Naze32 hardware discussion thread

tcarnal · Post by **tcarnal** » Sun Nov 04, 2012 9:11 pm

Do you have SimonK firmware on your ESC's
If not this sounds like power cut-off from ESC's when power is to low.
you stated that you have flown for 15 to 20 minutes

mindthomas · Post by **mindthomas** » Sun Nov 04, 2012 10:06 pm

tcarnal wrote:Do you have SimonK firmware on your ESC's
If not this sounds like power cut-off from ESC's when power is to low.
you stated that you have flown for 15 to 20 minutes

No I don't. It is stock Turnigy Plush 30A.
Might be the case, as I don't have any Vbat alarm soldered to the Naze32 board yet.

tcarnal · Post by **tcarnal** » Sun Nov 04, 2012 10:08 pm

A simple LiPo alarm wil sufice and please flash those ESC's with SimonK

that wil rock your life

http://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=18987

hkubota · Post by **hkubota** » Mon Nov 05, 2012 1:59 am

tcarnal wrote:A simple LiPo alarm wil sufice and please flash those ESC's with SimonK

The newer Plush don't use Atmel', do they?

LeoWie · Post by **LeoWie** » Mon Nov 05, 2012 8:48 am

@ mindthomas: ... maybe a TX error? / is TX failsave programmed?

Details:
yesterday I had 3 crashes caused by a faulty TX antenna (connector cable broken (TX transport problem), wanted to repair it an fly while waiting for the new one already I ordered) ... one crash in a 90 degree level position ~ 8m high with the stick in the correct position for sure (i wanted to test radical moves) ... no response. But as I programmed failsave about 30% throttle when TX is out (via DSM2 TX-RX bind procedure) I could see the motors running while the copter was falling down. So I can be sure it was the TX antenna.
Besides: as my CFK folding frame copter is almost crash resistent ( viewtopic.php?f=12&t=2660 , just bring frame in shape again after crash and replace one prop) I could continue with some low level test flights above a very high grass area and did some PID tuning ... 2 more "fallig down's" after some minutes (this time nothing to repair) ... same again: throttling down + crash caused by TX failure. ... and a lession learned (for my copter): failsave thottle should be a little higher.

... and Tgy Plush ESC's I would never flash (I also use this 25Ah's).

JUERGEN_ · Post by **JUERGEN_** » Mon Nov 05, 2012 4:38 pm

.
I'm confused. :roll:

Code: Select all

align_gyro_x = 0
align_gyro_y = 0
align_gyro_z = 0
align_acc_x = 0
align_acc_y = 0
align_acc_z = 0
align_mag_x = -2
align_mag_y = -3
align_mag_z = 1

which means
= - 1 :?:

= 2

= - 3

= 0

axis inverted = - :?:

tcarnal · Post by **tcarnal** » Mon Nov 05, 2012 5:20 pm

hkubota wrote:
tcarnal wrote:A simple LiPo alarm wil sufice and please flash those ESC's with SimonK

The newer Plush don't use Atmel', do they?

actually i don't know if the new Plush ESC's are using Atmel.
I didn't even know there where "new" ones.

The "old" ones flashed real nice

Edit:
Looks like your right
http://forums.openpilot.org/topic/10476 ... able-escs/

Goetz · Post by **Goetz** » Mon Nov 05, 2012 6:18 pm

newer Plush can be flashed too... ...not SimonK but BLHeli... ...in the special Multirotor-Version...

have a Look at https://docs.google.com/spreadsheet/ccc ... ZRlE#gid=0

crashlander · Post by **crashlander** » Mon Nov 05, 2012 8:40 pm

Actually not a ESC HW thread but

If you already have Plush-es and really do not want to sell them then at least flash them with BLHeli.
Otherwise TC (and others on RCGroups) went into great details why ESC without External oscillator (crystal) are not that good...
... so probably the best price performance you get from (flashed) HK BlueSeries.

Regards Andrej

hinkel · Post by **hinkel** » Tue Nov 06, 2012 3:54 pm

Hi timecop is your m3osd usable with baseflight on naze32 and which are the ouputs to connect to FPV camera ?

glofuel · Post by **glofuel** » Fri Nov 09, 2012 1:00 am

@ Timecop, or anyone else who may know, which motor/servo outputs do I use for Bicopter ? Searched and searched but can't find info anywhere.

