Naze32 hardware discussion thread

QAV400 · Post by **QAV400** » Fri Feb 28, 2014 1:00 pm

Can anyone tell me is this what i need to be able to connect to my naze32 rev4 board and tune it by android phone
http://www.ebay.com.au/itm/261147430820 ... 1423.l2649
Also is there any where like a guide or something on how to wire it in or set it up etc?
Regards

JaZzMaN251 · Post by **JaZzMaN251** » Fri Feb 28, 2014 4:06 pm

Can anyone help me with the failsafe on the Naze32?

This is what I get:

- I've set feature failsafe
- I've set failsafe_delay to 10 (1 second)
- I've set failsafe_throttle to 1300 (to have a clear visual on testing the failsafe)
- I've set failsafe_off_delay to 50 (5 seconds)

The engines should normally go to 1300 after failsafe kicks in and then should power off after 5 seconds, right?

Any idea how to solve this?
I'm using an R617FS receiver so I can only put the failsafe value on the throttle channel (which now gives me a signal around 900 when I turn the transmitter off, which is well below the failsafe_treshold of 985 in the settings)

I just would like to level the quad and let it descend with less than hover throttle and let the motors stop after a couple of seconds.

cosmic2112 · Post by **cosmic2112** » Fri Feb 28, 2014 6:26 pm

Hi,

I have just set my second naze acro board up in an asymmetrical frame and I am trying to set up a custom mixer, tha'ts fine, but I can't get the commands to work properly and I cannnot figure out why.

E.G.
I enter the following CLI commands:-

mixer CUSTOM
cmix 1 1.000 -0.800 0.800 -1.000
cmix 2 1.000 -1.200 -1.200 1.000
cmix 3 1.000 0.800 0.800 1.000
cmix 4 1.000 1.200 -1.200 -1.000

These result in:-
Custom mixer:
Motor Thr Roll Pitch Yaw
#1: 1.000 -0.800 0.800 -1.000
#2: 1.000 -1.200 -1.200 1.000
#3: 1.000 0.800 0.800 1.000
#4: 1.000 1.200 -1.200 -1.000
Sanity check: OK NG OK

it fails the sanity check and I can't figure out why? M1 and M3 are rear motors and positive and M2 and M4 are front and negative and I want more to the front motors and less to the back, what's wrong with that?

another strange example:-

cmix 1 1.000 -0.650 1.000 -1.000
cmix 2 1.000 -1.000 -0.640 1.000
cmix 3 1.000 0.650 1.000 1.000
cmix 4 1.000 1.000 -0.640 -1.000

results in motor 3 and 4 with odd values:-

Custom mixer:
Motor Thr Roll Pitch Yaw
#1: 1.000 -0.650 1.000 1.000
#2: 1.000 -1.000 -0.640 1.000
#3: 1.000 0.650 0.650 1.000
#4: 1.000 1.000 1.000 -0.640
Sanity check: OK NG NG

I am running it as a quadx for now but would like to figure a custom mix.

cosmic2112 · Post by **cosmic2112** » Fri Feb 28, 2014 8:42 pm

Okay, well I have figured out what the second strange example was, I used double spaces in between some of the values. I prepared the commands in a text editor for easy pasting in and added spaces to make it more readable - Doh!.

But still dont see why I don't pass the sanity check in the first example.

dklein · Post by **dklein** » Fri Feb 28, 2014 9:24 pm

cosmic2112 wrote:Hi,

I have just set my second naze acro board up in an asymmetrical frame and I am trying to set up a custom mixer, tha'ts fine, but I can't get the commands to work properly and I cannnot figure out why.

E.G.
I enter the following CLI commands:-

mixer CUSTOM
cmix 1 1.000 -0.800 0.800 -1.000
cmix 2 1.000 -1.200 -1.200 1.000
cmix 3 1.000 0.800 0.800 1.000
cmix 4 1.000 1.200 -1.200 -1.000

These result in:-
Custom mixer:
Motor Thr Roll Pitch Yaw
#1: 1.000 -0.800 0.800 -1.000
#2: 1.000 -1.200 -1.200 1.000
#3: 1.000 0.800 0.800 1.000
#4: 1.000 1.200 -1.200 -1.000
Sanity check: OK NG OK

it fails the sanity check and I can't figure out why? M1 and M3 are rear motors and positive and M2 and M4 are front and negative and I want more to the front motors and less to the back, what's wrong with that?

