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Printing 3d Forum

Build my first quad with Crius AIO Pro V2 and DJI 450 frame

Started by cuongvd, Monday,May 06, 2013, 00:14:06

Previous topic - Next topic

cuongvd

Hi All,

Just want to share the experience with my first quad built.

Picking part:
After lot of research, i really love the ArduPilot and MultiWii. I ended up with the Crius AIO Pro V2 which can run MultiWii and MegaPirateNG (ported version of ArduPilot).
I bought:
  Crius Pro AIO V2 kit with U-blox NEO-6M GPS and 915Mhz radio telemetry
  http://www.rctimer.com/index.php?gOo=goods_details.dwt&goodsid=820&productname=
  OLED dispay
  http://www.rctimer.com/index.php?gOo=goods_details.dwt&goodsid=797&productname=
  Bluetooth module
  http://www.rctimer.com/index.php?gOo=goods_details.dwt&goodsid=764&productname=
I got the parts from RCtimer after 10 days. Loved it.

With the frame, i picked the DJI Flame Wheel 450 because my local hobby store carries that, so in case of crashing, i can have part right away. Another thing is i read lot of good review on the DJI system and it look good too. I did not end up with DJI NAZA system because the function is limitted and the cost is way more.
The DJI kit come with all the hardware and
  4x DJI 30A OPTO ESC
  4x DJI 2212/920kV Motor
  and 1045 props set

I ';ve been playing with heli so i already got some stuff:
  JR 11X Tx, Spektrum 6-Ch AR6200 Rx, Spektrum compatiple Orange 9-ch Rx
  Castle Creation 10A BEC
  Couple Lipo 3S 2200mAh laying around for my T-Rex 450
  And all the accessories like wires, connector, velcro tape..

Now to the build:
I really like the Crius board because: First, it looks nice and solid built. Second, the board is square and the MPU6050 6-axis gyro/accel was placed very cloce to the center of the board. It make me easy to mount the board onto the DJI frame and make the 6-axis gyro/accel close to the CG of the quad.

Read the guide from RCtimer: http://www.rctimer.com/download/Crius_AIOP_Manual_MWC.pdf

Did not mount the board to the frame, just leave it on the desk for testing.

I tried with MegaPirateNG first because of rich features. The compile was unsuccessful, it gave me lot of errors  :hmm:, now i think the problem because i have not clean out my old Ardino library. Googled it, people said the MultiWii is much easier for the beginer.

Then found Gaza07';s post: http://www.multi-rotor.co.uk/index.php?topic=1762.0 .Thanks Gaza07

1.The compile and code upload was easy with no problem at all.

2.Download and run the MutiWiiConf and connect it to the board. Bum, all the info showed up on the MultiWiiConf. Pick the board in my hand, turned it around in all directions, everything showed right on the MultiWiiConf, awesome  :whistling:  :popcorn:  :beer2:
3. Make the wiring adapter for the OLED, it did not come with the cable to let you connect directly to the board. Plugged in the OLED display. Not woking  :hmm:. Google it again: You have to redifine the LCD to the OLED which uses i2c
  comment this: #define LCD_SERIAL_PORT 0
  uncommend this: #define SUPPRESS_OLED_I2C_128x64LOGO
  then to select what you show on the OLED you have to define telemetry by:
  uncommend this: #define LCD_TELEMETRY
  the select the page to show by uncomment this: #define LCD_TELEMETRY_AUTO  "212232425262729" // strong emphasis on page 2
4. Recomplie, upload. Now it working, the telemetry info showed. But it not good all the time, sometime you have to unplug then replug power to initialize the OLED
5. Make the wiring adapter for the Telemetry, it did not come with the cable to let you connect directly to the board, so i expand the serial connector out so i can have Serial 1-3 to connect the GPS as well. Connect the Telemetry
6. Download the MultiWiiGUI, plug in the USB telemetry, power on the board. Select usb telemetry COM port, pick the 57600 rate, hit connect, it worked right way.  :whistling:
7. Plug in the GPS. Not working. Google it again -> I have to reconfig the u-blox
8. Download the U-centersetup software from u-blox site: http://www.u-blox.com/en/evaluation-tools-a-software/u-center/u-center.html
9. Download the already made config file u-blox-config.ublox.txt from: http://code.google.com/p/i2c-gps-nav/source/browse/trunk/I2C_GPS_NAV/u-blox-config.ublox.txt?r=40
10. In order to load the config you have to plug the u-blox in to serial port but TTL level, not the regular serial which you have on the back of you computer, so you need something like these (USB to serial TTL or RS232 to TTL converter:
   http://www.ebay.com/itm/New-USB-to-TTL-Serial-Cable-Adapter-FTDI-Chipset-FT232-USB-Cable-Computer-Cable-/261101529602?pt=US_Audio_Cable_Plugs_Jacks&hash=item3ccadd2a02
   http://www.ebay.com/itm/CP2102-Module-STC-Download-Cable-USB-2-0-to-UART-TTL-6PIN-Serial-Converter-/321119584833?pt=LH_DefaultDomain_0&hash=item4ac4380241
  http://www.ebay.com/itm/MAX232CPE-Transfer-Chip-RS232-To-TTL-Converter-Module-COM-Serial-Board-USB-Cable-/150786681292?pt=LH_DefaultDomain_0&hash=item231b9629cc