Thanks in anticipation
Ian

timecop · Post by **timecop** » Fri Nov 09, 2012 1:16 am

Two motors, Two servos.
Looking at the code, it should be pin1/2 for servos, and 3/4 for motors.

timecop · Post by **timecop** » Fri Nov 09, 2012 1:29 am

hinkel wrote:Hi timecop is your m3osd usable with baseflight on naze32 and which are the ouputs to connect to FPV camera ?

No.
Its not usable with anything.
Just test code.

ooi6 · Post by **ooi6** » Sat Nov 10, 2012 12:25 pm

ruffster wrote:Flying wing problem - I've flashed R234 to acro naze.

Looks OK in GUI and the servos do the expected by TX movements or reacting to the wing being moved. Can enable angle mode by switch with red LED illuminating etc. Just can't get the board to arm ('ARM' doesn't turn green and throttle doesn't get passed to motor in the GUI) either by TX sticks or by ARM aux switch set up in the GUI. Same TX etc is all fine on my rev4 Y6copter. Is there something else I should be setting via the CLI because its a wing?

Thanks for the rctimer GPS recommendation for the Y6copter the other week; I've got it installed just waiting for some nice weather to try it out...

I've got the same issue on a FF1.3 board. Flashed the 072012 zip baseflight and flies OK, flashed r234 from google svn and I can't get any throttle output in the WinGUI or on the quad.

timecop · Post by **timecop** » Sat Nov 10, 2012 12:31 pm

Works for me. None of this stuff has been changed for a while.
If led stays on, increase moron_threshold.

ooi6 · Post by **ooi6** » Sun Nov 11, 2012 9:37 am

I... after downloading a few copies of baseflight... found that on my hardware r207 is the last one I can get to arm. Wondering if from then it defaulted to a different mode - PPM or channel orders - either way, in the GUI the throttle now has no reading.
I see more reading in my future. How to switch between 9000 wire PWM RX mode and PPM... channel orders... etc.

EDIT2::

Seems it's just the WinGUI setting which is off. I used RTH as 'ARM' and now... it arms ok with my GEAR (AUX1) switch.
This was discussed way back 1/4 of the way to here so I spotted today.

EDIT::

Looking at the change log it would seem that there might be a re-ordering required on the FF board.
QUOTE::

allow using GPS in PWM input mode. This (obviously) reduces number of available
channels by 2.
I heard thats not a problem since tarduino only allows 4RC+2AUX channels anyway!
If you want more, upgrade to PPM.
So you use RC3/4 for GPS, and connect the rest of the channels as usual.
Channels used for GPS uart are
skipped, so no changes to 'map' are necessary. Simply connect in order.

thebgrian · Post by **thebgrian** » Thu Nov 15, 2012 4:18 pm

Just want to clarify the use of gimbal on a tricopter. The manual says:

"NOTE In Tri-copter mode, tail tilt servo connects to S1, and motors M1..M3 as shown in
Fig 3. Motor connections on the previous page. When camera stabilization is enabled,
gimbal pitch/roll servos connect to S1/S2, and motor connectors shift as well."

Does that mean that Tri Servo connects to M1, motor1->M2, motor2->M3, motor3->M4?

timecop · Post by **timecop** » Thu Nov 15, 2012 4:21 pm

You will not have gimbal on a tricopter, without making a custom motor/servo map and rebuilding.
Might require PPM input as well.

thebgrian · Post by **thebgrian** » Thu Nov 15, 2012 5:22 pm

Thank you for the quick response, Timecop
Just want to ask if somebody have already done this, since I haven't have a good luck with getting the development platform set up. I'm currently using PPM.
Is a gimbal not common for tricopters?
Is it a good option to use acroNaze32 for stand alone stabilization?

timecop · Post by **timecop** » Fri Nov 16, 2012 6:18 am

As good as any mwc doing camstab, I guess. I've heard all the "pro" gimbal dudes complaining, but thats all they do.
PWM driver is certainly flexible enough to do camstab + tricopter, but this is not implemented currently.
I guess easiest way would be PPM in, assign rc inputs 5-8 as servos and then cam servos would be going to RC5/RC6.

