Naze32 hardware discussion thread

MidwestRob · Post by **MidwestRob** » Wed Apr 16, 2014 2:25 am

My Naze32 Acro board is showing some drift on the yaw axis while in the Baseflight Configurator. I've calibrated the sensors several times without any change. Is there a way to change settings to compensate for the drift. The yaw drift is about 1-2 deg/sec. Any help would be appreciated.

timecop · Post by **timecop** » Wed Apr 16, 2014 5:46 am

Yes, its working as expected.

MidwestRob · Post by **MidwestRob** » Wed Apr 16, 2014 6:09 am

timecop wrote:Yes, its working as expected.

Thanks. I just did a test flight and it's flying rock solid.

timecop · Post by **timecop** » Wed Apr 16, 2014 8:22 am

If you recal gyro right before take off, the drift will be minimal, as if you plug it on your desk and let it warm up, it wil be more (since you have no way to recal gyro from GUI or CLI).
So calibrate before flight takes care of temperature offset which is what causes slowly moving yaw.

theailer · Post by **theailer** » Wed Apr 16, 2014 9:35 am

Sweet. Thanks for the info

Rob2160 · Post by **Rob2160** » Wed Apr 16, 2014 10:50 am

timecop wrote:
Rob2160 wrote:
timecop wrote:gyro is used for compass-less headfree mode.

Curious how that works for the acro model without compass? .

How does it know which way to fly when you pull the stick back?

IE, without compass or GPS how does it know which way it is facing? where it is relative to the controller? and which way to fly for a given stick input?

What would happen if the quad was facing you on the ground when you arm and take off? How will heads free respond in that situation?

New to these boards and curious about these features.

To (carefully) use headfree in gyro-only mode, you need to assign headadj and headfree on separate switches.
when quad is oriented "known" way (tail in, facing you), toggle headadj on/off to lock current heading, then enable headfree.
then you can fly it for a few minutes while it keeps heading by gyro only.
There's a problem in that code that after about 10-15 minutes the heading vector used becomes too short (as it doesn't get re-normalized like it should), and turning on headfree will just start wobbling the quad around. I should probably fix it, but.. shrug.

Thanks for the reply, that makes sense.

Got to fly a Naze Acro for the first time today in an Armattan quad. Very impressive.

Two flights with that quad made my 350QX feel lame.

Plüschi · Post by **Plüschi** » Wed Apr 16, 2014 2:41 pm

MidwestRob wrote:My Naze32 Acro board is showing some drift on the yaw axis ... The yaw drift is about 1-2 deg/sec.

I get the same 1deg / sec with stock firmware. You can improve that significantly by using the full mpu6050 sensor resolution for calibration / attitude estimation. Actual firmware is factor 4 short on precision.

BUT the most important thing is to keep the FC fixed during power on, or during stick calibration.
This is somehow difficult since the power-up calibration comes very fast after plugging in the power. Means the initial calibration is probably OFF. I think the firmware should wait 10 seconds after power-up to do the initial calibration. I have not tested the so-called moron_threshold, but the limit of dev = 32 seems way to big to me.

Concluding, stock yaw hold isnt very great actually. Usable only for short flights (5 min) and only with a very good gyro calibration.
For longer flights the math behind this becomes much more complicated. If you are good at vector calculations, linear algebra and such stuff, there is a job for you. Keep the EstN vector in the Normal plane to EstG (EstN dot EstG = 0).

FedorCommander · Post by **FedorCommander** » Wed Apr 16, 2014 9:07 pm

Hi Guys!

Sorry for noob question. How can i change motor direction in CLI for QuadX mixer???

I have frame, which has opposite rotations, and all wires are soldered, shrinked, shortened, so no joy to rewire.

Thanks!

PatrikE · Post by **PatrikE** » Wed Apr 16, 2014 9:31 pm

You need to switch 2 cables!

nspierbundel · Post by **nspierbundel** » Wed Apr 16, 2014 10:02 pm

Some controllers have software to switch rotation.
If not resolder 2 wires per motor

hkubota · Post by **hkubota** » Wed Apr 16, 2014 11:36 pm

FedorCommander wrote:Hi Guys!

Sorry for noob question. How can i change motor direction in CLI for QuadX mixer???

I have frame, which has opposite rotations, and all wires are soldered, shrinked, shortened, so no joy to rewire.

