Synerduino

Shield Stability
and Navigation
for Airplanes
 SYNERDUINO
KWAD SHIELD KIT
Board Capabilities

Features / Flight Modes UNO 328 (SMD) Mega 2560 Mega 2560 + GPS

Heading hold X X X
Altitude Hold X X X
Headless / Course Lock X X X
Telemetry X X X
Payload Trigger X X
Camera Gimbal X X
RTH X
Position Hold X
Missions X
  Synerduino shield
 Arduino2560 MEGA / Uno 328
Hardware  Fixwing (Airplane) Airframe
 Brushed / Brushless Motor
 Micro/ Mini Servos 2-4pcs Depending on aircraft design
 Gearbox (if your motor set came with it)
 Brush / Brushless ESC for Airplane
 Ublox6 GPS
 Bluetooth
Tools needed

Soldering Set
Screwdriver Cutter Knife

tape Zip Ties Pliers

Tools Needed

Lipo Charger 5A Lipo Battery 3s 1300mah

Voltage alarm USB TTL FTDI

Hardware
 Synerduino Kwad Shield BETA GY801
ESC is
Solder on Note : surface mount your solder ESC wire make sure it doesn't penetrate to the bottom of the board
ESC is
Top side
ESC / Servo PWM Out Serial Pins Solder on
only
Top side
only

Set jumper to the

Battery Cell
count (Solded) 3s
GPS LED
– 4s

Power GPS Serial Pins

input
3s 11.1V
4s 14.8V Status LED

ESC is ESC is
GPS Voltage Jumper Solder on
Solder on RC PWM in
Top side Top side
only For improve performance IMU must be protected from the Environment only
IMU : L3G4200D Gyro / ADXL345 Accelerometer / BMP180 – 85 Baro / MMC5883 Mag
 Synerduino Kwad Shield V1.1 GY91
ESC is
Solder on Note : surface mount your solder ESC wire make sure it doesn't penetrate to the bottom of the board
ESC is
Top side
Aux ADC in ESC / Servo PWM Out Serial Pins Solder on
only
Top side
only

GPS LED

Power GPS Serial Pins

input
3s 11.1V
Status LED

ESC is ESC is
Solder on Solder on
Jumper Pads Selector Zone RC PWM in
Top side Top side
only For improve performance IMU must be protected from the Environment only
IMU : MPU-9250 & BMP280
 Synerduino Kwad Shield Preparation

Ensure insulation from the Arduino board add tape on these areas
BETA GY801 & V1.1 GY91

Tape Tape
Area Area
 Arduino Board Preparation

Ensure insulation from the Arduino board add tape on these areas

Tape Tape
Area Area

2560 MEGA SMD UNO 328

 Use PVA to glue the cover to the IMU sensors seal the rim of the
cover all the way
Synerduino Kwad Shield V1.1 (GY91)
Added the Selector Jumper Pads to the main board
Battery cell 5V Regulator GPS Pins V+ Analog 0 pin Auxin / Analog 0-3 & I2C external
monitoring from battery voltage in front Battery monitor sensors
4s or 3s of the board

To use onboard battery monitoring with Aux in Set to 3s if your running 1s-3s battery / set to 4s if your
running 4s battery / Leave it open when using Aux in as External sensors or using 5s to 6s

Reg In – short the Pads for using regulator to power and build in power distributor the synerduino and
Arduino board
2nd GPS pin with voltage selector 5V for Regular GPS / 3V for external I2c sensor such as Magnetometer

Aux in- leave it open for utilizing the A0 Pins for External ADC sensors / Short the Pads to use build in
battery monitoring . Cell Selector must be set to 4s or 3s

SDA SLC - I2C input for external sensors such as GPS with build in Magnetometer
 Default - A0 External ADC sensor , Require 5v UBEC applied to the 5V Serial pins & for OPTO ESC

+
- External Power Distribution board

ESCs OPTO
External ADC Sensor

Setup for 2s - 6s Lipo

Required External
Power distribution
board / build in power
distribution not in use
 Reg in only - A0 External ADC sensor , Require ESC with UBEC applied to the 5V PWM pins

+
- External Power Distribution board

ESCs with BEC

External ADC Sensor

Setup works for 2s - 6s

Lipo Required
External Power
distribution board / build
in power distribution not
in use
 Reg in only - A0 External ADC sensor , ESC BEC or OPTO applied to the 5V PWM pins

AO

ESCs with BEC or

External ADC Sensor Opto

2s to 4s Lipo
Build in Power
-
distribution
+

Recommended setup for beginner

 Reg & Vbat - A0 as Battery voltage monitor , ESC BEC or OPTO applied to the 5V PWM pins

For those who would use the build in battery monitoring

circuit upto 4s lipo ensure the Cell Count and Aux in is jumped
before powering up

ESCs with BEC or

Opto

2s to 4s Lipo
Build in Power
-
distribution
+

Recommended setup for beginner

For those who thinks they need to change setup from time to time

For those who would use the build in battery monitoring

circuit upto 4s lipo ensure the Cell Count and Aux in is jumped
before powering up
 Pls check the polarity of the XT60Plugs to match up with the
board’s polarity
Electronic Speed Controller

BEC “Universal Battery Elimination Circuit”

OPTO 'opto-coupled', throttle signal is coupled into the ESC is isolated
 Servos
 Totally 8 servos is available.
 Default mix uses.
 2 Wing servos
 1 Elevator
 1 Rudder
 1 Throttle servo or esc.

 A0 & A1 can be used for a gimbal.