RyanThomas · Post by **RyanThomas** » Fri Nov 16, 2012 12:06 pm

Old Green PCB Version
I am battling to get my spektrum sat recognised after R209, tried R213,R216,R220,R230,R237
Is there a limit to what release I can use on the older HW?

timecop · Post by **timecop** » Fri Nov 16, 2012 12:17 pm

No, it all should work, though I never tested spektrum sat (in any revision) since I don't use it.
It's very possible new PWM driver broke it.
Patches welcome.

joesa3rd · Post by **joesa3rd** » Sun Nov 18, 2012 10:47 am

I'm looking for some help, having an issue with my Naze 32... I'm no a noobie to the Multirotor's but new to the Naze 32.

Here's my HW and setup
------
Delrin Tricopter (Configured for FPV)
Rctimer HP2212-1000k motors w/APC 9x6
New Naze 32 rev4 in delrin case
FC mounted with 3M 5LB tape and 1/4" of black foam from the KK v5.5 protective shipping package
10mm 14" Basswood ARMs
30A HK BS ESC's Flashed with SimonK
IRC 600mw 5.8GHz VTx
SC2000 PZ0420 Camera w/2.1mm lens (Lens is crap but wide)
IRC EZUHF 4CH RX Configured for PPM
Hitec HS85MG+ Yaw Servo
2600Mah 3S Lipo
-----
Firmware - Whatever is currently shipping as of a few weeks ago which I believe it's 2.1dev but not 100% sure.
Default parameters with higher.15 Yaw rate
Features: PPM, MOTOR_STOP
Mixer: TRI
Calibrated all sensor multiple times
Fully trimmed per manual
-----

Now here's the issue; She flies very well without any issues with only gyros. When using Auto Level at random times she drops hard to one side
on the roll axis and only for a split second (45deg ish). Every time this has happened it seem like I've been moving very slowly, not aggressively.
There is zero warning when it comes on. Very easy to reproduce and has happen just about every time I've tested auto level.

Now here's a video of the last time it occurred. I normally can recover some of the time if I've got some height but on this one I needed to chop the
throttle shortly after the "one side drop" as I was two low and there was stuff nearby I did not want to hit.

http://youtu.be/78JKNMCMMQE

I've done just about all the root cause analysis I can think of, including swapping the motors out before I narrowed it down to the auto level mode,
esc and motors are hard wired so no bullet connectors just solder and all checks out perfect.

Thoughts on this issue?

Joe

brm · Post by **brm** » Sun Nov 18, 2012 11:18 am

you need to tell me your gyro and accelerometer settings - which lpf in use and what type of gyro smoothing you're using.
or just 'stock' firmware?

i expect your tri has some vibrations - true?

>FC mounted with 3M 5LB tape and 1/4" of black foam from the KK v5.5 protective shipping package
this is 1/4" between frame and fc?
can you make a picture?

joesa3rd · Post by **joesa3rd** » Sun Nov 18, 2012 11:29 am

it's setup box stock.

No visable vibrations; Props and Motors are well balanced.