You could mount the motors facing downward.
Or as others have said, use different ESC firmware (simonk-reverse) or swap any 2 wires.

lilbird · Post by **lilbird** » Thu Apr 17, 2014 6:31 am

On my tri if I move the copter the servo will jitter is this normal and with the board unarmed is it ok that you can control the yaw and move the tale servo.

nspierbundel · Post by **nspierbundel** » Thu Apr 17, 2014 6:55 am

Yes,
The servo on a tri responds to movement and yaw stick input.
If you have an issue arming through yaw (because the prop could hit the grass) use retarded arm feature then you could use the other stick to arm

FedorCommander · Post by **FedorCommander** » Thu Apr 17, 2014 7:00 am

hkubota wrote:
FedorCommander wrote:Hi Guys!

Sorry for noob question. How can i change motor direction in CLI for QuadX mixer???

I have frame, which has opposite rotations, and all wires are soldered, shrinked, shortened, so no joy to rewire.

You could mount the motors facing downward.
Or as others have said, use different ESC firmware (simonk-reverse) or swap any 2 wires.

Well.. May be i was not precise in my question... I know about switching wires, as i said i am "noob in multiwii/naze32"... Let motor spin as they spin. For FC its really doesn't matter. It matters for YAW only. And this (in theory) possible to adjust in custom mix, so naze32 will know which motors to slow down/spin up on yaw movement. The question is which custom mix to make. Anyone?

lilbird · Post by **lilbird** » Thu Apr 17, 2014 7:03 am

nspierbundel wrote:Yes,
The servo on a tri responds to movement and yaw stick input.
If you have an issue arming through yaw (because the prop could hit the grass) use retarded arm feature then you could use the other stick to arm

Thanks for the help it seamed odd to me

nspierbundel · Post by **nspierbundel** » Thu Apr 17, 2014 7:29 am

FedorCommander wrote:
hkubota wrote:
FedorCommander wrote:Hi Guys!

Sorry for noob question. How can i change motor direction in CLI for QuadX mixer???

I have frame, which has opposite rotations, and all wires are soldered, shrinked, shortened, so no joy to rewire.

You could mount the motors facing downward.
Or as others have said, use different ESC firmware (simonk-reverse) or swap any 2 wires.

Well.. May be i was not precise in my question... I know about switching wires, as i said i am "noob in multiwii/naze32"... Let motor spin as they spin. For FC its really doesn't matter. It matters for YAW only. And this (in theory) possible to adjust in custom mix, so naze32 will know which motors to slow down/spin up on yaw movement. The question is which custom mix to make. Anyone?

If it flies and corrects correctly just invert yaw on your transmitter.
Or read up on the custom mix (cant help you with that)

FedorCommander · Post by **FedorCommander** » Thu Apr 17, 2014 7:38 am

nspierbundel wrote:If it flies and corrects correctly just invert yaw on your transmitter.
Or read up on the custom mix (cant help you with that)

Transmitter reverse will not help, and even worse, will lead to crash. FC does corrections on its own.

timecop · Post by **timecop** » Thu Apr 17, 2014 8:09 am

Make a custom mixer

FedorCommander · Post by **FedorCommander** » Thu Apr 17, 2014 11:20 am

timecop wrote:Make a custom mixer

Thanks master.

Can you confirm?

mixer CUSTOM
cmix 1 1 -1 1 1
cmix 2 1 -1 -1 -1
cmix 3 1 1 1 -1
cmix 4 1 1 -1 1

Right?

QAV400 · Post by **QAV400** » Thu Apr 17, 2014 1:13 pm

Does anyone know if reading pids and or changing them while hovering will work? or will make multi rotor go out of control?
I am connected to quad by android app and bluetooth

FedorCommander · Post by **FedorCommander** » Thu Apr 17, 2014 4:08 pm

FedorCommander wrote:
timecop wrote:Make a custom mixer

Thanks master.

Can you confirm?

mixer CUSTOM
cmix 1 1 -1 1 1
cmix 2 1 -1 -1 -1
cmix 3 1 1 1 -1
cmix 4 1 1 -1 1

Right?

Answer to myself... Just maiden it... Holy cow... With default pids, its like a train oN rails... Better then CC3D i had before!!! And custom mix does the trick... Thanks TC for good stuff!!!

Scott · Post by **Scott** » Fri Apr 18, 2014 11:29 pm

Is it ok to have BT and usb connected and powered at the same time on Rev 5? I know it won't communicate, but I didn't think it caused damage.