 A2 Is used for conventional Flaps or Camera trigger.
PWM Pins arrangement PWM Output
PWM Pins arrangement PWM Output use special airplane ino file for this setup utilizing Bi copter special Plane types
Airframe/Chassis

For Tank and Boat chassis Differential Thrust Wing

Motors use Pins

Select ( #Define Bi ) Frame on

the CONFIG.H

D11 & D3 UNO 328

Motor A & Motor B

D6 & D2 MEGA 2560 Arduino Uno Plane Arduino Mega Plane

Motor A & Motor B Elevator Rudder Throttle Elevator Rudder Throttle
Pin D11 Pin D3 9 Left Pin D6 Pin D2 3 Left
motor Rudder / motor
10 Right Aileron 5 Right
Conventional Car motor motor
D2 Motor Drive
3Ch RET Airplane (D3 and D5 are same no differential function)
D6 Steering Servo 4Ch differential Thrust Airplane has D2 serving as Ailerons

Note: check if your RC servo needs reversing on FC config or on your Transmitter to ensure out put of differential respond correctly
Some models of transmitter may need RC output reversing to operate correctly
Output.cpp
Main Mix table should you need to custom mix your plane (Define {Bi})
PWM INPUT Assignment

Pls Check the output

pin from your Radio
Rx manual

RX > Arduino / PWM in Futaba JR Format Walkera UNO 328 Mega 2560
Format Format Input Input

Throttle Ch3 Ch1 Ch3 D2 A8

Aileron Ch1 Ch2 Ch2 D4 A9
Elevator Ch2 Ch3 Ch1 D5 A10
Rudder Ch4 Ch4 Ch4 D6 A11
Aux1 Ch5 Ch5 Ch5 D7 A12
Aux2 Ch6 Ch6 Ch6 D8 A13
Aux3 Ch7 Ch7 Ch7 N/A A14
Aux4 Ch8 Ch8 Ch8 N/A A15
SERVO HEADER

~+-

They may come with different

coded wire but layout are
always same

OPTO Wires may only have

Signal and Negative Wires o
~+-

~+-
PWM RECEIVER

~+-

INCASE YOU’D ASK WHY THE SERVO

CONNECTORS WERE DONE THIS WAY
, ITS SIMPLY YOU DON’T NEED TO
PLUG ALL THE PWM POWER RAILS
ON ALL CHANNELS YOU JUST NEED
UNO PWM IN
THE PWM SIGNAL PIN ALONE
MOSTLY RUDDER AUX1 AND AUX2 MEGA PWM IN
PPM Receiver

Pin D2 for Uno

Pin A8 for Mega

TELEMETRY RADIO

38400 OR 57600 FOR SIK

RADIO DEPENDING IF USES
433MHZ OR 900MHZ 38400 FOR XBEE RADIO 115200 FOR BLUETOOTH HC-05

STANDARD FOR ALL DRONES TO USE SERIAL LINK AS TELEMETRY MAINLY ON YOUR TX RX SERIAL PORTS , NOTE: THE LOWER THE
FREQUENCY OF THE RADIO THE LOWER THE BAUD IS NEEDED
PROTOCOL IS MSP RAW OR MAVLINK
 NOTE: USING 0 AT BAUD115200 APPLICABLE BOTH UNO AND
Bluetooth MEGA BOARDS REQUIRES THE BLUETOOTH ONLY TO BE PLUG IN
AFTER THE SKETCH/FIRMWARE HAS BE UPLOADED TO THE
BOARD . AND PAIRING USING THE BLUETOOTH CONNECTED COM
PORT IN DEVICE MANAGER
Bluetooth

ATTENTION:

YOU MAY NEED TO REARRANGE THE HEADERS

TO CONNECT THE BLUETOOTH MODULE TO THE
SHIELD BOARD ACCORDINGLY
VCC >> +
GND >> G
TX >> RX
RX >>TX
SEE TO IT THE WIRES COLOR CODE MATCHES THE
MARKINGS

IMPROPER INSTALLATION MAY CAUSE DAMAGE

TO THE ARDUINO BOARD AND SHIELD DUE TO
REVERSE POLARITY

NOTE: WE PRESET THE BLUETOOTH FOR YOUR

BLUETOOTH PLUG INTO SERIAL 1 OR CONVENIENCE TO THE PROPER SETUP BUT
SERIAL 3 SHOULD YOU WISH TO CHANGE THE SETTING ON
YOUR DIGRESSION
115200 FOR BLUETOOTH HC-05
XBEE RADIO

38400 FOR XBEE RADIO

VCC >> +
GET THE USB MODULE WITH GND >> G
BOOT AND RESET BUTTON
AS YOU MAY NEED TO RESET TX >> TX
THE XBEE WHEN UPDATING
FIRMWARE RX >>RX
 ATTENTION:
GPS
YOU MAY NEED TO REARRANGE THE
HEADERS TO CONNECT THE GPS MODULE
TO THE SHIELD BOARD ACCORDINGLY
VCC >> +
GND >> G
TX >> RX
RX >>TX
SEE TO IT THE WIRES COLOR CODE
MATCHES THE MARKINGS

IMPROPER INSTALLATION MAY CAUSE

DAMAGE TO THE ARDUINO BOARD AND
SHIELD DUE TO REVERSE POLARITY

NOTE: YOU MAY NEED TO RE-SECURE THE

GPS ANTENNA PATCH AGAIN WITH DOUBLE
SIDED TAPE WHEN NECESSARY AS THE
MODULE CAME IN WITH A TEMPORARY
TAPE

NOTE: WE PRESET THE GPS FOR YOUR

U BLOX NEO 6 CONVENIENCE TO THE PROPER SETUP BUT
SHOULD YOU WISH TO CHANGE THE
PLUG IN TO SERIAL TX 2 RX 2 ON THE DRONE SHIELD BOARD SETTING ON YOUR DIGRESSION
GPS
GPS
 External Sensors

This samples show a BN880 GPS with a HMC5883 Mag build in compass required an I2C pin
connection this works of all other I2C sensors (pls ensure the address doesn’t conflict with the
IMU as found in Sensors.cpp) Note: other than the GPS build in sensors might require 3V you
may need to set jumper to 3V
 Application Needed

https://www.arduino.cc/en/main/software

ARDUINO IDE
http://synerflight.com/flywiigui/

FLYWII GUI & Arduino Drone Multiwii firmware

https://www.u-blox.com/en/product/u-center

UBLOX Configuration Platform

https://www.digi.com/products/embedded-systems/digi-
xbee/digi-xbee-tools/xctu

XCTU Configuration Platform

Config.h
 Uncomment Define Airplane

 This puts the vehicle into

 Airplane mode
Output.cpp
 Servo reversing is done thru
here apart those on the flywii
GUI