<PARAMETERS>
<VERSION value="21" />
<PID id="0" name="Roll" p="40" i="30" d="23" />
<PID id="1" name="Pitch" p="40" i="30" d="23" />
<PID id="2" name="Yaw" p="85" i="45" d="0" />
<PID id="3" name="Altitude" p="16" i="15" d="7" />
<PID id="4" name="PosHold" p="11" i="0" d="0" />
<PID id="5" name="PosHoldRate" p="20" i="8" d="45" />
<PID id="6" name="Navigation Rate" p="14" i="20" d="80" />
<PID id="7" name="Level" p="70" i="10" d="20" />
<PID id="8" name="Mag" p="40" i="0" d="0" />
<PID id="9" name="Velocity" p="0" i="0" d="0" />
<AUXFUNC id="0" aux1234="6" />
<AUXFUNC id="1" aux1234="4" />
<AUXFUNC id="2" aux1234="32" />
<AUXFUNC id="3" aux1234="0" />
<AUXFUNC id="4" aux1234="0" />
<AUXFUNC id="5" aux1234="0" />
<AUXFUNC id="6" aux1234="0" />
<AUXFUNC id="7" aux1234="0" />
<AUXFUNC id="8" aux1234="0" />
<AUXFUNC id="9" aux1234="0" />
<AUXFUNC id="10" aux1234="0" />
<AUXFUNC id="11" aux1234="0" />
<AUXFUNC id="12" aux1234="0" />
<AUXFUNC id="13" aux1234="0" />
<RCRATE value="90" />
<RCEXPO value="65" />
<THMID value="50" />
<THEXPO value="0" />
<ROLLPITCHRATE value="0" />
<YAWRATE value="15" />
<DYNTHRPID value="0" />
<POWERTRIGGER value="0" />
<COMMENT value="" />
</PARAMETERS>

Joe

brm · Post by **brm** » Mon Nov 19, 2012 7:27 am

yes, your bloack foam layer acts as a low pass filter.
the foam should be removed - 2mm is enough.

your tri looks nice - homemade?
how did you arrange the servo mechanism?

joesa3rd · Post by **joesa3rd** » Mon Nov 19, 2012 11:21 am

Brm,
Thanks for help... Are you saying reduce the thickness of the black foam to 2mm or remove it all together and or replace it with something else?

It's not homemade it a kit you can purchace -> http://www.getfpv.com/multi-rotor-frames/tricopter/pro-tricopter-delrin-kit-black.html

Joe

thebgrian · Post by **thebgrian** » Mon Nov 19, 2012 8:21 pm

Timecop, what version of the schematic is the FunFly Controller "Acro Naze 32"? It says it is the same version as the full Naze32, but on the pictures it looks different. Obviously the pressure sensor would be different, but does it have the separate sensor Vcc and the other improvements? I just ordered one, do they still come with the BMP085?

Thank you.

brm · Post by **brm** » Mon Nov 19, 2012 8:39 pm

joesa3rd wrote:Brm,
Thanks for help... Are you saying reduce the thickness of the black foam to 2mm or remove it all together and or replace it with something else?

It's not homemade it a kit you can purchace -> http://www.getfpv.com/multi-rotor-frames/tricopter/pro-tricopter-delrin-kit-black.html

Joe

yes, the foam tape is way to thick.
if using a tape go for a 2mm tesa doubled sided tape.
if not available use screws ;-)

are you happy with the motors?
i am thinking to order a few.

joesa3rd · Post by **joesa3rd** » Mon Nov 19, 2012 11:24 pm

Brm,
Thanks for the help here...
Being that I don't have holes in the top plate of the Tricopter I removed the black foam and just tried enough 2 sided tape to allow the round head screws to clear the frame. As it turns out that did nothing to fix the issue. I feel like I'm missing something simple here. During auto level testing today I was up about 10ft off the ground and switched her into level mode and she rolled hard right and crash before I could recover. This time it happen almost immediately after switching in to level mode. Gyro's alone she flies great!. I'm really puzzled as to what I'm doing wrong here. My next test is to see if I can get even less double sided foam under the FC. I might need to switch to some flat head screws or seal the case closed with tape to get back a clean bottom FC surface to mount directly to the Tricopter frame.

As for the motors I'm very happy with them. I Can't say anything bad about these; well balanced an reasonably powerful and responsive.

Joe

thebgrian · Post by **thebgrian** » Tue Nov 20, 2012 5:05 am

Joe, have you tried the horizon mode, and do you get the same results if you did? Just wonder if something is going on with ht accelerometer. How are the acc readings in the GUI?

hkubota · Post by **hkubota** » Tue Nov 20, 2012 5:50 am

joesa3rd wrote: I feel like I'm missing something simple here. During auto level testing today I was up about 10ft off the ground and switched her into level mode and she rolled hard right and crash before I could recover. This time it happen almost immediately after switching in to level mode. Gyro's alone she flies great!

Set looptime to 3000 and lpf factor from 4 to more (100).