I dinked around with it a bit in the CLI and it looks like the sanity check wants the 'column totals' to be 0.
e.g. sum of all Roll values -0.8-1.2+0.8+1.2 = 0 --->OK
sum of Pitch 0.8 -1.2 +0.8 -1.2 = -0.8 --->NG
sum of Yaw -1+1+1-1=0 --->OK

Change the pitch values so they sum to 0 and it passes the check.

So we can manipulate the values to pass the sanity check but that just doesn't seem right as far as I understand motor mix capability in Multiwii. Is it possible the sanity check is not sane? Or perhaps the sanity check is just warning us that we have an asymetrical mix. Did you try monitoring it in configurator to see if it is in fact applying more throttle to the front the way you want?
Connect it without your main battery, powering the FC by USB.
Power the Rx separately if required.
Open configurator and go to motor/servo outputs. Play with the sticks (you might have to zero out the I and D values temporarily to get simple response behaviour).

I used your config and when I roll left I see a lot more going to the front right motor (M2) than the rear right (M1). Similarly, there's still more thrust on the front left (M4) vs rear left (M3). So the whole thing is favoring the the front motors. Looks like it works. Go for a test flight. Be aware that you have specified quite a bit of difference (you'll see that when you monitor in configurator).

It would be nice to know exactly what the sanity check is checking :?:

cosmic2112 · Post by **cosmic2112** » Sat Mar 01, 2014 12:15 am

Yeah, looks like your right, the values are added up and should equal zero but not in an asymmetrical frame for pitch not for roll.

The values in the custom mixer look as if they are implemented so it is just a warning, I have the mixer configured now so I will give it a try tomorrow.

BTW I never thought of trying it with the configurator, I should have tried that, thanks.

dklein · Post by **dklein** » Sat Mar 01, 2014 3:34 am

JaZzMaN251 wrote:Can anyone help me with the failsafe on the Naze32?

This is what I get:

- I've set feature failsafe
- I've set failsafe_delay to 10 (1 second)
- I've set failsafe_throttle to 1300 (to have a clear visual on testing the failsafe)
- I've set failsafe_off_delay to 50 (5 seconds)

The engines should normally go to 1300 after failsafe kicks in and then should power off after 5 seconds, right?

Any idea how to solve this?
I'm using an R617FS receiver so I can only put the failsafe value on the throttle channel (which now gives me a signal around 900 when I turn the transmitter off, which is well below the failsafe_treshold of 985 in the settings)

I just would like to level the quad and let it descend with less than hover throttle and let the motors stop after a couple of seconds.

Yes, that's what it should do. Looks like you can't trigger it with just a low throttle channel. In your case, it's just dropping to your minthrottle level.
When I turn of my Tx, motor outputs stay the same until failsafe kicks in and drops to 1300. Note that it's in leveling mode so what you see for motor output will vary if you move the board around. Yours drops as soon as you turn off the tx - the same as just lowering the throttle.
It appears that the detect level of 985 might need to be across all channels. As an experiment, I set my failsafe_detect_threshold to 1050 so I could do the same as you by lowering my throttle stick (full down puts out a signal at 1000).
Same thing you experienced - it just went down to minthrottle, no failsafe. I was only able to engage failsafe by turning the Tx off. I'm just using a satellite (no rx) so there's no failsafe options on it - when I turn the tx off, the serial stream stops and I guess that's enough for the Naze32 to decide to go into failsafe.

I don't know the Futaba receivers and failsafe options - maybe it's not possible to do what you want here.

JaZzMaN251 · Post by **JaZzMaN251** » Sat Mar 01, 2014 10:17 am

Thank you for checking that.
Seems that I will need another receiver then...

timecop · Post by **timecop** » Sat Mar 01, 2014 10:36 am

The only failsafe we have is when receiver *completely* kills signal output on loss of reception.
Ones that are stuck at last sent values, or ones that lock to a predefined stick position on failsafe will NOT work with what's currently implemented.

