Para empezar con este CX20.
Si alguien lo puede traducir se agradeceria.
(CX-20) with APM FC - Pilot Tips
In this post, I thought I would summarize some important tips. I will add them here (as they come up) if they don't seem to fit anywhere else. But in general, be sure to use top Blog Search.
Arming Tips:
Arming in Loiter, and then switching to Stabilize before take-off is best. If Arming in Loiter, HDOP (GPS quality) must be 2.0 or better or it will not Arm. So give it (up to) 5 minutes before first Arming attempt. Just because you get a get solid GPS 3D-Fix (green led steady) doesn't mean HDOP is good enough (actually, lower is better). First flight of day will take the longest (as almanac is updated). Otherwise, as a test ... you can Arm in Stabilize. I still recommend at least a 3D-Fix (green led steady) but HDOP is not checked. Therefore, do not utilize GPS dependent flight modes during that flight (including Loiter or RTL). Also, GPS doesn't really work indoors.
Arming Trouble:
- Check that TX radio itself and FC radio inputs are properly calibrated (center stick trims first).
- Be sure no TX radio Inputs are reversed. Also, that Throttle goes down when stick is down.
- In MissionPlanner/FailSafe, be sure correct radio sticks are correctly assigned (ie for Mode-2 Throttle and Rudder/Yaw are on left stick gimbal.
- In MissionPlanner/FailSafe, be sure correct radio sticks respond and in gradual and linear fashion.
- Normally, MissionPlanner's main-screen HUD will show the Pre-Arm error.
- Try Arming Motors in APM Stabilize mode ( aka CX-20 "Manual" mode). It requires no GPS-Fix.
- Try disabling GeoFence. If it's ON, you must have a GPS 3D-Fix (even in Stabilize). So basically, you can only Arm Motors outdoors.
GPS Operation (in layman's terms):
I think 5-6 sats is minimum to get a basic GPS-Fix. HDOP is one way to measure quality of that fix. To Arm in Loiter, you need a hdop of 2.0 or lower/better. IIRC, what Dkemxr said ... the stock GPS module's resolution is 2.5 meters. So hdop of 2.0 is 2.5m * 2.0 = 5.0meters (15 feet). So, anything GPS dependent (Loiter, RTL) can have a 5 meter location variance and still be within acceptable limits. You can see why lower hdop is always better. As for hdop definition, Google is your friend. Main thing to remember is H stands for "Horizontal" or location "across" the earth (not altitude). I'm no expert, and this is just my very basic understanding of how it works.
Mission Planner basics:
- Connect Nova's LiPo battery
- Connect USB cord to laptop. Listen for Windows "new USB Device connected" chime
- - This Windows driver was installed the first time you installed MissionPlanner.
- Start MissionPlanner and click "Connect" button
- Ignore prompts to upgrade firmware unless you know what you are doing and what you are getting yourself into. The shipped version of AC v3.1.2 works fine.
- When finished, click "Disconnect" in MP before disconnecting USB cord. NEVER disconnect USB cord while MP is connected-to and communicating-with FlightController (it has been known to corrupt FC firmware).
- Shutdown MP
- Disconnect Nova's LiPo battery
- Disconnect USB cord (this order prevents triggering Nova's LowVoltageWarning).
Analyzing Logs:
While I used to log more items, I'm now backing down to Default+IMU. LOG_BITMASK,958 which is ATTITUDE_MED GPS PM CTUN NTUN IMU CMD CURRENT (the basics plus vibrations). See this page for help using logs.
Simplified Full Nova/CX-20 Setup:
A simplified version of this. While I don't have a stock-white-radio set, this should work for those setups. Could be used as a basic build-up (with default parameters), just to make sure quad hardware is functional and core FC software is working.
Start with base quadcopter, with no payload or optional equipment.
Check all wiring for good connections at connectors and soldering points.
Remove propellers and use (known good) fully-charged 11.1v-3s LiPo battery
Use MissionPlanner to load desired AuduCopter version (non-beta). Properly Disconnect MP.
Press Reset button on top of FlightController to MasterReset it.
In MP, click "Load Default Parameters" button in Parameters Full List
Attach USB cable to bottom of quad and secure to landing-gear so it doesn't accidentally become unplugged.
Do all "Mandatory Hardware" calibrations in MP (Radio first).
Calibrate ESCs (outside of MP). Test motors.
Test Failsafe
Install propellers (in proper way) and bolt-on tight. Also install all body screws.
Tether Test quad (carefully hold it while testing Throttle, Pitch, Roll, and Yaw)
Take outside to grass field with light or no wind. Stand safe distance behind quad.
Arm in Loiter, but take-off in Stabilize. Try to hover 6ft off of ground.
Initial Quad Setup Trouble:
All ESCs are beeping
ESCs are getting main (hard-wired) run voltage from main LiPo battery, but ESCs can tell they have no PWM control (control signal that tells them to stay Off or stop, Arm motors and start them, speed-control, etc.)
Check in this order
This can be caused by no BEC (+5v) voltage being connected to RX radio (and therefore, also no power being passed to FlightController).
FC might not be getting power (usually via CH-1 Aileron connection)
FC might be damaged or malfunctioning
FC might have a corrupted firmware and needs to be reset and Firmware re-loaded with MissionPlanner.
Followed by loading of Default params & complete calibration.
All of a sudden, MissionPlanner for Windows can not connect to Nova quad any more.
Remove the body shell.
Unplug the quad's USB extension cable from side of FlightController.
Use a slightly different cable. Plug your spare Micro-USB cable directly into the Flight Controller and then directly to laptop.
If this works, the quad's built-in USB extension-cable might be bad.
See "Mission Planner basics" above.
Battery Tips:
I use a Turnigy 11.1v 2700mah 3s 20-30c LiPo (102x35x28mm). I have 2 identical ones that I rotate. They usually take-in around 2700ma again, but I've seen them both take-in as much as 2800ma before. Not sure about all LiPos, but these are obviously rated 2700ma between their useable range of 9.0v-12.6v.
I Balance Change at 1C (2.7amps) and it takes about 90 mins. My AccuCell-6 Charger also has a Discharge setting. I never use it, but I did test it the other day. It's voltage limit is not adjustable (only by cell count). It always discharges to 3.00volts per cell. Contrary to forum reports, I think it's highly unlikely that draining to this level damages LiPos. And think about it ... that's less than 20% of rated 3.7v cell voltage. I tried it ... took 3S down to 9.0volts. You guessed it ... no damage, fire or LiPo explosion. Not sure where pilots get some of these crazy misconceptions.
Also tested/observed ... when starting to charge my 3S-2700 back up from 9.0v, it gets back to 10.5 volts after only taking in about 25ma.
I also have a Predator 2200mAh that works fine, but I only use it while Nova is on workbench or office (getting logs, params, etc.). This way, my 2 main 2700's are always fully charged and ready when I get to the field.
The Nova is currently 1002g (All-Up-Weight with Mobius and battery). I am getting 11-12 minutes on each 2700mah battery. The first single-beep LowVoltageAlarm first sounds around 10.9v. A minute or so later, the continuous beeping/flashing LVA happens at 10.6v (and I'm already landing at this point). According to forum reports, the Nova's LVA is sometimes inaccurate, but seems to be working fine for me so far. This will have to do until I wire-up a Power-Module to Telemetry. I also use a count-down Timer on the Taranis.
opters a try now in 2014.
Sacado del blog de TESLA1856
Gracias por la info.