 This also covers flaps and

flapperons

 Flying wing / Vtail modes are

also set in this area
Output.cpp
 Servo reversing is done thru
here apart those on the flywii
GUI

 This also covers flaps and

flapperons

 Flying wing / Vtail modes are

also set in this area
MOTOR MIN THROTTLE CONFIG.H

#define MAXTHROTTLE 2000

Because you want Full Power sometimes!
Motor Min Throttle

Electronic Speed Controller

Brushless Motor

1500

Idle Speed
MINTHROTTLE 1150 PWM Frequency MAXTHROTTLE 1850

MINCOMMAND 800 - 1100 1900 – 2000

Output.cpp
 Servo reversing is done thru
here apart those on the flywii
GUI

 This also covers flaps and

flapperons

 Flying wing / Vtail modes are

also set in this area
Output.cpp
 Flaps Settings
 Conventional Flaps
 Using servo[2] (A2 on ProMini )
//#define FLAPS // Enable Flaps .
Flaperons
//#define FLAPPERONS AUX4 //
Use Aileroins as Flaps .
#define FLAPPERON_EP { 1500, 1700 } //
Endpooints for flaps on a 2 way switch
#define FLAPPERON_INVERT { 1, -1
} // Change flap direction

Make flaps move slow Higher value is Higher

Speed. Effects Both types of flaps.
//#define FLAPSPEED 3

Flaps (Flaperons)*
Select a channel to control your flaps with.
Endpoints is the preprogrammed positions for the
flaperons .

Endpoints for flaps can also be programmed in

the TX .
Then set FLAP_EP { 1020, 2000} in the code.
 INERTIAL MEASURING UNIT MEASURING UNIT
Pls see the Board Specs
Data sheets for the installed
IMUs onboard
This is the heart of every flight controller AKA the Magnetometer Barometer
Main 4 ,

Gyro – stabilization on Roll Pitch Yaw Axis

Acc - Horizontal and Vertical stabilization XYZ
Baro – Altitude hold control
Mag – Heading and Compass

Each sensor has a corresponding address registry set

by manufacturer

You can find it on sensors.ccp tab Accelerometer Gyroscope

Sensors work best if mounted as close to CG

as possible.
Config.h
Sensors
#define L3G4200D
#define ADXL345
#define BMP085
#define MMC5883
CONFIG.H

Depending on the Version of ic2 sensors installed on the board

you got select appropriately for it to work
SENSORS.CCP
SENSORS.CCP
SENSORS.CCP
SENSORS.CPP
SENSOR ORIENTATION CONFIG.H

SENSORS IMU ORIENTATION IS IMPORTANT SEE TO IT THE ACC GYRO AND MAG ALL COMPLIMENT EACH OTHER
MIXING OUTPUT.CPP
MIXING OUTPUT.CPP
Airplane and Flying Wings section

Cases than none true for flying wings , or special base airplane that certain servo Mixing &
reversing is required due to the nature of Elevon, Ruddervator or Rudderon configuration
(-1 , 0 ,1 ,2) digits are use to determine Normal / Inactive / Reverse command
The GUI may have limitation to certain mixing for this it has to be config here.

PASSTHRU_MODE = this command when use Direct control from the RX without
augmentation from the Flight control board
 SERIAL COM CONFIG.H
SERIAL BAUD RATE
WILL DEPEND ON WHAT BAUD
YOUR TELEMETRY MODULE ARE
SET INTO YOU CAN CHANGE IT TO
SUITE THE PORT YOUR DEVICE IS
CONNECTED TO.

SERIAL 0 CAN BE USE FOR

TELEMETRY GIVEN NOTHING IS
CONNECTED TO THE USB AT THIS
POINT. AND FIRMWARE MUST BE
FLISH PRIOR TO HOOKING UP
ANYTHING TO THIS PINS

SERIAL 1 , 3 IS RESERVE FOR

TELEMETRY
115200 FOR BLUETOOTH HC-05
38400 FOR XBEE RADIO
57600 for SIK RADIO

SERIAL 2 IS RESERVE FOR GPS

NMEA Baud 57600
BLUETOOTH
Bluetooth setup with the USB TTL and Arduino IDE

Arduino IDE>Tools>Serial Monitor (Push Button Before

Connecting the USB) Set (Baud 38400) (Both NL & CR)

AT : check the connection

AT+VERSION : Check Version

HC-05 (Recommended)
AT+NAME=Change name
AT+PSWD=1234 (Version 2)
AT+PSWD=“1234” (Version 3)
AT+UART=115200,1,0
HC-05 (Recommended)
Bluetooth setup with the USB TTL and Arduino IDE

Arduino IDE>Tools>Serial Monitor (Push Button Before Connecting the

USB) Set (Baud 38400) (Both NL & CR)
Hold Press when sending AT command (Version 5)

AT : check the connection

AT+VERSION : Check Version

HC-05 (Recommended)
AT+NAME=Change name (Synerduino)
AT+PSWD=1234 (Version 2)
AT+PSWD=“1234” (Version 3) (Possibly Version 5)
AT+UART=115200,1,0 (115200 FOR BLUETOOTH )

HC-06
AT+NAME: Change name
AT+PIN: change pin, xxxx is the pin, again, no space.
AT+BAUDX, where X=1 to 9
1 set to 1200bps
2 set to 2400bps
3 set to 4800bps
4 set to 9600bps (Default)
5 set to 19200bps
6 set to 38400bps
7 set to 57600bps
8 set to 115200bps
HM-10 Bluetooth

Setup with FTDI + Arduino Serial Monitor + AT Command

AT+NAME? (Query name)

AT+ADDR? ((Query Mac address)

First you will need to Query the native MAC address using AT Command AT+ADDR?
You will get something like this 20C38FF61DA1, each BLE has a unique MAC address.

Use AT+CON[param1] and AT+ROLE[param1] to pair to another device.