After I did, can't connect and stm 32 is lava-hot. Just got a new one recently and I think I killed it.

timecop · Post by **timecop** » Sat Apr 19, 2014 12:02 am

Yep, it's gone.
I wish people would just stop wasting time with bluetooth... Or at least use proper modules.

mattster98 · Post by **mattster98** » Sat Apr 19, 2014 12:10 am

QAV400 wrote:Does anyone know if reading pids and or changing them while hovering will work? or will make multi rotor go out of control?
I am connected to quad by android app and bluetooth

I found out "the hard way" today that you CAN update PIDs while hovering, and on my quad, it caused it to careen out of control. Not recommended. Looking for a place to submit this (inhibit changes while armed) as a "Feature Request" and perhaps contribute a changelist. I don't believe it was the actual PID settings that did it, but just the act of pushing new values. I made very slight changes.

Meanwhile, I'm 3D printing two new arms for my quad to replace the ones that broke.

--Matt

timecop · Post by **timecop** » Sat Apr 19, 2014 12:12 am

Writing to flash probably did it.

QAV400 · Post by **QAV400** » Sat Apr 19, 2014 12:37 am

Im happy enough to land to do pid changes

just thought id check, thanks for letting me know.

TC are there any BT modules you would recommend that don't cause the naze to blow if usb connected at the same time? or do can they all do it
Also so i can try to avoid blowing mine as i think i would cry, Is it the combination of BT and USB only or is it BT and USB and Main battery? which causes the naze blow

As with the amount of changes I do and my laptop being broken, having a BT module saves me from having to go back home every time i want to adjust even one setting etc.
(can not fly at my house)

treym · Post by **treym** » Sat Apr 19, 2014 1:06 am

mattster98 wrote:Looking for a place to submit this (inhibit changes while armed) as a "Feature Request" and perhaps contribute a changelist.

https://github.com/multiwii/baseflight

mattster98 · Post by **mattster98** » Sat Apr 19, 2014 2:34 am

treym wrote:
mattster98 wrote:Looking for a place to submit this (inhibit changes while armed) as a "Feature Request" and perhaps contribute a changelist.

https://github.com/multiwii/baseflight

Thanks Trey - looks like you already got to it!

Scott · Post by **Scott** » Sat Apr 19, 2014 3:52 am

timecop wrote:Yep, it's gone.
I wish people would just stop wasting time with bluetooth... Or at least use proper modules.

I've been using this bt for awhile now. What happened? Board still boots, green led flashes when tilted.

What's the proper module? I used a 3.3v hc 06 .

teslahed · Post by **teslahed** » Sat Apr 19, 2014 2:01 pm

timecop wrote:Yep, it's gone.
I wish people would just stop wasting time with bluetooth... Or at least use proper modules.

Do you have any more information about this? This is the first i've heard of people frying their hardware with bluetooth modules and i would quite like to avoid making that mistake myself if possible.

timecop · Post by **timecop** » Sun Apr 20, 2014 12:00 am

I don't know. People manage to fry this shit in so many creative ways, yet I have yet to repeat anything like that.
Maybe its all the bullshit tarduino accessories and people powering stuff differently/stupidly.

hkubota · Post by **hkubota** » Sun Apr 20, 2014 1:49 am

timecop wrote:Yep, it's gone.
I wish people would just stop wasting time with bluetooth... Or at least use proper modules.

I wish a BTModule would be pre-installed (and working even with USB being connected).
For 1000 Yen extra I'd buy one right now.

Harald

Scott · Post by **Scott** » Sun Apr 20, 2014 4:48 am

timecop wrote:I don't know. People manage to fry this shit in so many creative ways, yet I have yet to repeat anything like that.
Maybe its all the bullshit tarduino accessories and people powering stuff differently/stupidly.

Yeah, no tarduino accessories. The bt was the only "accessory" connected.

Is 5v from standalone bec to +/- rails "stupid"?
The stupid thing here is that it worked fine with this exact same configuration for a dozen or so flights.

I've been flying your stuff for awhile now- I know when I make dumb mistakes. This thing was fine, then just died doing something that shouldn't hurt it, something I know I've done on pre rev-5.

I'm not trying to lay blame or get anything for free, I'm just trying to understand what happened.

timecop · Post by **timecop** » Sun Apr 20, 2014 7:01 am

Dunno either.
Like I said, people breaking them but no way to track down how.
Basically, 5V on I/O pins BEFORE the rest of chip gets power (i.e. receiver with its own battery or wahtever?>??) = smokey.
How people manage that situation, is another story.

nspierbundel · Post by **nspierbundel** » Sun Apr 20, 2014 7:03 am

I use a bt module as well, pluged it in the usb, powered the 5 v and had no issues.

