Nova Rebuild - APM & Radio Setup (Winter 2015)

This is the other half of the rebuild procedure.

The first time MP was installed, the required Arduino USB drivers should have installed in Windows.Updated MissionPlanner to version 1.3.17 Build 1.1.5472.17896 via online updater. After it finished, closed and restarted it.

Be sure props are removed. Everything should be connected (even Compass). Connected Nova LiPo and then connect USB cable to laptop. After Windows "USB device detection chime" ... clicked Connect in top right-hand corner.

MissionPlanner/Config-Tuning/Full Parameter List/ . Clicked Save button to backup current Parameters. Took screen-shots of Basic and Extended Tuning screens. I use WinMerge to compare parameter files. Remember that calibration values are saved along with other parameters (so those fields are always a little different).

MissionPlanner/Config-Tuning/GeoFence/ . Disabled since I have no GPS inside house. Clicked Write Parameters. In HUD, getting occasional "PreArm: Bad GPS Position" messages which is normal at this time. Remember that if GeoFence is enabled, it will not Arm motors (in any mode), so best to Disable it for now.

MissionPlanner/Terminal/ . Click green Connect button next to APM drop-down (towards the left) for special Terminal mode connection.

ArduCopter v3.1.2
FW (firmware): 120

Exterior Red and Green LEDs appear to turn-off while in Terminal mode.

According to forum reports, I have to keep this HK v252_v2.0 FlightController running at stock (special ?) AC-3.1.2 because I'm using Telemetry from connector soldered into proper PCB pads.  This is why (below) we can only load default parameters from a file. Do not do anything that loads a different firmware. This tweaked ArduCopter version is NOT available for download anywhere.

Click "Log Download" button. Download and then delete any available logs. A good diagnostic set of Logs to have turned on is: ATTITUDE_MED GPS PM CTUN NTUN RCIN IMU CMD CURRENT RCOUT COMPASS.

The above numbers are where each Motor/ESC-Set should be connected at FlightController (M1-4). There are ClockWise and CounterClockWise propellers, and must be installed right-side-up (but don't install them yet).

In Terminal, you can type "test", then "motors". They should all spin in their proper CW & CCW directions (as indicated on the arms themselves) and should all sound about the same. It will start at Motor#1 [M1] (aka Forward-Starboard Motor) but instead of following the true X4 diagonal-like M# pattern, it will instead ... proceed Clockwise around quad (so it's test order is M1, M4, M2, M3).

You can type Exit and Help to navigate menu structure. Some other good tests are baro (barometer) and ins (gyro/ accelerometer). Move quad and watch values change. They also preform a calibration test at the beginning that likely would not pass if module is bad. When finished in Terminal, click Disconnect button in top right.

Start Full/Clean Setup

Connected Nova LiPo and then connect USB cable to laptop. After Windows "USB device detection chime" ... clicked Connect in top right-hand corner.

MissionPlanner/Config-Tuning/Full Parameter List/ . Since this is a PnF model, there is no telling what parameters and PIDs were pre-loaded in FC (or if they were even set or checked). NO NOT run Setup Wizard. Clicked Load button to load Factory Defaults parameter file (must have been previously saved or downloaded from trusted source). Since I am running AC3.1.2, that's the file I got. Click Write Params button and give it a minute or so for params to be saved to FC. Click back to main HUD screen. Notice we are doing this first, before any Nova calibrations.

If you need to load Default Parameters for a newer version of ArduCopter for which an existing parameter file does not exist, you can Default them yourself ... on Full Parameters List with "Reset to Default" button in the right column.

Click MP's "Disconnect" button. Power-Cycle LiPo battery power on Nova (reboot FC) via XT60 connector. Reconnect USB cable, re-connect MP ... the RX, FC, and GPS should all be lit and/or flashing.
MissionPlanner/Config-Tuning/Full Parameter List/ . Click Save button to backup current Parameters as new file. As you favorably progress, save your params to a file.

Turn on radio TX and select proper model number (ie "Model-1"). The 2.4ghz TX radio itself (in my case FrSky Taranis) should be calibrated by this point (if required ... only done on radio TX itself). If not already, the TX should be properly Binding to RX inside Nova quad by now. The radio's trims should be centered aka "at neutral".

Initial Setup / Mandatory Hardware / Frame Type
-   Be sure Type: X-Y6A is selected

Initial Setup / Mandatory Hardware / Radio Calibration
-   Use this PC screen to observe. Make the changes on radio itself (when checking or programming these).
Reassignable Channels on Taranis TX Radio: Channels 1-5 working test setup
MIXER (5/64 assigned) - (Screen 6/13)
1. AIL 100 0-8 (Aileron - Roll)
2. ELE -100 0-8 (Elevator- Pitch)
3. THR 100 0-8 (Throttle - Power)
4. RUD 100 0-8 (Rudder - Yaw)
5. SA 100 0-8 Switch_A (Flight Modes 1-3)

Depending on the orientation of the signal only cables, your main MIXER map might be slightly different.

