Colin's Radio Control

Flight controllers

Naze 32 - CleanFlight 2.3.2 - Defaults

The list below is the output from the "resource", "set" and "status" commands immediately after flashing CleanFlight 2.3.2:

 

#resource
resource BEEPER 1 A12
resource MOTOR 1 A08
resource MOTOR 2 A11
resource MOTOR 3 B06
resource MOTOR 4 B07
resource MOTOR 5 B08
resource MOTOR 6 B09
resource PPM 1 A00
resource PWM 1 A00
resource PWM 2 A01
resource PWM 3 A02
resource PWM 4 A03
resource PWM 5 A06
resource PWM 6 A07
resource PWM 7 B00
resource PWM 8 B01
resource LED_STRIP 1 A06
resource SERIAL_TX 1 A09
resource SERIAL_TX 2 A02
resource SERIAL_TX 11 A07
resource SERIAL_TX 12 B01
resource SERIAL_RX 1 A10
resource SERIAL_RX 2 A03
resource SERIAL_RX 11 A06
resource SERIAL_RX 12 B00
resource INVERTER 2 B02
resource I2C_SCL 2 B10
resource I2C_SDA 2 B11
resource LED 1 B03
resource LED 2 B04
resource SPI_SCK 2 B13
resource SPI_MISO 2 B14
resource SPI_MOSI 2 B15
resource ADC_BATT 1 A04
resource ADC_RSSI 1 A01
resource ADC_CURR 1 B01
resource ADC_EXT 1 A05

# set
Current settings:
align_gyro = DEFAULT
gyro_lpf = OFF
gyro_sync_denom = 8
gyro_lowpass_type = PT1
gyro_lowpass_hz = 90
gyro_notch1_hz = 400
gyro_notch1_cutoff = 300
gyro_notch2_hz = 200
gyro_notch2_cutoff = 100
moron_threshold = 48
gyro_offset_yaw = 0
gyro_use_32khz = OFF
align_acc = DEFAULT
acc_hardware = AUTO
acc_lpf_hz = 10
acc_trim_pitch = 0
acc_trim_roll = 0
acc_calibration = 0,0,0
baro_bustype = I2C
baro_spi_device = 0
baro_i2c_device = 2
baro_i2c_address = 0
baro_hardware = AUTO
baro_tab_size = 21
baro_noise_lpf = 600
baro_cf_vel = 985
baro_cf_alt = 965
mid_rc = 1500
min_check = 1050
max_check = 1900
rssi_channel = 0
rssi_scale = 41
rssi_invert = OFF
rc_interp = AUTO
rc_interp_ch = RP
rc_interp_int = 19
fpv_mix_degrees = 0
max_aux_channels = 6
serialrx_provider = SPEK1024
serialrx_inverted = OFF
airmode_start_throttle_percent = 32
rx_min_usec = 885
rx_max_usec = 2115
serialrx_halfduplex = OFF
input_filtering_mode = OFF
blackbox_p_ratio = 32
blackbox_device = SERIAL
blackbox_record_acc = ON
blackbox_mode = NORMAL
min_throttle = 1070
max_throttle = 2000
min_command = 1000
use_unsynced_pwm = OFF
motor_pwm_protocol = MULTISHOT
motor_pwm_rate = 480
motor_pwm_inversion = OFF
thr_corr_value = 0
thr_corr_angle = 800
failsafe_delay = 4
failsafe_off_delay = 10
failsafe_throttle = 1000
failsafe_kill_switch = OFF
failsafe_throttle_low_delay = 100
failsafe_procedure = DROP
align_board_roll = 0
align_board_pitch = 0
align_board_yaw = 0
gimbal_mode = NORMAL
bat_capacity = 0
vbat_max_cell_voltage = 43
vbat_full_cell_voltage = 41
vbat_min_cell_voltage = 33
vbat_warning_cell_voltage = 35
vbat_hysteresis = 1
current_meter = NONE
battery_meter = ADC
vbat_detect_cell_voltage = 30
use_vbat_alerts = ON
use_cbat_alerts = OFF
cbat_alert_percent = 10
vbat_cutoff_percent = 100
vbat_scale = 110
ibata_scale = 400
ibata_offset = 0
beeper_inversion = ON
beeper_od = OFF
beeper_frequency = 0
yaw_motors_reversed = OFF
3d_deadband_low = 1406
3d_deadband_high = 1514
3d_neutral = 1460
3d_deadband_throttle = 50
3d_switched_mode = OFF
servo_center_pulse = 1500
servo_pwm_rate = 50
servo_lowpass_hz = 0
tri_unarmed_servo = ON
channel_forwarding_start = 4
thr_mid = 50
thr_expo = 0
rates_type = BETAFLIGHT
roll_rc_rate = 100
pitch_rc_rate = 100
yaw_rc_rate = 100
roll_expo = 0
pitch_expo = 0
yaw_expo = 0
roll_srate = 70
pitch_srate = 70
yaw_srate = 70
tpa_rate = 10
tpa_breakpoint = 1650
reboot_character = 82
serial_update_rate_hz = 100
accxy_deadband = 40
accz_deadband = 40
acc_unarmedcal = ON
imu_dcm_kp = 2500
imu_dcm_ki = 0
small_angle = 25
auto_disarm_delay = 5
gyro_cal_on_first_arm = OFF
deadband = 0
yaw_deadband = 0
yaw_control_reversed = OFF
pid_process_denom = 1
runaway_takeoff_prevention = ON
runaway_takeoff_deactivate_delay = 500
runaway_takeoff_deactivate_throttle_percent = 25
dterm_lowpass_type = BIQUAD
dterm_lowpass = 100
dterm_notch_hz = 260
dterm_notch_cutoff = 160
vbat_pid_gain = OFF
pid_at_min_throttle = ON
anti_gravity_threshold = 350
anti_gravity_gain = 1000
setpoint_relax_ratio = 100
dterm_setpoint_weight = 0
acc_limit_yaw = 100
acc_limit = 0
crash_dthreshold = 50
crash_gthreshold = 400
crash_setpoint_threshold = 350
crash_time = 500
crash_delay = 0
crash_recovery_angle = 10
crash_recovery_rate = 100
crash_limit_yaw = 200
crash_recovery = OFF
iterm_windup = 50
iterm_limit = 150
pidsum_limit = 500
pidsum_limit_yaw = 400
yaw_lowpass = 0
p_pitch = 58
i_pitch = 50
d_pitch = 35
p_roll = 40
i_roll = 40
d_roll = 30
p_yaw = 70
i_yaw = 45
d_yaw = 20
p_level = 50
i_level = 50
d_level = 75
level_limit = 55
horizon_tilt_effect = 75
horizon_tilt_expert_mode = OFF
tlm_switch = OFF
tlm_inverted = OFF
tlm_halfduplex = ON
frsky_vfas_precision = 0
hott_alarm_int = 5
pid_in_tlm = OFF
report_cell_voltage = OFF
ibus_sensor = 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ledstrip_visual_beeper = OFF
task_statistics = ON
debug_mode = NONE
rate_6pos_switch = OFF
pwr_on_arm_grace = 5
led_inversion = 0