Harald

ooi6 · Post by **ooi6** » Tue Nov 20, 2012 8:07 am

RyanThomas wrote:Old Green PCB Version
I am battling to get my spektrum sat recognised after R209, tried R213,R216,R220,R230,R237
Is there a limit to what release I can use on the older HW?

What's your actual problem? I found that there is a mismatch between the WinGUI and the baseflight (which was covered in much earlier posts - when r209 came out) which details that actually, RTH is the ARM line in the settings. Though, if you can't get any radio inputs to display in the GUI then it could be a totally different issue. If it just won't arm, then check the last RTH line box in WinGUI and see if that makes it work. Still waiting on the WinGUI to be updated (afaik).

joesa3rd · Post by **joesa3rd** » Wed Nov 21, 2012 12:11 am

thebgrian wrote:Joe, have you tried the horizon mode, and do you get the same results if you did? Just wonder if something is going on with ht accelerometer. How are the acc readings in the GUI?

I have not tried Horizon yet. The Acc reading seem fine to me; nothing looks strange.

Joe

joesa3rd · Post by **joesa3rd** » Wed Nov 21, 2012 12:20 am

hkubota wrote:
joesa3rd wrote: I feel like I'm missing something simple here. During auto level testing today I was up about 10ft off the ground and switched her into level mode and she rolled hard right and crash before I could recover. This time it happen almost immediately after switching in to level mode. Gyro's alone she flies great!

Set looptime to 3000 and lpf factor from 4 to more (100).

Harald

Harald,
This sounds interesting... Can you point me to where I can get a bit more details on what exactly these setting do? I like to understand settings before I go changing them. I did a few searches and I'm striking out here.

Joe

crazyal · Post by **crazyal** » Wed Nov 21, 2012 1:23 am

for mwwingui just replace the .xml in the working directory with this one, then it should work fine with updated boxnames

joesa3rd · Post by **joesa3rd** » Wed Nov 21, 2012 3:07 am

Is there any way to get the code rev# from what's loaded on my FC via CLI or any other means?

Joe

timecop · Post by **timecop** » Wed Nov 21, 2012 3:17 am

Type 'version' from cli.
the bulid date is pretty close to whatever release it is.
Your problem is unlikely to be fc-related.
There is no failure mode in ACC mode that looks like this.
You can try switching to different acc on whiteboard (between mma and mpu accel).
see acc_harwdare comments in the source.
also don't forget to recalibrate acc after switching.

combjuda · Post by **combjuda** » Wed Nov 21, 2012 9:58 am

Hi guys,

sorry for hijacking this thread - please feel free to move it wherever it might fit better.

I own 2 FC1212-S with AHRS and compass module and 1 GPS module from Xaircraft. I found out that Xaircraft FC uses 3 stm32 processors.
As the firmware - especially the newer ones - is not really great I thought maybe it might be worth investigation wether a better firmware can be used. (Firmware update and tweaking can be done via Xaircraft center software -

Nevertheless - I do not have the skills to do this myself

There are several threads on rcgroups (f.w. http://www.rcgroups.com/forums/showthread.php?t=1326529) where also a wiki is linked.
Since Xaircraft itself does not seem to maintain/further develop firmware for this FC maybe it could be another platform for great Multiwii software? ;-)

timecop · Post by **timecop** » Wed Nov 21, 2012 10:24 am

It's easy enough to clear the current xaircraft code from flash and load in your own stuff.
But you'd have to figure out and what sensors/etc are connected where, also hopefully they have SWD broken out as realtime debugging would help a lot to discover unknown pinout, anyway, if this is something you wanna do because you have tons of time, sure go for it.

JUERGEN_ · Post by **JUERGEN_** » Wed Nov 21, 2012 12:01 pm

combjuda wrote:...
Since Xaircraft itself does not seem to maintain/further develop firmware for this FC maybe it could be another platform for great Multiwii software?

when there is the FC,
for $ 50? :?:

Xaircraft was never able to
to optimize the software.
soo it's just a piece of technology scrap. :mrgreen:

Now there are PX4 :arrow:

https://pixhawk.ethz.ch/px4

vineet_p · Post by **vineet_p** » Wed Nov 21, 2012 12:40 pm

I have made my scratchbuilt quad after a long break. But when I power my Naze32 (white pcb version) from the Receiver using the "Full" cable of the RC breakout cable, the STM32 chip gets VERY hot... SO HOT that I can't touch it.. (when it was hot, no ESCs were connected. It was powered using the Rx alone)
The receiver is giving a clean ~5V DC. What's the problem?