Example
BLE A has Mac Address 11C11FF11DA1, I used AT+ADDR? to figure it out BLE B has Mac Address 22C22FF22DA2, I
used AT+ADDR? to figure it out
Send AT+CON22C22FF22DA2 to BLE A Send AT+CON11C11FF11DA1 to BLE B (Send the B address to A, A address
to B)
Send AT+ROLE0 to BLE ASend AT+ROLE1 to BLE B (Doesn't matter which one)
Now it's ready to use on you ATMEGA 328P, Arduino or Attiny. The red light will stay solid after the connection
has been made on both BLE. This should take less than a second.
 HM-10 (Original) AT+BAUD
AT+TYPE 0 – 9600:
AT (Check if new configuration is working) 0:Not need PIN Code
AT+NAME (Query name) 1 – 19200
1:Auth not need PIN 2 – 38400
AT+ADDR (Query Mac address) 2:Auth with PIN
AT+BAUD (Query Baud) 3 – 57600 (Some BL its 4800)
3:Auth and bond 4 – 115200
AT+PASS (Query current Pincode)
AT+PIN (Query current Pincode on some BL module) 5 – 4800
AT+TYPE (Query authentication mode) 6 – 2400
AT+ROLE (Query Peripheral (Slave) or Central (Master) mode) 7 – 1200
8 – 230400 (Some BL its 115200)

AT+NAMEArduinoDrone
AT+BAUD4 set baud to 115200 (we want this for high speed) AT+ROLE
AT+BAUD8 set baud to 115200 (on some BL module) 0 = Slave or Peripheral
AT+PASS123456 Set password to 123456 1 = Master or Central.
AT+PIN123456 Set password to 123456 (on some BL module)

AT+TYPE2
AT+TYPE1 (on Some BL modules)
AT+ROLE0

Note : there are several clones of this type in the market that can be very difficult to setup
XBEE RADIO
GROUND STATION ROUTER AIRCRAFT COORDINATOR 38400
38400 8/N/1/N - AT 8/N/1/N - AT
GROUND STATION
GROUND STATION
AIRCRAFT
GPS
GPS CONFIGURING

U BLOX NEO 6

PLUG IN TO SERIAL TX 2 RX 2

USB TTL TO PROGRAM THE GPS

THIS GOES SAME ON THE DRONE SHIELD

GPS CONFIGURING

BEITIAN UBLOX

PLUG IN TO SERIAL TX 2 RX 2

USB TTL TO PROGRAM THE GPS

THIS GOES SAME ON THE DRONE SHIELD

 U CENTER
Go to View> Configuration View
Connect to the device. Select the COM port your
GPS and USBTTL is connected to

Connect to the baud rate your GPS is set to

Default (9600) Setup we wanted (57600)
 U CENTER
1. Connect to the
device.

2. Open View /
Messages View

3. Select UBX-CFG-PRT.

4. Poll the current

configuration from
the receiver Change
the setting to the
desired baud rate.
(57600)

5. Click the lock icon on

the lower left and
Send the message to
the receiver
U CENTER
Rate 200ms
Frequency 5hz

Note after updating

the settings click o
the Lock icon on the
left and click the
send button

Exit the
configuration
window this will
promp you to the
save parameters .
Hit “Yes”
U CENTER
1. Connect to the device.
2. Open View / Messages View
3.Select UBX-CFG-CFG.
4. Select “save current
configuration”
5. Send the message to the receiver
hit the Lock icon then send icon
in the bottom

Disconnect /
Reconnect to the GPS
again using the 57600
baud to see if the
parameters are save
GPS CONFIG.H

Set GPS BAUD to

57600 as configured to
the GPS module
GPS CONFIG.H

Depending on the GPS

Version

Older formats uses

NMEA protocol

Newer GPS uses

UBLOX UBX Protocol
GPS
Note : GPS require a
clear open area to get
a proper fix and
accuracy minimum 7
satellites but 10+ are
Ideal

Flying next to a
building can distort
satellite signal
deteriorating accuracy

Which in this case its

better to not use GPS
modes and fly Manual
 BATTERY CARE – ONLY CHARGE AT 1C OR THE
RECOMMENDED THE CHARGE RATE ON THE LABEL

USE BALANCE CHARGER TO SET THE CURRENT IN THE

SAMPLE IS 5A

BATTERY STORAGE MODE IS 3.8V PER CELL

BATTERY BATTERY DISCHARGE IS 3.6V PER CELL
BATTERY FULL CHARGE IS 4.2V PER CELL

ITS RECOMMEND TO USE THE VOLTAGE ALARM TO

MONITOR THE BATTERY VOLTAGE WHILE IN USE
4S 16.8V 3S 12.6V
VOLTAGE READING
HOW MUCH POWER IN YOUR
BATTERY

VOLTAGE DIVIDER

THIS ALLOWS THE 3V-5V TO BE

INPUTTED TO THE A0 ANALOG
PIN OF THE ARDUINO TO READ
THE BATTERY VOLTAGE

SWITCH THE VBAT JUMPER

ACCORDINGLY TO THE BATTER
CELLS YOUR USING
3S OR 4S
BATTERY MONITORING CONFIG.H
PIN ASSIGNMENTS CONFIG.H
CAMERA GIMBAL

CONFIG.H
CONFIG.H

Arm/DisArm

Option for combination stick

command to start and stop
the drone

Note: Combination stick only

works on some vehicles
configuration . Others uses
Aux Arm switch

Arm Only When Flat

Is a safety option not to arm
when the drone is not level
prevent starting up when on a
slope or when moving Works for Multirotor Example : Rudder Stick Left to Rudder Arm Stick Right to Disarm
Note: motors will spool up to Idle Speed
CONFIG.H

