

SE↓

SA↓

With the aileron and elevator sticks centred, the aircraft ailerons and elevator(s) move to maintain the aircraft in level flight. Rudder is stabilised.

Stabilisation

SE↓

SA-

Ailerons, rudder and elevator(s) move to oppose changes to aircraft orientation.

Hover

SE↓

SA↑

With elevator and rudder sticks centred, the elevator(s) and rudder move to maintain the nose of the aircraft pointing vertically up

Knife Edge

SE↑

SA-

With the aileron and rudder sticks centred, the ailerons and elevator move to maintain the aircraft on its side with the right wing down.

In-Flight Observations

In Stabilisation mode, the gain, controlled pot S1, should be set when the aircraft is flying full speed with full control surface range. Start with the gain at a low value.  Set the gain so that the control surfaces do not oscillate.

In Hover mode, the range of movement of the elevator and rudder was not enough to hold the aircraft correctly so the ranges were increased.

In Knife Edge mode, the air speed needs to be manually controlled to maintain constant altitude. Also the roll angle was not vertical so an offset was needed in the Configuration software.

In Auto Level mode, the aircraft held altitude so no adjustment was required. Manual control is still possible but when the sticks are centred, it flies level.

 

Disconnecting the servos to make configuration changes is a test of patience, but otherwise, the S6R performs well.

 

Phantom Divide

 

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