# status
System Uptime: 430 seconds
Voltage: 123 * 0.1V (3S battery - OK)
CPU Clock=72MHz
Stack size: 2048, Stack address: 0x20005000
I2C Errors: 0, config size: 1888, max available config: 2048
CPU:10%, cycle time: 1011, GYRO rate: 989, RX rate: 481, System rate: 9
Arming disable flags: THROTTLE CLI

KK Multicopter Flash tool on Linux

I have encountered a number of issues when using the KK Multicopter Flash tool on Linux.  I am currently using Linux mint 1.9 Cinnamon on a laptop.  I'll describe the problems I encounter and their fixes / workarounds here:

  • Corrupted hex file when flashing from repository:
    • The only workaround I have found so far for this is to download the hex file from the internet and then flash from file.
  • USB errors:
    • Either run the flash tool as root:
      • cd to the directory that you extracted the tool to;
      • sudo ./kkMulticopterFlashTool_64.sh
    • or add yourself to the dialout group:
      • sudo usermod -a -G dialout colin (note: replace colin with your username)

 

HobbyKing KK2.1.5

This is the flight controller that I use in :

  • Tricopeter #1
  • Dragonfly
  • Dragonfly 2
  • Hummingbird
HobbyKing KK 2.1.5
Once I got used to it it is relatively easy to set up and configure.
It lacks some features available on more expensive flight controllers (barometer, gps etc.) but it's a great entry level flight controller.
The lack of advanced features means that it takes a but more control from the pilot to fly but the extra effort required will help to improve your flying skills.