Your best bet to do 'failsafe' with a receiver that remembers predefined position on loss of signal is configure switches/etc to something like enable autolevel, drop throttle below hover, and hope that you can still see your junk as it slowly descends.

Crashpilot1000 · Post by **Crashpilot1000** » Sat Mar 01, 2014 2:15 pm

Yes, Failsave needs some attention I did *some* work in that area. One way to cope with simple RC stuff is a deadpilotdetection (not moved sticks for some time - within a margin). I had the idea doing that for copters while seeing a reportage on Trains on TV. The funny thing is, that DJI came up with something similar much later than Harakiri. Orig BF failsafe is copy&paste mwii.

scrat · Post by **scrat** » Sat Mar 01, 2014 5:01 pm

QAV400 wrote:Can anyone tell me is this what i need to be able to connect to my naze32 rev4 board and tune it by android phone
http://www.ebay.com.au/itm/261147430820 ... 1423.l2649
Also is there any where like a guide or something on how to wire it in or set it up etc?
Regards

Using this one and it's working great: http://www.rctimer.com/product_764.html

joseico90 · Post by **joseico90** » Sat Mar 01, 2014 9:31 pm

Trying to make a small 210mm quad snap to level with more "forcefulness", tuning seems good and flies well, but feels rather loose still on Angle, is not snapping to level as well as in other bigger frames. Ideas?

scrat · Post by **scrat** » Sun Mar 02, 2014 7:11 am

Set higher P gain for LEVEL.

joseico90 · Post by **joseico90** » Sun Mar 02, 2014 10:35 am

scrat wrote:Set higher P gain for LEVEL.

Already did, but didn't seem to achieve this, just fast oscillations.

timecop · Post by **timecop** » Sun Mar 02, 2014 11:01 am

You probably changed pitch/roll P not level P.

joseico90 · Post by **joseico90** » Sun Mar 02, 2014 12:11 pm

timecop wrote:You probably changed pitch/roll P not level P.

Yeah, I prob did..

Maxed out at 25.5 P Level improved a bit but still not quite there, could it be vibration related?

timecop · Post by **timecop** » Sun Mar 02, 2014 1:02 pm

Running latest firmware? Level had a bug until like last year May... Otherwise you're doing somethin wrong.

joseico90 · Post by **joseico90** » Sun Mar 02, 2014 2:25 pm

timecop wrote:Running latest firmware? Level had a bug until like last year May... Otherwise you're doing somethin wrong.

I flash to latest FW on arrival with Baseflight, I'll go through all settings and see, I mean.. it flies well.. but no snapping back to level as I would like. Thanks.

joseico90 · Post by **joseico90** » Sun Mar 02, 2014 2:37 pm

I was indeed doing something wrong, I forgot to set up the mode switch, so I was on Acro the whole time! :oops:

timecop · Post by **timecop** » Sun Mar 02, 2014 3:03 pm

scrat · Post by **scrat** » Mon Mar 03, 2014 9:42 am

You got it now.

joseico90 · Post by **joseico90** » Mon Mar 03, 2014 1:50 pm

yep, flying like a champ now..

ccsj · Post by **ccsj** » Tue Mar 04, 2014 2:44 am

I'm about out of idea so any input is greatly appreciated. I have a Naze32 ACRO in BO mini HEX with Sunnysky 2204 2300KV BS 12A simonk 9-30-12. I’m using Frsky DR4II in PPM mode without failsafe. I’ve already tested that if I turn off radio, all motors stayed the same position and came back right away when I turn back radio (taranis). I’ve been getting occasional motor shut down only when I do WOT, flip, or loop. It doesn’t happen all the time only some random time only when I try to push her. I’ve tried backdate ESC fw to 5-15-13 then 9-30-12 so I don’t think it’s a sync issue. Took my worse spill today and broke the top plate. This was my 5th flight and was the one I pushed her the hardest. I flew entire flight in ACRO mode. Any idea? Thanks

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

dklein · Post by **dklein** » Tue Mar 04, 2014 4:53 am

What battery are you using? Probably something small that has a hard time when you draw 30+ amps. Voltage drops and you lose motors and/or power to the Naze32. Bigger battery / higher C rating might be the answer.

strepto · Post by **strepto** » Tue Mar 04, 2014 11:34 am

Yeah that doesn't sound too far-fetched at all - you're running on near full throttle for most of that flight by the sound of things - and those sunnyskies can suck some serious amps!

