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Oleg Kalachev
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Connecting GPS
==
Upon connecting GPS, the following possibilities appear:
* The copter can remain at the same point when flying outside
* Autonomous missions may be programmed in the QGroundControl application
* Flying may be performed by global points in standalone mode using the [simple offboard] module (simple_offboard.md).
Useful links:
* https://docs.px4.io/en/assembly/quick_start_pixhawk.html
* http://ardupilot.org/copter/docs/common-pixhawk-wiring-and-quick-start.html
* http://ardupilot.org/copter/docs/common-installing-3dr-ublox-gps-compass-module.html
Connection
---
The GPS module is connected to "GPS" and "I2C" (compass) connectors of the flight controller.
If GPS is connected, magnetometers are to be re-calibrated in the QGroundControl application via a [Wi-Fi](Wi-Fi.md) or USB connection.
Next, GPS is to be enabled in parameter `EKF2_AID_MASK` (when EKF2is used) or `LPE_FUSION` (when LPE is used).

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Flight modes
===
The flight controller mode determines the exact behavior of the copter (or another craft): how incoming commands and signals from the transmitter are to be interpreted.
PX4
---
Main article: https://dev.px4.io/en/concept/flight_modes.html
### Manual control (MANUAL)
In manual mode, the pilot controls the drone directly. GPS, computer vision data, and barometer are not used. Flying in these modes requires good drone piloting skills.
* **MANUAL** — signals from the transmitter are sent directly to the mixer and to the motors. Control of the throttle and of the front/back, right/left pairs of motors rotation speed ratio. This mode is almost never used for flying, since keeping the copter stable is too difficult.
* **STABILIZED** — the mode with stabilized horizontal position. Control of the throttle, the copter pitch and roll, and the yaw angular velocity.
* **ACRO** — control of throttle and the copter's pitch, roll, and yaw angular velocity. Used by drone racers and in 3D piloting shows for performing stunts.
* **RATTITUDE** — in the center, the right stick is similar to STABILIZED, at the edges, it passes to the ACRO mode.
### With the use of additional sensors (ASSISTED)
* **ALTCTL** (ALTITUDE) — control of the altitude rate, pitch, roll and yaw angular velocity. The barometer is used (or another height gauge).
* **POSCTL** (POSITION) — control of the altitude rate, forward/backward and right/left speed, and yaw angular velocity. It is the easiest flying mode. The barometer, GPS, computer vision, and other sensors are used.
### Automatic flight (AUTO)
In the automatic flight mode, the quadcopter ignores the control signals from the transmitter.
* **AUTO.MISSION** – PX4 completes the mission pre-loaded into the drone (the mission is downloaded using the QGroundControl, or from [MAVLink] (mavlink.md) using [MAVROS](mavros.md).
* **AUTO.RTL** – the copter automatically returns to the takeoff point.
* **AUTO.LAND** – the copter lands automatically.
### Control from an external computer
* **OFFBOARD** in the mode for flying at the MAVLink commands. Control from an external computer (e.g., Raspberry Pi).
The main used MAVLink packages are:
* [MAV_CMD_COMPONENT_ARM_DISARM](https://mavlink.io/en/messages/common.html#MAV_CMD_COMPONENT_ARM_DISARM)
* [SET_POSITION_TARGET_LOCAL_NED](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_LOCAL_NED)
* [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET)
See: [autonomous flying the quadcopter in the OFFBOARD mode](simple_offboard.md).

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Possible radio failures
==========================================
The remote is blocked
--------------
If the remote is blocked, the LCD will read:
"Warning. Place all switches in their up position and lower the throttle".
To unlock the controller, place all sticks and switches to the initial position, namely:
1. The left stick (1) to the central bottom position.
2. Switches A, B, C, D (2) to the position “away from yourself”.
3. The right stick (3) to the center.
![Blocked remote](../assets/lockradio.jpg)
No communication with the receiver
--------------
To test the remote connection with the receiver, turn on the remote and watch the readouts on the LCD Screen.
1. Communication with the receiver is absent:
![No communication with the receiver](../assets/connectionLost.jpg)
2. Communication with the receiver established:
![Communication with the receiver OK](../assets/connectionOK.jpg)
If there is no communication:
1. Make sure the receiver is enabled (the red LED is blinking). If the LED remains constantly ON, it means that communication is established with another remote.
2. Pair the remote and the receiver.
No communication with the flight controller
--------------
If there is no communication with the flight controller, the screen of the computer monitor in the Channel Monitor window will not display changes in the position of the sliders when the sticks of your remote are shifted.