THROTTLE FAILSAFE –WHAT THE THROTTLE INPUT WOULD BE IF SIGNAL IS LOST

BETWEEN THE SYNERDUINO BOARD , RECEIVER AND TRANSMITTER
FLYWIIGUI
GROUND
STATION

http://synerflight.com/flywiigui/
 FLIGHT DECK – IF THIS DOESN’T LOOK RIGHT CHECK YOUR SENSORS ORIENTATION AGAIN USING THE SENSOR GRAPH
COMPASS (MAG AND GYRO) PWM OUTPUT INDICATOR PWM INPUT INDICATOR
TELEMETRY CONNECTION SEE YOUR CHECK YOUR BLUETOOTH RADIO OR USB ON
WHERE IS THE VIRTUAL COM PORT IS SAVE CONFIG
FLIGHT & GPS LOGS

ALTITUDE (BARO)

ATTITUDE (ARTIFICIAL HORIZON)

(GYRO XYZ AND ACC XYZ)

GPS SATELLITE COUNT

(4 SATS FOR 3D FIX – IDEAL 7 SATS)

VERTICAL SPEED INDICATOR

(ACC Z AXIS )

POWER STATUS / AUX SENSOR

PACKETS STATUS ALSO KNOWN AS FUEL GAUGE
(IF THE ERROR NUMBERS ARE HIGH PLS ( VBAT )
CHECK YOUR TELEMETRY CONFIG)
 Calibration Acc Calibration Mag Flight Log
RC PWM
Serial Com Altitude Heading Frame type / Motor PWM
Refresh rate

Attitude

GPS

Serial Data

Vertical Speed Analog sensor / Battery Sensor Status

Refresh Rate . Telemetry update speed

Acc Calibration . Set the drone down on a level surface . Away

from any metal objects for 10 secs.

Mag Calibration . rotate the aircraft 360 degrees in all axis

within 1 min. while the blue Led flashes

Mag Calibration must be perform when launching your drone

in a new location for the first time. Pls verified the Compass if
the drone heading matches your compass app in your phone.

These Calibration must be perform after Parameter updates

after Flashing the firmware
Blue LED would flash during these calibration processes
 FC Config
 Gyro or Acc assisted Mode.
 Check if Gyro move servos in
right directions.
 Lift a wingtip and Aileron goes
up.
 Lift the tail and Elevator goes
up.
 Rudder moves in same
direction as the tail.

Use the Servo Tab in Gui to
Change Servo directions.
 Servos Settings
 Gyro or Acc assisted Mode.
 Check if Gyro move servos in right directions.

 Lift a Right wingtip and Right Aileron goes up.

 Lift the tail and Elevator goes up.

 Rudder moves in same direction as the tail.


Use the Servo Tab in Gui to Change Servo
directions.

 The Aircraft should give the correct

proportion for control attitude correction

 Control surfaces should oppose the

disturbance applied to the aircraft
FLYWII GUI
(FC CONFIG TAB)

BATTERY MONITORING

VBAT SCALE - ADJUST THIS TO MATCH THE

BATTERY VOLTAGE OUTPUT USING THE
VOLTAGE ALARM INDICATOR

VBAT WARNING LEVEL – IDENTIFY THE NOTICE

WHEN THE BATTERY DROPS TO THIS VOLTAGE

(GUI SETTINGS TAB)

BATTERY CELL COUNT- ADJUST THIS

DEPENDING ON THE NUMBER OF CELLS

BATTERY MONITORING THIS BOARD SUPPORTS 2S-4S BATTERY

 ARM – Arms the main motor of the aircraft

 Setup in PassThru Mode.

 Set all TX trims to zero and check
the value when the sticks centers.
 If it's not 1500 change #MIDRC to
your Midrc in the code.
* Use the Servo Tab in Gui to
adjust Servo Offset to center the
Control Surfaces.
Adjust mechanically on the linkages
to keep offsets as small as possible.
 * Set the Servo Rates to maximum
recommended for the model.


 Remember to press Write settings

button before exit!..

Pass thru - Mode disables all gyro stabilization puts the aircraft
into manual flying
 Acc Calibration
 Place the plane on a stable surface.
 Wings Level with nose in expected Attack angle for level flight.
 Normally a few degrees up.
 Memorize the planes attitude in flight this should be Level for Acc.


 Passthru
 Sends Rc commands direct to servos.
No influence from sensors.
 Gyro Mode (Acro)
 This is "Normal" mode when nothing else is selected.
 The plane should compensate for movements. (Wind Gusts etc)
 The plane feels stable and locked in but still able to loop & roll.
 Stall speed is lower and it can be necessary to "Push" it down in landings.

 Stable Modes
 With the sticks centered the plane will self stabilize.
Returning to level flight from almost any situation.
 Provided there's enough Altitude for recovery.


 Horizon Mode Allows rolls and loops. Levels with centered sticks
This is a comfortable flight mode for FPV.

 Angle Mode also limits how much the plane can tilt.
Gives a Stiff feeling and is only recommended for beginners.
 Graphs and Sensors
Upload the sketch to the Arduino attach to the drone shield and open the FlywiiGUI sensor Graphs tab
and hit connect to the appropriate COM your drone is connected to

the correct orientation

Roll Right + no#

Pitch nose down + No#
Z up + No#

Roll Right + no#

Pitch nose down + No#
Yaw Right +No#

Mag & HEAD degrees

corresponds to the compass

(0 degrees = North)

Alt up +no#
Example : if roll the drone to the right the Accelerometer and Gyroscope graphs would show positive numbers and to the Left Negative numbers

If Lift the drone up Vertically the accelerometer Z axis should shows positive numbers and altitude should show a climb in meters
Other Navigation Functions
WP Radius – the radius of the area the Pos PID with trigger it has reach the waypoint

Max Nav Speed – Maximum speed the drone travel between waypoints (too fast and
you likely over shoot your target) for first mission flight test Nav speed of 100cm/s
with (“Enable Slow Navigation “Active)

Min Nav Speed – the speed the drone travel when with in the WP Radius

RTH Altitude – Altitude the drone will climb to when its below the altitude in relation
to its home point when the RTH is trigger set this to 0 to RTH at current altitude

Max Nav Banking – the max allowable pitch and roll the drone will be set too while
traveling between waypoints (tune this along with Max Nav Speed to take account
with Environment conditions )