Flips and rolls then peak out your current draw further...

ccsj · Post by **ccsj** » Tue Mar 04, 2014 6:44 pm

Thansks for your input. I just checked my telemetry data from my last crash but it didn;t show any smoking gun. I was flying with RMRC 3300maH 35C. My other theory was may be the high C battery allowed for more current. Too much such that the ESC was over worked and was not able to sustain the 5V output which feeds into the FC. Although in the telemetry, the loest point was 5.18V. This was with 0.5S sample rate so anything can happen in less than 500ms. I may just get brand new set of ESC and see if that fix it.

imagebuff · Post by **imagebuff** » Wed Mar 05, 2014 7:02 pm

Suddenly my NAZE32 cannot connect via USB to the baseflight configurator

From day one the Naze32 has been connecting fine through the USB port to the configurator over COM6. No problems whatsoever. I have already made some test flights and have been busy trying to get Frsky telemetry to function. I stumbled upon the telemetry checkboxes in the configurator tab w/ mode switches and CHECKED EVERY TELEMETRY BOX so it would be active under all modes including while DISARMED. I saved the config to eeprom, disconnected and telemetry started flowing. I took it on a testflight, and all was good. I reconnected the USB cable w/o LIPO power as normal, lights blinked but the configurator will no longer connect no matter what I do. I tend to believe it has something to do with enabling telemetry. Any ideas on how to proceed or troubleshoot? I can't even re-flash the firmware since the USB connection is failing. No other changes were made besides the telemetry checkboxes in the configurator, no changes to the win xp system, nothing. The board still flies independently and is fully functional. Any help is greatly appreciated.

Thanks
Chris

Crashpilot1000 · Post by **Crashpilot1000** » Wed Mar 05, 2014 9:33 pm

Seems you stumbled over something not thought through in the code. In that case you will have to short the bootloaderpins and reflash the FW. I never got that working with the paperclip method, so I soldered 2 cables to it wich I can short if needed. That will work. 100% .

joseico90 · Post by **joseico90** » Thu Mar 06, 2014 4:29 pm

Hi guys,

I'd like to know how to calibrate all the esc's at the same time via the controller, is there a CLI command on Baseflight?

Thanks.

imagebuff · Post by **imagebuff** » Thu Mar 06, 2014 4:54 pm

Thanks for the advice Crash.. It took a bit of effort to short those pads properly but that worked like a champ.

Moral of the story:

If enabling feature telemetry_switch don't check the boxes for ALL states. It doesn't like to communicate over USB while telemetry is active thereby keeping you from configuring the board.

Thanks
Chris

eBoon · Post by **eBoon** » Thu Mar 06, 2014 6:06 pm

joseico90 wrote:Hi guys,

I'd like to know how to calibrate all the esc's at the same time via the controller, is there a CLI command on Baseflight?

Thanks.

Search for mochaboy video on YouTube on setting up the board..it's a fantastic video. At about 40 minutes in, he goes over this process.

JaNpIrAtE · Post by **JaNpIrAtE** » Thu Mar 06, 2014 7:09 pm

where to get harakiri SG2.6

can someone please provide me with the link..

thanks :cool:

joseico90 · Post by **joseico90** » Fri Mar 07, 2014 12:16 pm

Anyone knows how to configure the Fail Safe feature once activated through the CLI?

I'm using some receivers without Fail Safe and would be great to get FS set up on the board.

Thanks.

scrat · Post by **scrat** » Fri Mar 07, 2014 12:27 pm

Then you can't use this feature if your rx doesn't support failsafe.

joseico90 · Post by **joseico90** » Fri Mar 07, 2014 3:54 pm

scrat wrote:Then you can't use this feature if your rx doesn't support failsafe.

I understood this feature is RX independent, is done on the board, am I wrong?

hinkel · Post by **hinkel** » Fri Mar 07, 2014 5:14 pm

joseico90 wrote:
scrat wrote:Then you can't use this feature if your rx doesn't support failsafe.