I have them all. First you have to use the software connecto to the u-blox with baudrate of 9600 the upload the file to the u-blox it will show some complete them some warning but it ok, now the speed of it is 115200, try reconnect the config software with it by 115200, it have to work and show all the GPS info, if not -> you have not done with the config, try it again.

11. Plug GPS to the board, power it up, reconnect the MultiWiiGUI. It worked as expected.  ~~  :beer2:
12. Plug in my 9-ch Orange Rx, setup the Tx as for Airplane
13. Power them ut, bind the Rx -> Worked, and can see all stick/channel value on the GUI
14. Unplug the USB, connect the BEC to the Vin connetor, remove the power jumper on the board - the Yellow on mine.
15. Plug the 3S Lipo the the BEC. Everything worked fine.
16. Now i have everything worked: GPS, Telemetry, OLED, Rx, BEC. Lift them up, move around to see all the live data on the GUI. Perfect ! I called it a night  :sleep:

Put them all together
On the next night i started to mount them on.
1. Solder 4 ESCs to the bottom plate, solder cable for the battery, the BEC.
2. The board fit perfectly on the bottom plate of the frame, drilled 4 holes and mount it on by plastic screws and spacers.
3. Mount the motors and plug in cables.
4. Test it, give some throttle, motor did not move.  :hmm: Google it -> not armed. Have to keep the cyclic center center, move the throttle all the way down then move rudder (yaw) all the way to the right. Followed that not not success, check it on the live data, notice the throttle value is a little high. In my Tx when i';m on Ariplane model, in the throttle curve, the lowest point is 14 not 0. Fixed that, tried again, still no move  :(  :thumbdown:  :hmm:  :banghead: Google again, throttle still not low enough. Got to Travel setting on the Tx bring it up to 126% to make it swing from 1000mS at min and 2000mS at max. Now the motors can be armed  :whistling: :popcorn: :beer2:
5. Swapped the 2 of the 3 wire at the motors to make it turn in the right direction as the guide.
6. Keep all the setting by default, unplug the GPS, Telemetry, OLED. Mount the top plate, put on velcro tape for the battery, put on the props.
7. Tried to take off the first time without any GPS, Telemetry, OLED to be sure i not damage them in case i crash the copter.
8. Calibrate the ACC and the MAG by click on the button on the win GUI
9. Unbelievable, i can hover it. It wobbled alot, but with some of my heli flying experience, i can kept it up in the air right in my garage. Awesome. It was easier than i expected. Maybe because of the help of 2 my little daughters. :laugh:
10. Mount and plug GPS, Telemetry, i do not need the OLED now ';cause i have the telemetry.
11. Tried to hover it again, it worked, still wobble, but i can see all the live data now, and also my location.  :whistling: :popcorn: :beer2:
12. After couple times of take off and landing, i notice the LED on my Rx flashing but it still respon to my stick.
13. Thought is was the Rx problem because i used Ornage Rx at that time. Take it out replace with the Spektrum 6-ch Ar6200
14. Tried again, still some symptom, after a while of hovering, the light flashing. Google it, people said: With the DSM2 and DSMX on the new firmware, After connecting of the Tx and RX if the Rx lost power then reconnect or voltage drop then back up the Rx will reconnect with Tx but Tx still on during that, the LED will flash to notice us the problem when we land the model.
15. Check the Rx voltage, it is a little low: 4.3-4.4V when idle, the spec for the  Spektrum is 3.5-9.6V Take it off again, check it. and saw how the power routing:
  V+ pin on Servo/esc pins -------power jumper--------Vin+ pin-------Diode------Fuse-----+5V of the board and all the +5V on the I2C, Serial, PPM ports.
  V+ USB-----fuse ----diode-----+5V of the board and all the +5V on the I2C, Serial, PPM ports.
That means the voltage was dropped on the diode.
I decided to connect all the GPS, Telemetry V+ pin direct to the BEC not by the +5V on the port.
No more problem since then.
16. Zip tie all the cable to make it nice and neat.
17. Tried it again, it acting wierd, shaking, then suddenly flip. Try to calibrate it again, still got scary sudden flip.
18. Take it off again, found out i zip tie the cables too tight and too close to the board. So it was the vibration problem.
19. Lose them out, them put them back again and tried it. Now it normal. Bravo!  ~~  ~~  ~~