Max Nav Altitude – Max altitude the drone is cap to fly at

Land Speed – speed of descending for Landing cm/s

Safe WP Distance – max distance between waypoint before its null out

Fence Radius – Geo Fence to keep the drone with in the perimeter in relation to
home position

CrossTrack gain - this tune the GPS and Nav sensitivity

GPS Filtering – use to enhance GPS accuracy

GPS Forward Prediction Filter – predicting the drones location and to compensate
for lag . (optional) – not necessary for most application
Don’t Reset Home position at Arm – this retains the home position where you
first plug power on your drone

Nav Controls Heading – this points the drone to its next waypoint Important to
fixwings

Fly tail first – Not applicable in fixwings

Turn take off heading at Home – when drone arrives at home position it
orientates to its heading right after arming

Wait to reach RTH - this works with RTH altitude command which the drone
would climb to the said altitude before initiating the flight to home position

Enable slow navigation – this works with keeping the drone to its Min Nav
speed

Ignore throttle and Take over Baro – as the name suggest disable throttle stick
command from the controller when the drone is on mission mode

Important Navigation Settings for Fixwing

• Enable GPS Filtering ON
• Nav Control Heading ON
• Flywith Tail First OFF
• Turn Takeoff Heading OFF
• Wait for Reach RTH alt OFF
• Enable slow navigation OFF
 Flight Tuning
 Roll,Pitch,Yaw
Stability PID : Level of your Gyro
Gyro
Horizon / Level X,Y
PID : X ,Y Axis Level of your Accelerometer
Mode Accelerometer

Heading Lock Compass/Mag PID : heading of your magnetometer Calibration

Altitude Hold Barometer / Z PID : Barometer and Z accelerometer

Position Hold GPS Pos PID : sensitivity of GPS position reaction

Navigation Rate GPS Nav

Understanding impact of P, I and D
P : this is the amount of corrective force applied to return the Aircraft back to its initial position

The amount of force is proportional to a combination of the the deviation from initial position minus any command to
change direction from the controller input. A higher P value will create a stronger force to resist any attempts to
change it's position. If the P value is too high, on the return to initial position, it will overshoot and then opposite force
is needed to compensate. This creates an oscillating effect until stability is eventually reached or in severe cases
becomes completely destabilized.

I : this is the time period for which the angular change is sampled and averaged

The amount of force applied to return to initial position is increased by the I factor the longer the deviation exists
until a maximum force value is reached. A higher I will increase the angular hold capability.

D : this is the speed at which the Aircraft is returned to its original position

Increasing value for D: Improves the speed at which deviations are recovered

With fast recovery speed comes a higher probability of overshooting and oscillations
Will also increase the effect of P
P – proportional

P provides a proportional amount of corrective force based upon the angle of error from desired
position. The larger the deviation, the larger the corrective force.

A higher P value will create a stronger force to return to desired position. If the P value is too
high, on the return to initial position, it will overshoot and then opposite force is needed to
compensate. This creates an oscillating effect until stability is eventually reached or in severe
cases, the overshoot becomes amplified and the multi-rotor becomes completely destabilized.

Increasing value for P :It will become more solid/stable until P is too high where it starts to
oscillate and lose control. You will notice a very strong resistive force to any attempts to move
the Multi-Rotor

Decreasing value for P: It will start to drift in control until P is too low when it becomes very
unstable. Will be less resistive to any attempts to change orientation

Aerobatic flight: Requires a slightly higher P

Gentle smooth flight: Requires a slightly lower P

I – Integral

“I” gain provides a variable amount of corrective force based upon the angle of error from
desired position.

The larger the deviation and / or the longer the deviation exists, the larger the corrective
force. It is limited to prevent becoming excessively high.

A higher I will increase the heading hold capability

Increasing value for I: Increase the ability to hold overall position, reduce drift due to
unbalanced frames etc

Decreasing value for I:Will improve reaction to changes, but increase drift and reduce ability
to hold position
D- Divide / Derivative

This moderates the speed at which the Aircraft is returned to its original
position.

A lower D will mean the Multi-Rotor will snap back to its initial position very
quickly

Increasing value for D: Dampens changes. Slower to react to fast changes

Decreasing value for D: Less dampening to changes. Reacts faster to

changes

Aerobatic flight: Lower D

Gentle smooth flight: Increase D

Basic PID Tuning – on the ground

Click on Write settings

after changes made in
1 - Set PID to the designers default recommended settings.
any of the parameters to
save
2 - Hold the Aircraft securely and safely in the air.

3 - Increase throttle to the hover point where it starts to feel light.

4 - Try to lean the Aircraft down onto each motor axis. You should feel a reaction
against your pressure for each axis.

5 - Change P until it is difficult to move against the reaction. Without stabilization

you will feel it allow you to move over a period of time. That is OK

6 - Now try rocking the aircraft. Increase P until it starts to oscillate and then
reduce a touch.

7 - Repeat for Yaw Axis. Your settings should now be suitable for flight tuning.
You will have to accept a compromise of optimal settings for stable hover and
your typical mode of flying.

Obviously factor it towards your most common style.

Other factors affecting PID Taking known good PID values from an identical
configuration will get you close, but bear in mind no two Aircraft will have the
same flying characteristics and the following items will have an impact on
actual PID values:

1 - Frame weight /size / material / stiffness

2 - Motors - power / torque /momentum
3 - Position - Motor-->motor distance (I.E. frame size)
4 -ESC / TX - power curves
5 - Prop - diameter / pitch / material
6 - BALANCING
7 - Pilot skills
Advanced Tuning - practical implementation

For Aerobatic flying: Increase value for P until oscillations start, then back of
slightly

Change value for I until wobble is unacceptable, then decrease slightly

Decrease value for D until recovery from dramatic control changes results in
unacceptable recovery oscillations, then increase D slightly Repeat above
steps

For stable flying (RC): Increase value for P until oscillations start, then back of
quite a bit

Decrease value for I until it feels too loose /unstable then increase slightly
Increase value for D
 Click on Write settings after changes made in any of the parameters to save

PID : Level

This will influence the flight characteristic with an accelerometer : this is Level Mode

P is the dominant part of autolevel mode.