Now, click on "Calibrate Radio" button and follow directions. It will say "Completed" on a green button when finished. The 4 basic channels should now be setup properly. Note, when you pull back on Elev/Pitch, the green-bar should go up.

Flight Modes Quick Setup (3 main ones on one switch)
Initial Setup / Mandatory Hardware / Flight Modes
Flight Mode 1 - Loiter
Flight Mode 4 - Stabilize
Flight Mode 6 - Altitude Hold
I set as above and then clicked "Save Modes" button. You can double-check it by using the SA switch on Taranis TX. The 5th "Flight Mode Channel" should now also be setup properly.

MissionPlanner / Initial Setup / Mandatory Hardware / Compass
Don't change or disturb these, but they should be
Settings: Enable, AutoDec, Orientation = Manual (Rotation_None)
Also, in Full Parameters COMPASS_EXTERNAL,0 is set (trust me, it works in this APM_v252_v2.0 FC). DKemXR's explanation is "the stock FC does not have an on-board compass (some APM FC's do) so the "external" one is electrically in the same place as the "internal" one would be".

Since I have no GPS fix (indoors) for FC to use for looking up Magnetic Declination, look it up at website, and enter it Manually.
Live-Calibrate Compass (point each of 6 sides straight toward ground, and slowly spin around a couple of times - aka. Compass Dance). I just hold mine and spin-around slowly (CW and then once CCW), but here is a similar way using a chair. Just remember to do all 6 sides, including top. It will draw 6 circles on the globe. It will beep and finish about the time you complete all 6 sides. My current offsets are -100, 17, 16 and are within acceptable limits.
Set Auto Dec back on. As long as you have GPS Fix at flying field (where-ever that might be), the Magnetic Declination will be looked-up from compressed file-table stored inside FC memory.
If you have Telemery radios, you can use them for this step.

MissionPlanner / Initial Setup / Mandatory Hardware / Accelerometer Calibration.
Use level table and perpendicular angles. Prop it up or hold very still when clicking the button on each step. Complete each step before MP times-out and auto-advances (if it does, you have to start over).

On the main MP screen (hud), be sure quad is level, the Artificial Horizon is responding properly (remember that it will look like a flight simulator in hud). Also, that the Compass points in the proper direction (even when pitching up/down).

ESCs calibrated (All at Once) in case end-points changed (center Trims first). It's a good idea to do this at least once, especially if you have been working on ESCs or motors. I also recommend re-doing it if Radio has been re-calibrated (RC stick end-points have likely changed).

FailSafe doesn't need to be changed but should be tested (see previous posts).

In MissionPlanner/Config & Tuning/Extended Tuning ... give Opt-7 a function (I set to SuperSimple Mode). CH-7 is already assigned to the proper 3-Position switch at Taranis. In MissionPlanner, changed CH-7 to be Super-Simple Mode. Middle position (or first click) ends up being Simple-Mode (non-GPS but directional) and Down should be Super-Simple-Mode (GPS required but even works "behind" pilot).

So far, I've successfully tested Simple-Mode with Stabilize and Alt-Hold (switching it on, on-the-fly). I also used it once when Nova was far away and I lost orientation. When bench testing radio, there is no indication in MissionPlanner or DroidPlanner that S-M or S-S-M is engaged. Even though it's just a Mode-Modifier, I find it strange that the only way to know if it's setup properly is to fly quad and see what happens (especially for a Mode that changes what the sticks do).

I also set Opt-8 (I set to RTL). I like having that on it's own (emergency) switch.

Click Write Params button. Don't change anything else on this screen unless you really know what you are doing. In Taranis (Mixer), assign both to their own dedicated switches (if not already). Check all Modes and sticks on FailSafe screen.

Program the GeoFence parameters, but I'll probably leave it Disabled for now.
Finally, change these modified Parameters, and then Write them.
Save Parameter file as final backup.

• Install rest of screws.
• Balance and then install props (double check CW and CCW).
• Apply a little cellophane tape to compass puck cover.
• Charge all batteries (Radio, Nova LiPos, Mobius cam, DroidPlanner tablet).
• Carefully, do low-throttle "Hold by Landing-Gear Test" to check that no sticks are reversed.
• Go fly. Be safe and have fun.

Edit: The results are here . Also, see posts about recent flights.