![No communication with the flight controller](../assets/notmoveslider.jpg)
1. Go to MENU (by holding down the “OK” button)
2. Select menu “System setup” (Up/Down Button to navigate, OK button - to confirms the choice).
3. Select “RX setup” > “PPM OUTPUT” > “On”
4. Save changes (hold pressed the “CANCEL” button).

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# Pre-configuration of the quadcopter
## Composition of the FLYSKY i6 transmitter
![Composition of the transmitter](../assets/consistofTransmitter.jpg)
## Installation of QGroundControl
* Download the installation file for Windows/iOS by following the link [QGroundCongtrol](http://qgroundcontrol.com/downloads/).
* Agree to install drivers during installation
## Formatting the memory card
* Install the microSD card into the adapter.
* Format the card to FAT32
right click on the disk > Format.
* Run "Safely remove" the card in the tools, then extract the card.
* Insert the microSD card into the Pihxawk flight controller.
## Pihxawk firmware update
![Firmware update](../assets/firmwarePX4.jpg)
1. Go to Vehicle Setup.
2. Choose Firmware.
3. Disconnect Pihxawk from the USB. Connect Pihxawk to the USB again.
4. Waiting for Pihxawk to connect, select firmware PX4 Flight Stack, and activate the Advanced settings.
5. Select firmware type Standard Version (stable). If you load your own firmware/ an external firmware file (e.g., downloaded from the Internet), then choose Customize from the drop-down menu.
6. Click OK. Wait for loading.
7. Wait for Pihxawk to reboot.
## Configuration of Pihxawk
![Main window](../assets/mainWindow.jpg)
1. Systems that need configuration: Airframe, Radio, Sensors, Flight Mode
2. Current controller firmware.
3. Current flight mode.
4. Error messages.
## Choice of the frame
![ Choice of the frame](../assets/airframeSetup.jpg)
1. Go to the Airframe menu.
2. Choose frame type Quadrotor X.
3. Select the hook-up elements type Generic Quadrotor X config.
4. Move to the top of the list and save the Apply and Restart settings.
![Attention!](../assets/attentionSave.jpg)
5. Re-confirm Apply.
6. Wait for Pihxawk to complete save and reboot.
## Connecting the transmitter
Before calibrating, make sure that
* External power is not connected to the copter.
* Propellers are not installed on the motors.
1. Go to the Radio menu.
2. Turn on the transmitter by turning the Power switch to the top position.
3. Next, make sure that communication with the receiver is established:
The LCD of the transmitter shows the following indication:
![Transmitter indication](../assets/connectionOK.jpg)
The LED on the receiver remains red continuously:
In case of communication problems, click [here](radioerrors.md)
## Configuration of performance channels
Channels CH5 and CH6 are required for configuring the flight of the copter.
Assign channel CH5 to the SwC three-position switch — it will change the flight modes
Assign channel CH6 to the SwA two-position switch — emergency stop of the motors.
![Used switches](../assets/chooseSwitch.jpg)
To reassign the switches, follow these steps:
1. Go to MENU (by holding down the “OK” button)
2. Select menu “Functions setup” (Up/Down Button to navigate, OK button - to confirms the choice).
3. Select “Aux. channels”
4. Select:
1. Channel 5 - SwC.
2. Channel 6 - SwA.
5. Save changes (hold pressed the “CANCEL” button).
![Selection of channels](../assets/setupSwitch.jpg)
## Calibration of the transmitter
Start the calibration procedure
1. Press the Calibrate button
2. Set trimmers Throttle, Yaw, Pitch, and Roll to 0.
* Trimmers allow setting the copter offset.
* To set one of the trimmers to 0, move the pointer on the transmitter to the center until a long beep (squeak) is heard.
3. Press OK.
![Transmitter calibration – Start](../assets/calibrateViewStart.jpg)
4. Move the Left stick (throttle) to the minimum and click Next
5. Calibration of the control channels (throttle, yaw, pitch, and roll).
Move the sticks after the animation, and read hints.
6. Calibration of switches.
After message "Move all transmitter switches and/or dials back and forth to their extreme positions" appears, switch SwA..SwD, VrA, VrB in their end position.