And how do I power my FC actually? Through the Rx or one of the ESCs? Will there be any problem if I do both?
I have removed the +ve wires of 3 ESCs and only one ESC has it.

timecop · Post by **timecop** » Wed Nov 21, 2012 12:49 pm

You burned it already. Get the stm32 chip replaced.

vineet_p · Post by **vineet_p** » Wed Nov 21, 2012 1:13 pm

HOW?

But when I power it using USB, it works just fine.
I now not using the Rx to power it now but the ESC instead and it's fine. It drives all motors perfectly and shows up on the GUI.
Will I have problems in the future?
Thanks

timecop · Post by **timecop** » Wed Nov 21, 2012 1:26 pm

I have no idea. If processor is overheating, you burned something.
Read the manual and note about reverse polarity, etc.

vineet_p · Post by **vineet_p** » Wed Nov 21, 2012 2:49 pm

Thanks for they reply.
I have connected everything with correct polarity. Anyways, I am happy that the board is working fine. But I have noticed a problem that doesn't bother me much though.
I am unable to power the board using the ESC's BEC. (I have checked the BEC, it's fine). I am able to power only through the Rx.
Perhaps I burnt something in this line. ;D

joesa3rd · Post by **joesa3rd** » Wed Nov 21, 2012 3:05 pm

timecop wrote:Type 'version' from cli.
the bulid date is pretty close to whatever release it is.
Your problem is unlikely to be fc-related.
There is no failure mode in ACC mode that looks like this.
You can try switching to different acc on whiteboard (between mma and mpu accel).
see acc_harwdare comments in the source.
also don't forget to recalibrate acc after switching.

Timecop,
I've done a great deal of root cause analysis on this and I don't think it's motor, esc, or power source related. I'm still questing the way I have the FC mounted but to me I think I would get different results then what I'm seeing now.
I can say that tricopters with wood booms do suffer from harmonics and various oscillations at different throttle ranges that can create some unusual FC behaviors but I've never see this in the 6 other quads and tri's I have on various FC's. What you see in the video I posted was not a true failure it was me cutting the throttle after the left side drop to avoid hitting something in the yard (Bush that would piss of the lawn keeper) as stated prior this issue is very consist in Level mode I guess now called Angle mode :!:

. I'm going to try the looptime and acc_lpf_factor that was suggested by a few others including yourself in a prior post to see if I get different results. This FC flies great on a Acro mode (20+ flights) with zero issue so I really don't have any complaints here just looking to learn more about these boards and fix a problem along the way.

I've done some coding for work but might be a little rusty

I'll will take a look at the code for the comments\functions you references above. What IDE do you prefer these days?

Joe

brm · Post by **brm** » Wed Nov 21, 2012 9:46 pm

hi joe,
do not make multiple changes at once.
put the lpf on hold for a while.

from the dynamics bigger quads/tris are easier to handle.
i am guessing that the dynamics is somewhere between 100 and 150hz.
what makes the problem a true trouble maker is a soft frame: flamewheel and the older large jakub frame for example.
play a little bit with the looptime - 150 to 200 hz is fine.

pick eclipse and in case you get a headache hive a ring

mentor's codesourvery as toolchain is ok.
tc will give you other options ... keil ....

JUERGEN_ · Post by **JUERGEN_** » Thu Nov 22, 2012 9:42 am

@ Timecop
thanks for the quick delivery, six days after Germany.
but I need more.

When are "Simon 30A Brushless ESC [RapidESC]" available again?
:arrow:

http://abusemark.com/store/index.php?ma ... ucts_id=27

timecop · Post by **timecop** » Thu Nov 22, 2012 9:45 am

Front page says 11/26, that's the current estimate