I will tell how much force must be applied when the mesured angle error persit
D is used to clamp the maximum correction for autolevel mode

Increase value for P will make the autolevel mode stronger

For smooth operation the sum of P axis + P level should stay near the default value : if you decrease P for
Roll and Pitch axis you can increase P Level
 Click on Write settings after changes made in any of the
ALT Hold parameters to save

The Barometer sensor is used to detect the altitude of your aircraft and is used for
altitude hold mode. As the barometer sensor is not very precise and is quite noisy,
detection of small up and down movements is impossible.

So small up and down movements are detected by the accelerometer Z axis.

Combination of these two sensors gives good altitude hold.
PID settings for ALT works like this:

P - Is how much the Aircraft should rely on the barometer sensor. The higher the value
is the stronger the multirotor relies on the Barometer reading.

I - Is used to compensate for drift caused by battery voltage drop during the flight. The
higher the value is more the multirotor will react to voltage drops ( or other varying
factors over time).

D - Is how strong the Aircraft should react to data from the accelerometer Z axis. It is
used to react to small up and down movements that the barometer cannot accurately
sense. The higher the value is the stronger the Aircraft will react to small altitude
changes.
1. So set the P and I to 0

2. Start to play with D value only. To high D may cause yoyo effect (up and down
oscillations). With to low D copter will be not able to react strong/fast enough to hold
altitude. Your goal here is to set D to the value when copter don';t oscillate up and down
and also holds altitude quite well for a not very long period of time. Aircraft will not hold
altitude perfectly at this point during long periods. It will slowly drift up or down, but
altitude should be quite stable in short periods.

3. Start to increase P to the point where Aircraft holds altitude over long time period. If
the value is to small the copter will drift slowly up and down. If the value is to high yoyo
effect may appear. Goal here is to set it to the point where copter holds altitude for quite
some time. Aircraft will still go slowly down due to battery voltage drop over time.

4. "I" is used to compensate the voltage drop. So start to increase the "I" value slowly until
you get a perfect position hold during a very long time.
Now your altitude hold should be good enough.
 For Mega 2560 + GPS Pos Rate PID controller & Pos Rate PID Tuning

 Pos Rate PID controller

 Pos Rate PID Tuning

 The Pos Rate PID controller takes the commanded speed output from the
Pos PI controller and commands an attitude in order to maintain the position
hold location. This PID controller should be tuned before adjusting the Pos PI
controller.

 The Pos Rate PID settings control how the attitude of the Vehicle is
changed in order to move towards the desired hold location.

 The speed of movement is controlled by the Pos PI controller, while the

attitude of the Aircraft is controlled by Pos Rate.

 When the Aircraft is within the defined distance of the hold location or
waypoint (set by GPS_WP_RADIUS in config.h) the Pos Rate PID is used,
when further away from the location the Nav Rate PID is used to return to
within the defined waypoint radius.
 For Mega 2560 + GPS Pos Rate PID controller & Pos Rate PID Tuning

 The Pos Rate PID controller takes the commanded speed output from the Pos PI controller and
commands an attitude in order to maintain the position hold location. This PID controller should be tuned
before adjusting the Pos PI controller.

 The Pos Rate PID settings control how the attitude of the Vehicle is changed in order to move towards
the desired hold location.

 The speed of movement is controlled by the Pos PI controller, while the attitude of the Aircraft is
controlled by Pos Rate.

 When the Aircraft is within the defined distance of the hold location or waypoint (set by
GPS_WP_RADIUS in config.h) the Pos Rate PID is used, when further away from the location the Nav
Rate PID is used to return to within the defined waypoint radius.

 To tune the Pos Rate PID, initially set P, I and D values to 0.

 Gradually increase P until the Aircraft begins to position hold with some drift.
 Gradually increase D until the Aircraft responds more quickly to undesired changes in attitude caused
by the wind. If this value is set too high you will see oscillations or sudden jerking in pitch and roll motion.
 If needed, gradually increase I value to allow the PID controller to compensate for long lasting error, ie
if it is being blown by the wind.
 To tune the Pos Rate PID, initially set P, I and D values to 0.

 Gradually increase P until the Aircraft begins to position hold

with some drift.

 Gradually increase D until the aircraft responds more quickly to

undesired changes in attitude caused by the wind. If this value is set
too high you will see oscillations or sudden jerking in pitch and roll
motion.

 If needed, gradually increase I value to allow the PID controller to

compensate for long lasting error, ie if it is being blown by the wind.
 Nav Rate PID

The Aircraft suppose to heading

towards the waypoint
POS Rate PID
When the aircraft goes pass the
waypoint
GPS_WP_RADIUS
Mission – fly to next waypoint

GPS Hold – Aircraft would orbit

the Waypoint
Enter loiter orbit mode

GPS_WP_RADIUS
To tune the Pos Rate PID, initially set P, I and D values to 0.

Gradually increase P until the multirotor begins to position hold with some drift.

Gradually increase D until the Aircraft responds more quickly to undesired changes in
attitude caused by the wind. If this value is set too high you will see oscillations or sudden
jerking in pitch and roll motion.

If needed, gradually increase I value to allow the PID controller to compensate for long
lasting error, ie if it is being blown by the wind.
RC Control Settings
Use Aux switch to setup flight modes and
Navigation functions

HORIZON- keeps the aircraft Level

ARM – this is option should you decided to use

a Aux switch oppose to the Combination Stick
input to Arm/Disarm Drone. Some Airframes
require Arm switch

BARO – Altitude Hold

MAG –Heading Hold

GPS Home – Return to Home (aircraft will

climb to RTH altitude then Fly to Launch point)

GPS Hold – Hold Position ,

MISSION – fly a mission save from the mission

tab

PASSTHRU- Disable all gyro Functions Manual

 Preferably to reserve 1 Aux channel as Arm switch as combination
stick could make the vehicle move prematurely

 Then the alternative Aux for the Mission or RTH mode

Passthru
Sends Rc commands direct to servos.
No influence from sensors.