I understood this feature is RX independent, is done on the board, am I wrong?

@joseico90
You are right , failsafe is done on the board just do feature failsafe on CLI
and adjust the failsafe values you need on CLI .

joseico90 · Post by **joseico90** » Fri Mar 07, 2014 9:00 pm

yep, done the activation, now I need to learn about the values, there is an option in "initial set up" tab to do with motor speed under fail safe (by the look of it)
Don't you wish there was a comprehensive manual for Baseflight?.... I do

joseico90 · Post by **joseico90** » Fri Mar 07, 2014 9:11 pm

I'm not able to do "motor test" on baseflight, it seems to freeze there, sliders move but nothing happens, ( battery is plugged) I have to click on disconnect in order to come out of BF. Tried on a Windows 7 64bit machine, and a 32 bit one, same issue on both, could this be a bug?

timecop · Post by **timecop** » Sat Mar 08, 2014 2:37 am

no, did you bother upgrading firmware to latest?

joseico90 · Post by **joseico90** » Sat Mar 08, 2014 2:32 pm

timecop wrote:no, did you bother upgrading firmware to latest?

the FW on the board is a couple of weeks old, do I need to flash it again? , and if I do, will it erase my settings?

joseico90 · Post by **joseico90** » Sat Mar 08, 2014 2:33 pm

timecop wrote:no, did you bother upgrading firmware to latest?

the FW on the board is a couple of weeks old max, do I need to flash it again? , and if I do, will it erase my settings?

joseico90 · Post by **joseico90** » Sat Mar 08, 2014 3:06 pm

OK Mr TP,

Flashing to latest FW did the trick,

Thanks

Racer38 · Post by **Racer38** » Sat Mar 08, 2014 5:54 pm

First off I am really enjoying the Naze32, Great Job Timecop

I am attempting to set up RSSI through the Naze. I have a ezUHF and when set up for Single wire PPM it sends the RSSI info over the one wire, no way to get it on one of the unused set of pins in this configuration. So I have the RSSI output from the ezUHF set for Channel 7 and the RSSI_AUX_CHANNEL set for 3 on the Naze, is this the correct way to do it ?? It doesnt appear to be working on my Minim OSD with the KV Team firmware. I have the RSSI set to MW on the OSD Board ..

I hope I am just missing something or set the wrong AUX port ..

Again Great Job this thing flys rock solid on my Mini Quad !

BlackRock · Post by **BlackRock** » Sun Mar 09, 2014 3:07 am

Quick question on how the board initializes when you plug it in. If I've calibrated the board already on a perfectly level surface does it need to also be level when I first plug it in for each use or just nice and still?

I meant to test it more today, but forgot and then the rain started up. I know the manual says not to move the board until it has a chance to initialize, but does it matter if the board is level? I feel like each battery pack I ran today gave me different trim problems. The first pack and the quad drifted forward a bit, the second pack I messed up and plugged it in holding it, then set it down too late and it was way out of wack, so I replugged it in on the ground and it did better.

I'm just wondering if I should have the quad on a leveled platform out on the field when I plug it in or if just making sure it's sitting nice and still on the ground is enough. I don't feel like I've been able to recreate a super trimmed out state every time I fly the quad. Like I said, one pack it pulled left, the other forward and the third was back and left. It might be nothing more than bumping the quad around too much when I plug it in, but it would be nice to know how the board actually works and what it's looking for.

Only once or twice have I run the quad where it was so stable I didn't even need to fly it and could watch it hover in place without it drifting. I'd really like to replicate that every time I plug a new pack in.

timecop · Post by **timecop** » Sun Mar 09, 2014 3:20 am

It doesn't matter if its level.

Initial gyro biases are taken at startup (this is why green led is on for a few seconds). If you keep moving the board with default settings (moron_threshold untouched) it will never finish initialization and green light will never go off until the board is still.
You do level calibration by calibrate acc once (and then maybe trim using acc trim stick or gui commands). After that, you don't need to touch it again unless you crash or something.