Plaed some with the PID, it better but still wobble, now i need to learn how to tune the PIDs.  :help:

Thanks for your patient.   :smiley: Thanks to www.multi-rotor.co.uk
Cuong.

Here are some pictures:
[attach=1][attach=2][attach=3][attach=4][attach=5][attach=6][attach=7][attach=8][attach=9][attach=10][attach=11][attach=12][attach=13][attach=14][attach=15]
DJI flame wheel 450 kit with motor and ESC
Crius AIO Pro V2 with Mpng 2.8R3
BLheli firmware on DJI ESC

AM556

Nice post mate, well done.
Have you thought about vibration dampening for the board? Maybe cover that barometer too?

Gaza07


cuongvd

Quote from: AM556 on Monday,May 06, 2013, 19:58:30
Nice post mate, well done.
Have you thought about vibration dampening for the board? Maybe cover that barometer too?


Thanks, that is what im thinking, I will replace the plastic screws with gyro foam tape tonight see how it is.

About the cover for the baro, how can I keep it in place ? I have nothing on top so I can not stuck it in like Gaza07 did.
DJI flame wheel 450 kit with motor and ESC
Crius AIO Pro V2 with Mpng 2.8R3
BLheli firmware on DJI ESC

AM556

Quote from: cuongvd on Monday,May 06, 2013, 22:11:16
Thanks, that is what im thinking, I will replace the plastic screws with gyro foam tape tonight see how it is.

About the cover for the baro, how can I keep it in place ? I have nothing on top so I can not stuck it in like Gaza07 did.

I put a small cable tie across the board at 45';, from the LEDs - over the barometer - then to the far side of the USB. Though it helps that I have a 6" USB extension cable that outs at the top of the frame (much easier to connect to).

cuongvd

Quote from: AM556 on Monday,May 06, 2013, 23:28:02
I put a small cable tie across the board at 45';, from the LEDs - over the barometer - then to the far side of the USB. Though it helps that I have a 6" USB extension cable that outs at the top of the frame (much easier to connect to).


This how i did it before
[attach=1]

Now i just change to the foam tape instead of the plastic screw
[attach=2][attach=3]

But the wobble still exist, nothing improved

Weird thing is it wobble then it not and i tested it my garage without any wind.
Durng i';m hovering, it stables for like 5 seccond then it wobbles in 1 sec and keep do it that. It just like a shake
DJI flame wheel 450 kit with motor and ESC
Crius AIO Pro V2 with Mpng 2.8R3
BLheli firmware on DJI ESC

cuongvd

Maybe the shake problem related to the ESC calibration.
I have not calibrated them yet.
Do i need to do so ? and how to do it ?

Looking for the way to config the cutoff voltage on the DJI ESC but no luck so far.
DJI flame wheel 450 kit with motor and ESC
Crius AIO Pro V2 with Mpng 2.8R3
BLheli firmware on DJI ESC

cuongvd

As i read, the firmware DJI put on their ESCs has throttle calibration set at the factory and can';t be changed.
Look like i need to flash the BLHeli firmware for my DJI ESC
DJI flame wheel 450 kit with motor and ESC
Crius AIO Pro V2 with Mpng 2.8R3
BLheli firmware on DJI ESC