Gyro Mode (Acro)

This is "Normal" mode when nothing else is selected.
The plane should compensate for movements. (Wind Gusts etc)
The plane feels stable and locked in but still able to loop & roll.
Stall speed is lower and it can be necessary to "Push" it down in landings.

Stable Modes
With the sticks centered the plane will self stabilize.
Returning to level flight from almost any situation.
Provided there's enough Altitude for recovery.

Horizon Mode Allows rolls and loops. Levels with centered sticks
This is a comfortable flight mode for FPV.

Angle Mode also limits how much the plane can tilt.
Gives a Stiff feeling and is only recommended for beginners.
 Missions

Note: Only functional for Mega 2560 Boards

with GPS

Waypoint – the drone with travel between

those points

Time PosHold – Drone will wait X number of

00:00:00 then move to the next waypoint

Unlimited PosHold – once the drone reach this

point it will hover and wait till you switch out
of Mission mode

Land – the drone will land once it has reach this

point (Must be place at the end of the mission)

RTH – the Drone will fly back to home position

(Must be place at the end of the mission)

Default Alt – Altitude in meters (for first

Mission test waypoint with altitude 2m-3m RC Control Setting Tab – activate Baro , Mag , Mission
Above Ground Level) And set missions with
2m-3m altitude with Nav speed of 100cm/s . To start mission takeoff aircraft in stabilize mode up to 1-2meter altitude then switch the
aux switch to mission mode .

Any time you can switch out of it on hold or stabilize mode

 Missions

Prerequisite and process for a good mission , Points to test

before performing a mission

1. Drone is flying stable in horizon and Alt hold mode ,

holding altitude consistently less than 1m variation
over 1 minute period . Tune PID and altitude PID
when necessary.

2. Drone is flying stable and holding position in GPSHold

mode and Alt Mode not deviating with in a 1 x1 Meter
Imaginary box , tune PosHold Rate PID when
necessary

3. RTH – set RTH Altitude to 0 , Max Nav speed to

100cm/s , set aux switch to RTH ,Horizon/Angle and
write settings ,Fly the drone 5 Meters away from the
Launch site and activate the RTH Aux switch ,see if
the drone returns back to home position and holds
position when arrive . Tune Navigation Rate PID when
necessary
Mission upload to /download from Drone

Mission Save to /Open from File

Preflight setup
After you have changed the servo Rates
you can set Dual rates and Expos in the Transmitter.
Engine must be Armed to prevent motorstart by accident..
It can be Armed from AXU-channel if it's setup in the gui . (recommended)
Or with stick combination min throttle & max rudder.

First Flight.
Take of in Passthru.
Switch mode on safe height.
Activate Assisted modes (Horizon /Angle) and feel the difference.

Level-P value will Reduce the maximum throw in Level-Mode.

GPS Flight Modes

Missions
Puts the aircraft into waypoint mode set Aux switch to Mission & Horizon or Angle mode

GPS-Hold
Can only be enabled With AUX switch.
Check both Angle mode and GPS Hold in Gui.
When GPS-Hold is activated The position is saved in a 3D Waypoint.
The plane will Navigate and try to "hit" the WP continuously and maintaining altitude.
No pattern is programmed and the plane fly the shortest way back.
Often in a circle or figure eight.
RTH (Return to home)
Can be enabled With AUX switch or by Failsafe.
Check both Angle mode and RTH in Gui.

When RTH is activated the plane will start Climb to reach safe Altitude.
If RTH is enabled Higher than set altitude it will start navigation and keep that altitude.
If altitude is safe the plane will start to Navigate to home Position.

Only use Angle/Horizon + Gps Home/Hold together.

Do NOT Activate BARO Or MAG for navigation.
It will interfere with the navigation code.

When the plane reaches SAFE_DECSCEND_ZONE the plane will begin descending to correct altitude.
The plane will keep flying in hold mode and continuously pass home.

If Failsafe is active at return The plane will Disarm motor and descend to a "Landing"
PID settings is made in Gui.
ALT & NavR.

Return Altitude can be set with

RTH Altitude
Scale is in Meters
15m is set as default.
PID setup and config
Graphs and Data Logging
GUI Settings (where you save your PID ,Flight Logs and Video Logs )
Log Browser
 Preflight setup
After you have changed the servo Rates
you can set Dual rates and Expos in the
Transmitter.
Engine must be Armed to prevent motorstart
by accident..
It can be Armed from AXU-channel if it's
setup in the gui . (recommended)
 Or with stick combination min throttle &
max rudder.

In RC control Setting set Aux 1 as Arm


First Flight.

Take of in Passthru.
Switch mode on safe height.
Activate Assisted modes and feel the
difference.
  And your much Done on your
setup

Cannot Arm Motors

when on GPS Home , GPS Hold , Mission

Flight modes & when USB is plugged in . (pls
use Bluetooth telemetry)

Tests motor with Props off

Baro and Mag preferably switch off when

Arming

Pls calibrate ACC and Mag in the FlyWii GUI

Dashboard

Ensure the compass is facing the correct

orientation
 LED Indicator

GPS LED D31 Status LED D30

No GPS Blink Blink Blink Blink Blink Motors Disarm o

4 Sats o Not Level Blink Blink Blink Blink

5 Sats Blink o Blink o Blink o
Motors Arm On
6 Sats Blink Blink o Blink Blink o

7+ Sats Blink Blink Blink o Blink Blink Blink o

indicate a valid GPS fix by flashing the LED

- led work as sat number indicator
- No GPS FIX -> LED blinks constant speed
- Fix and sat no. below 5 -> LED off
- Fix and sat no. >= 5 -> LED blinks, one blink for 5 sat, two
blinks for 6 sat, three for 7 +
 First timer for Autonomous RC
Aircraft

We recommend that you choose

a sizeable slow flying plane.

Either build from scratch or an

available kit

Large enough to fit all your

Conventional 4Ch AETR Conventional 3Ch RET equipment and slow enough

To fly comfortably

This way its easy to tune and

flown manually should needed

Differential Thrust 3Ch RET Flying Wing 3Ch