--Oz-- · Post by **--Oz--** » Mon Mar 10, 2014 4:42 am

Coming from the KK2.0 v1.6++ with SL-mix mode (similar to horizon mode), I have about 30 packs on my acro naze32 and still cant get it to fly the way I want it to. I have got my flip/roll rate right where I want it (2+ per second).

Here is my current two issues (I fly horizon mode).

The transition from level to roll/pitch is not smooth like the KK2 is, I am not confident putting the quad exactly where I want it. I would like the self level to be a smaller portion of the centered stick, it feels like 15% now (of center stick), I would like ~3%.

Also yaw has way to much expo (barely moves and then spins too fast at full yaw input and sometimes with a throttle pulse), I have zero expo on my Taranis and in baseflight (that I know of), my settings are below.

My baseflight FW is Jan 28-2014.

TIA

joseico90 · Post by **joseico90** » Mon Mar 10, 2014 12:05 pm

--Oz-- wrote:Coming from the KK2.0 v1.6++ with SL-mix mode (similar to horizon mode), I have about 30 packs on my acro naze32 and still cant get it to fly the way I want it to. I have got my flip/roll rate right where I want it (2+ per second).

Here is my current two issues (I fly horizon mode).

The transition from level to roll/pitch is not smooth like the KK2 is, I am not confident putting the quad exactly where I want it. I would like the self level to be a smaller portion of the centered stick, it feels like 15% now (of center stick), I would like ~3%.

Also yaw has way to much expo (barely moves and then spins too fast at full yaw input and sometimes with a throttle pulse), I have zero expo on my Taranis and in baseflight (that I know of), my settings are below.

My baseflight FW is Jan 28-2014.

TIA

Hi OZ,

First,

You should update the FW of the board, and baseflight too, there have been several fixes and improvements since Jan.
If you save-restore your configuration using BS it should painless, I did the other day and some issues were "magically" sorted.

Also, why is you derivative down from the default 100 to 30 in LEVEL?

Cheers.

hkubota · Post by **hkubota** » Mon Mar 10, 2014 1:42 pm

Tri question: I got a tricopter with Naze32 running. Works well. Not as nice as my little quad, but they are different sizes and props and generally not really comparable. In both cases the behavior is predictable and it's fun to fly.

But what bothered me on the tri: when i changed the servo link to a slightly longer one (length change was not on purpose), so the tail prop had a different tilt, the tri slowly turned right (servo link too long, so prop tilted too much left).

Should the gyro not compensate this and the tri is supposed to NOT turn around without user input?

Of course I can change the servo link length (which is what I did), or change the neutral position of the servo, or adjust the neutral position in the Baseflight configurator, but all those seem wrong: the tri should not yaw without any input from the receiver.

Is my thinking wrong?

Harald

timecop · Post by **timecop** » Mon Mar 10, 2014 1:50 pm

I think, "center" should be considered as idle, so if you change linkage length and don't adjust servo center travel to match it to be level, it won't be. Just a guess tho.

--Oz-- · Post by **--Oz--** » Mon Mar 10, 2014 2:41 pm

joseico90 wrote:
--Oz-- wrote:Coming from the KK2.0 v1.6++ with SL-mix mode (similar to horizon mode), I have about 30 packs on my acro naze32 and still cant get it to fly the way I want it to. I have got my flip/roll rate right where I want it (2+ per second).

Here is my current two issues (I fly horizon mode).

The transition from level to roll/pitch is not smooth like the KK2 is, I am not confident putting the quad exactly where I want it. I would like the self level to be a smaller portion of the centered stick, it feels like 15% now (of center stick), I would like ~3%.

Also yaw has way to much expo (barely moves and then spins too fast at full yaw input and sometimes with a throttle pulse), I have zero expo on my Taranis and in baseflight (that I know of), my settings are below.

My baseflight FW is Jan 28-2014.

TIA

Hi OZ,

First,

You should update the FW of the board, and baseflight too, there have been several fixes and improvements since Jan.
If you save-restore your configuration using BS it should painless, I did the other day and some issues were "magically" sorted.

Also, why is you derivative down from the default 100 to 30 in LEVEL?

Cheers.

Will update.

I have been trying all kinds of settings to fix the "level" issue. I may just start over on the PID's.

Thanks