Click Next
7. Saving parameters.
When message "All settings have been captured. Click Next to write the new parameters to your board" appears,
Click Next
8. Transmitter calibration is complete!
![Transmitter calibration](../assets/calibrateView.jpg)
## Accelerometer calibration
1. Go to the Sensors > Accelerometer menu
2. Since Pihxawk points to the nose of the drone, select Autopilot Orientation: ROTATION_NONE. Click OK.
![Accelerometer calibration](../assets/calibrateaxcelstart.jpg)
3. Start the calibration:
Consistently place the drone as shown in the pictures, when Pihxawk captures the position, you will see a yellow frame around the picture — hold the drone in this position until the frame switches to green
![The process of accelerometer calibration](../assets/calibrateaxcel.jpg)
## Compass calibration
1. Go to the Sensors > Compass menu
2. Since Pihxawk points to the nose of the drone, select Autopilot Orientation: ROTATION_NONE. Click OK.
3. Position the drone as shown in the picture and wait for Pihxawk to determine the drone position until you see a yellow frame and the "Rotate" message.
4. Rotate the drone as shown in the picture until you see a green frame — Pihxawk will have recalibrated the compass along this axis.
![Compass calibration](../assets/calibratecompass.jpg)
## Calibration of the gyroscope
1. Go to the Sensors > Gyroscope menu
2. Place the drone on a level surface and click OK.
3. Wait for the calibration to complete.
![Gyroscope calibration](../assets/calibrategyro.jpg)
> *Warning* During calibration, the drone should remain in position, be stable, etc.
## Flight modes
1. Go to the Flight Modes menu.
2. Set channel selector on the SwC switch (Channel 5)
Mode channel — Channel 5.
3. When the SwC is switched, the current mode is highlighted in yellow.
4. Assign flight modes:
* Flight Mode 1: Stabilized.
* Flight Mode 4: Altitude.
* Flight Mode 6: Position.
5. Displaying the current flight mode.
6. Emergency shutdown of motors is to be assigned to the SwA switch (Channel 6).
Kill switch - Channel 6
![Flight modes](../assets/flightModes.jpg)
## Disabling the Safety Switch
The Pihxawk flight controller features motor protection from accidental use.
To unlock the copter, disable the safety button
1. Go to the Parameters > Circuit Breaker menu
2. Select parameter CBRK_AIRSPD_CHK, set the maximum value of the parameter (specified in line Maximum Value in the Parameter Editor window)
3. Save the values by clicking Save
4. Repeat setting the maximum values for all parameters, except for CBRK_RATE_CTRL and CBRK_VELPOSERR
![Disabling the safety button](../assets/turnoffSafetyswitch.jpg)
## ESCs calibration
1. Go to the Power menu.
2. Set the Number of cells — 4S.
3. Set parameter Full Voltage (per cell) - 4.20 V.
To save the changes, restart Pihxawk:
* Disconnect Pihxawk from the USB.
* Connect Pihxawk to the USB again.
4. Make sure that the battery is disconnected and the propellers are removed
Press Calibrate
![ESCs calibration](../assets/calibrateESC.jpg)
## PID regulator setup
If during the flight, the quadcopter oscillates (fluctuates) and cannot therefore fly properly, it is necessary to [adjust coefficients of the PID regulator](calibratePID.md)
By default, Clever 2 quadcopter uses the following coefficients:
1. Go to the Parameters > Attitude Control Multicopter menu
2. Set selected values of the PID regulator parameters for the Roll and Pitch angles:
* MC_PITCHRATE_P: 0.145
* MC_PITCHRATE_I: 0.050
* MC_PITCHRATE_D: 0.0025
* MC_ROLLRATE_P: 0.145
* MC_ROLLRATE_I: 0.050
* MC_ROLLRATE_D: 0.0025
![Coefficients of PID regulator](../assets/calibratePIDparams.jpg)
## Safety instruction
### Safety during pre-flight preparation
* Make sure that the Li-ion batteries are charged.
* Make sure the batteries in the control equipment are charged.
* Attach the propellers immediately before flying.
* Check reliability of the following units:
1. Tightness of propeller nuts.
2. Attachment and integrity of propellers guards.
3. Reliability of wires attachment, absence of loose wires.
### Safety before flying
* Place the spectators behind the pilot, or behind the line passing through both shoulders of the pilot behind the pilot.
* Not to allow spectators into the hemisphere in front of the pilot.
* Know and remember the flight duration the copter and its battery are designed for.
* BEFORE connecting the Li-ion battery enable control equipment (the remote), and set the left stick (throttle) to the zero position.
* Connect the Li-ion battery immediately before takeoff, disconnect it immediately after landing.
* Stay at least 3 m away from the copter.
* Take off from a level flat site at the distance at least 3 meters away from obstacles.
