Since it's the original PixRacer-clone model in the metal-box/case, I decided to just mount it with four 11mm-square pieces of black HobbyKing Zeal-clone material. I then tied it down with a thin nylon-wire-tie. I don't think a "dental-floss tie-down" is quite enough after all. Like the compass, it would be really bad if the FC became detached in flight somehow.
The on-board RC receiver (a FrSky-X8R) is mounted up-front (upside-down, so that top of X8R still ends-up being accessible) .
If you Bind manually, you want:
Mode-4 (D16) FrSky-XJT = CH1-CH16 with Telemetry. FailSafe-Mode is No-Pulses.
On the Taranis, you can setup a new model for the PixRacer-450.
Actually, I just duplicated an APM ArduCopter model (the Nova-360) , and then changed the name and Receiver Number. I noticed I did not even need to re-Bind. You know they are working (actively bound) when RSSI appears on Taranis. Also, the LED on the x8r will now be lit green.
In May-2019, I'm using the current Mission Planner (for Windows) v1.3.66 . I'm using a standard Micro-USB cable.
Upgraded the PixRacer's firmware from ArduCopter v3.5.4 to ArduCopter v3.6.9 (Quad with ChibiOS). Reboot the PixRacer-FC.
- Click Connect.
- Reset Parameters with Reset to Defaults button. It will reset to v3.6.9 Defaults. Let it Reboot.
- Save initial default v3.6.9 params to file . Start building-up your best params from here.
- If not already Disconnected in MP, do so now.
- Shut-Down MP, disconnect cable, and power cycle aircraft.
On next power-up, ESC might be beeping. Seems to indicate that ESCs aren't getting a signal because FC can detect that radio is not calibrated yet (getting that message in MP-HUD). Looks like the constant ESC beeping happens with ArduCopter v3.1.x (or higher) and certain versions of ESCs. And, of course, what the APM-FC considers an un-calibrated RC radio.
- Reconnect USB cable, start MP, and click Connect.
- In MP, set your main top-6 or so Flight Modes and Write/Save them
1. Stabilize
2. Loiter
3. Alt-Hold
4. Drift
5. Land
6. Auto
... and in Extended Tuning, CH7=SuperSimple and CH8=RTL (each of which I also have on dedicated Taranis buttons).
- In MP, calibrate the RC Radio,
- The sticks obviously, but since the radio is already programmed, step thru all the pre-programmed Taranis Flight-Modes on the switches. All channels should move on MP screen (except CH6 which is not assigned to anything on Taranis).
- Remember that any problems at this point (like only some switches not responding) might be due to incorrect programming on the Taranis radio itself.
- Write params, click Disconnect and power-cycle (reboot) FC.
- If ESCs were beeping before, they should stop now (now that the radio is calibrated).
- Verify or Set Frame Type to X-Y6A (a X-4 quad-config)
- Recall that you have the PixRacer FC mounted in a normal/forward orientation.
- Compass is Forced-External (which also disables any Auto-Detection). Verify proper Compass Yaw-degrees hardware-config settings. Just using one the single external compass for now.
- I would say these are the minimum parameters you want to set or verify before calibrating:
AHRS_ORIENTATION,0
COMPASS_AUTODEC,1
COMPASS_AUTODEC,1
COMPASS_EXTERNAL,2
COMPASS_ORIENT,0
COMPASS_PRIMARY,0COMPASS_USE,1
COMPASS_USE2,0
COMPASS_USE3,0
FRAME_CLASS,1
FRAME_TYPE,1
Mandatory Hardware Devices - Click Connect and calibrate the rest of the mandatory hardware devices. The PixRacer seems to like being rebooted (and/or power-cycled) after each major component is setup and/or calibrated. Save your work and params files as you go.
If all is going OK with your Micro-USB-cable connection, you should be good to try connecting by WiFi instead. Its your choice.
- WiFi connection notes. Connect to copter's WiFi in Windows first. Use UDP in MissionPlanner .
FRAME_TYPE,1
Mandatory Hardware Devices - Click Connect and calibrate the rest of the mandatory hardware devices. The PixRacer seems to like being rebooted (and/or power-cycled) after each major component is setup and/or calibrated. Save your work and params files as you go.
If all is going OK with your Micro-USB-cable connection, you should be good to try connecting by WiFi instead. Its your choice.
- WiFi connection notes. Connect to copter's WiFi in Windows first. Use UDP in MissionPlanner .
- Accelerometer calibration.
- Click the button to do the quick Accel calib (just leave level) and then reboot the PixRacer flight-controller (FC).
- After reconnecting, click the other button to do the longer (multi-step) 3D-Accel calibs. Reboot FC again when finished.
- Follow directions. I find it easier to prop-up against a door because it must be keep still and perpendicular at each step. Use Enter/Return to go to next step.
- It should say Successful at end.
- It might show the 6 calibration parameters it just created. IIRC, they should all be close-to or between -1.00 and +2.00. I think it might Write them to the FC at the Successful end.
- You can also see them as INS_??????? in params list.
- Return to Full Parameters List and Write them (just in case). You might need to Connect first. Finally, I Save as a File since we made it this far.
- Compass Calibration
- Due to initial problems getting more than one compass activated and calibrated (with good Offsets) ... I'm just using the one main external compass (up in the GPS/Compass-Combo module) for now. This should also help with compass "variance errors".
- Calibration is pretty self-explanatory. Just start it and then slowly rotate the multi-rotor aircraft on each of its 3 main axis (likely a couple of times each). If done properly, it should progress and complete in good time.
- It would not hurt to do this outside (like at least the back-yard). Not only would this eliminate any possible building-structure interference,
- but also ... you can do it while Auto-Declination and GPS are active.
- Note that after it has been done successfully, it SHOULD NOT need to be done again, any time soon.
Optional Hardware Devices - Click Connect and calibrate any optionally-installed hardware devices. The PixRacer seems to like being rebooted (and/or power-cycled) after each major component is setup and/or calibrated. Save your work and params files as you go.
- This is with a Turnigy 11.1v 2700mah 3s 20-30c LiPo battery
Monitor: 4: Analog Voltage & Current Battery Capacity: 2700
Sensor 0:Other
APM Ver: 4:The Cube or Pixhawk
Power Module Calibration
1. Measured Battery Voltage: 11.6v (measure and enter yours here)
3. Voltage Divider: 10.82
6. Amperes Per Volt: 19.1
For this PixRacer Flight Controller, my relevant parameters were:
BATT_MONITOR,4
BATT_CURR_PIN,3
BATT_VOLT_PIN,2
Reboot, and it should be working and now appearing in HUD.
Also, verify or change these core parameters
(this first set should also be Pixhawk defaults):
ANGLE_MAX,4500
GPS_HDOP_GOOD,140
LAND_SPEED,50
LOG_BITMASK,176125 (Most logs, including IMU for vibrations )
RTL_ALT,2500
FS_GCS_ENABLE,0
FS_THR_ENABLE,1 (Very important)
FS_THR_VALUE,950 (Adjust for your calibrated radio throttle)
Also DONE :
- Install FAA ID-Tag sticker
ToDo:
- Calibrate ESCs (a good time, since new FC in new aircraft).
- More Arming and motor-run tests.
- - Already noticed GPS-Module working really well in shielded areas.
- Calibrate compass again, outside this time.
- Test Fail-Safes and RTL
- Setup Taranis "Flight Time" telemetry Page for this model
- Install props (mark type and direction)
- Tethered flight test.
- Maiden flight
- - Stabilize (manual mode) and hopefully some GPS-Modes testing as well.