Serial has to flavours (probably more) 5v (normal pc) signal and 3v (ttl ) signal.
5v on the data lines would kill the 3v naze.

Since it worked before we can assume you had a 3v ttl module.

Since the Naze died i would assume it got 5v or more on te 3v lines.

Either the Bt or th naze has a voltage regulator that died.

Question : why?
Bad bt module?
Wrong connection ?
?

Check your bt module if it is still 3v and working.

Rob2160 · Post by **Rob2160** » Sun Apr 20, 2014 10:28 am

Love the way the Naze acro board handles with no Expo - awesome work timecop!

https://www.youtube.com/watch?v=Z5i5G5mf5Ng

FedorCommander · Post by **FedorCommander** » Sun Apr 20, 2014 8:55 pm

teslahed wrote:
timecop wrote:Yep, it's gone.
I wish people would just stop wasting time with bluetooth... Or at least use proper modules.

Do you have any more information about this? This is the first i've heard of people frying their hardware with bluetooth modules and i would quite like to avoid making that mistake myself if possible.

I am using HC-05, so far so good, at least no urge to connect to USB anymore

. Is this "proper" module? Any list with compatible modules would be great.

QAV400 · Post by **QAV400** » Mon Apr 21, 2014 7:49 am

nspierbundel wrote:I use a bt module as well, pluged it in the usb, powered the 5 v and had no issues.

Serial has to flavours (probably more) 5v (normal pc) signal and 3v (ttl ) signal.
5v on the data lines would kill the 3v naze.

Since it worked before we can assume you had a 3v ttl module.

Since the Naze died i would assume it got 5v or more on te 3v lines.

Either the Bt or th naze has a voltage regulator that died.

Question : why?
Bad bt module?
Wrong connection ?
?

Check your bt module if it is still 3v and working.

Thanks for your info
so on this one it says in the description that I/O is at 5v
http://www.ebay.com.au/itm/190825913983 ... 1497.l2649
does this mean that this module will most likly fry or not be good for the naze?

jingej · Post by **jingej** » Mon Apr 21, 2014 9:19 am

what is so hard to understand?? 5V >>> 3V!! 5V WILL kill 3V hardware POINT

QAV400 · Post by **QAV400** » Mon Apr 21, 2014 10:02 am

well some time ago (not to long) TC said that most BT modules will work, so....
From my understanding a ttl signal can be anything up to the vcc voltage of the transmitting device so it could be 3.0v or 5.0v etc
So should we only be running bt modules that can use a 3v VCC and use 3v pad to power it only so as to not have the ttl signal be no higher than 3 or 3.3v etc?
correct me if wrong here guys.
Also no where have i read that one must only have a 3v ttl signal for the rx pin in the middle of naze board so how was i to know......

Scott · Post by **Scott** » Tue Apr 22, 2014 10:18 pm

QAV400 wrote:well some time ago (not to long) TC said that most BT modules will work, so....
From my understanding a ttl signal can be anything up to the vcc voltage of the transmitting device so it could be 3.0v or 5.0v etc
So should we only be running bt modules that can use a 3v VCC and use 3v pad to power it only so as to not have the ttl signal be no higher than 3 or 3.3v etc?
correct me if wrong here guys.
Also no where have i read that one must only have a 3v ttl signal for the rx pin in the middle of naze board so how was i to know......

Mystery solved!
What was sold to me as a 3v BT module was actually 4.6v. I didn't measure it when I got it, and it worked, so I figured it was good. Apparently, 4.6v is only enough to kill it if you have USB plugged in before BT and FC on, 'cause that's the order that killed the micro.

There's all kinds of BT units out there. Some have 3v power, some have 5v, but the power doesn't necessarily indicate the serial level.

Anybody thinking about a BT module- measure the serial lines BEFORE you connect it, regardless of the power/serial levels stated when purchased.

scrat · Post by **scrat** » Thu Apr 24, 2014 10:08 am

I don't know if this is the right thread but anyways...my two friends have Naze32 rev4 boards. And for both of them GPS doesn't want to work. They have the latest BF FW - when you've introduced EMF avoidance setting. Both of them have neo6-m gps. But those GPS works on rev5 board. What could be the problem..hardware or software?

Thx!

And this question is for me...is it safe to use EMF avoidance - overclocking stm? I use UHF.

Thanks!

jingej · Post by **jingej** » Thu Apr 24, 2014 10:23 am

scrat wrote:I don't know if this is the right thread but anyways...my two friends have Naze32 rev4 boards. And for both of them GPS doesn't want to work. They have the latest BF FW - when you've introduced EMF avoidance setting. Both of them have neo6-m gps. But those GPS works on rev5 board. What could be the problem..hardware or software?

Thx!

And this question is for me...is it safe to use EMF avoidance - overclocking stm? I use UHF.

Thanks!

seems to be the same problem that i have

Olddude · Post by **Olddude** » Thu Apr 24, 2014 4:37 pm

Afternoon all
I just registered really for this and to thank you all for the posts and help in this MEGA thread that it is now
I have been studying this thread for months and months and I can report : It flys :

I am still waiting on a new GPS unit and then we tackle the feature again ..and we will win

but after months of lurking i thought i better jump in on the thread . SO BIG thanks to all

This board is awesome 8-)

rank · Post by **rank** » Thu Apr 24, 2014 6:57 pm

I've previously posted here that I've fried the usb module on my rev5 while soldering. Later, I tried to use the FTDI to connect to the board which worked. But when I tried to update Baseflight to the latest version, it got stuck in the middle. After waiting for a couple of hours, I powered off the board. Now when I power it up the blue led stays on steadily, USB device recongnized, Baseflight gui sees it on com port and tries to connect with "serial port successfully opened" message, followed by "communication failed" message. So I can't reflash it from gui. Also tried using flash loader demo, but it just hangs when trying to connect. Shortening Boot tabs makes no difference.
Anything else I can try to resurrect the board, before I give up on it?

Tr3TopFlyer · Post by **Tr3TopFlyer** » Thu Apr 24, 2014 9:22 pm

Hey I'm new here and looking forward to learning about Naze32. I'm going to apologize in advance for asking some new guy questions but to be honest I'm a little overwhelmed as to where to start. First let me tell you about my experience. I've built about 8 or 9 multirotors and except for my very first which used a KK2 board all my copters have used OpenPilot boards, both CC3D and Revo. I'm not a coder but I'm pretty good with electronics. I fly most of my copters FPV and know my way around RF stuff alright.

So my first question is where is the best place to start? Is it this thread or is there another good source? I haven't gotten my hands on a Naze32 board yet and I'm even a little confused about that. Are there two versions of the controller? The Acro and the standard? I'm sort of equating them to the CC3D (no barometer, no mag) and the Revo with all the sensors. Is that correct or are there more versions? Thanks for your help and your patience.

Olddude · Post by **Olddude** » Fri Apr 25, 2014 12:13 am

@Tr3TopFlyer
A really good start is this thread i know its massive but i made my mini Quad fly just reading this thread
Also really good start is the manual ?:) http://www.abusemark.com/downloads/naze32_rev3.pdf

Anyone need a case let me know .
We went to town and printed ourself a bunch of naze32 rev 5 cases. Its impossible to find any so I have made my own
Available in many colours

: Naze32 3d printed Case

: Naze32 3d printed Case Top half

Tr3TopFlyer · Post by **Tr3TopFlyer** » Fri Apr 25, 2014 1:06 am

Thanks Olddude. I'll dive into the manual and start working through the thread. If anyone else has suggestions please post. And I might be interested in a case. What colors are available? Are the white translucent enough to show the status leds?

harpo1 · Post by **harpo1** » Fri Apr 25, 2014 4:11 am

I have a naze32 rev 5 with my battery voltage connected to the battery pins and the frsky telemetry pins going to the rx and grnd pins on my d4r-II receiver. I also have a house ublox gps connected. I'm getting gps info on my taranis telemetry screen but not the battery voltage. Is this setup not capably of providing the battery telemetry?

timecop · Post by **timecop** » Fri Apr 25, 2014 4:15 am

jingej wrote:
scrat wrote:I don't know if this is the right thread but anyways...my two friends have Naze32 rev4 boards. And for both of them GPS doesn't want to work. They have the latest BF FW - when you've introduced EMF avoidance setting. Both of them have neo6-m gps. But those GPS works on rev5 board. What could be the problem..hardware or software?

Thx!

And this question is for me...is it safe to use EMF avoidance - overclocking stm? I use UHF.

Thanks!

seems to be the same problem that i have

mapping or functionality of serial ports hasn't changed since rev0.
Sorry to hear you're having trouble with an unsupported feature.