### Flight safety
* Follow all instructions of the teacher or the flight instructor.
* Specify the flying area in advance. Only fly in the specified area, and avoid flying outside it. Do not fly behind your back.
* When learning to fly, fly below the level of your height.
* Fly in proximity to yourself at a distance at which you can see the copter orientation in space. Do not fly far away from yourself. If you doubt copter orientation, immediately land on the spot. Do not try to take off. Approach the copter and take off.
* During the flight, move the control sticks carefully and smoothly. Avoid abrupt movements. If you have to change the flight direction, move the sticks vigorously, but not abruptly.
* Fly carefully, and make only those flight elements that you are sure you can perform. Never perform the flight maneuvers that you doubt you can perform, and the maneuvers that involve risks.
* Observe the speed limit. The copter speed should be maintained within the speed of a walking man.
* Return the copter to the landing location by the estimated time, prevent complete discharge of the battery during the flight.
* Land only on a flat open area away from obstacles.
### Emergency landing
In case of hitting the ground or a heavy landing, do the following:
1. Stop the flight. Land the copter on the ground. Set the left stick (throttle) to the minimum.
2. Disarm (Move the left stick left-down for 3 seconds)
3. Disconnect the Li-ion battery on the copter.
4. Turn off the remote.
5. Inspect the copter, and repair if necessary.
### Scheduled landing
After a scheduled landing, do the following:
1. Disarm (Move the left stick left-down for 3 seconds)
2. Disconnect the Li-ion battery on the copter.
3. Turn off the remote.
Next: [Connecting Raspberry Pi to Pihxawk](connection.md).

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Soldering safety
=============================
All work involving soldering and blanching should be performed on specially equipped and prepared premises. There must be a ventilation system.
Before you start, do the following:
1. Tidy up your workplace, nothing should interfere with the process. The workplace should be well illuminated.
2. The working soldering iron is to be placed in the area of local exhaust ventilation, in a special holder.
3. Before work, put on a protective gown, goggles, and gloves, if necessary.
![stand](../assets/stand.jpg)
When soldering:
1. The soldering iron should be held only by the handle since the tip is hot.
![keep](../assets/keep.png)
2. Items are to only be moved using special tools (tweezers, pliers or other tools) that ensure safety when soldering.
3. To avoid burns by molten solder when soldering, do not pull the soldered wires out abruptly with great effort.
4. When soldering small and mobile items use a special holder.
![helphand](../assets/helphand.jpg)
5. Carry the soldering iron by the handle, rather than the cable or the working part. During breaks, the soldering iron is to be disconnected from the mains.
> **Caution** In case of the soldering iron malfunction or fire, disconnect it from the mains.

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# How to use a multimeter?
## Check the circuits (continuity test)
> **Warning** The tested object should be disconnected from the power supply (de-energized)!
Using a multimeter, check the absence of a short circuit (check the loop):
* Set the multimeter to the loop check mode.
* Test the multimeter by shorting the probes. A unit that operated properly makes a distinctive sound.
* The red probe is connected to the “+ ”pin, the black probe — to the “-” / ”GND” pin. If the circuit is short, a sound is heard.
![Loop check mode](../../assets/startPDBtest.jpg)
1\. Check OPEN CONDITION of the following circuits (absence of the multimeter sound signal):
* “BAT+” and “BAT-”
* “12V” and “GND”
* “5V” and “GND”
2\. Check CLOSED CONDITION of the following circuits (presence of the multimeter sound signal):
* “BAT-” with every contact marked “-” and “GND”
* “BAT+”, with every contact marked “+”
## Checking for voltage
Using a multimeter, you need to make sure that the voltage converters located on the power distribution board are working properly and provide the voltage of 5V and 12V, respectively.
* Switch the multimeter to the "Measuring DC voltage" mode
* Select the upper limit of the measured voltage (in our case, not more than 20)
* Make sure the battery is connected
* Make the following measurements:
1. Measure the battery voltage (between BAT+ and BAT-). It should be between 14.0 V to 16.8 V
2. Measure the voltage at the 5V output. It should not exceed 5.5 V
3. Measure the voltage at the 12 V output. It should not exceed 12.5 V
After measurement:
* disconnect the battery
* turn off the multimeter

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Blanching
============================
> **Caution** Before soldering and blanching, make sure that the wires and the circuit-boards are disconnected from the power supply (de-energized)!
## Blanching contact pads
Blanching a contact pad means doing the following:
1. Apply flux on the contact pad
2. Cover the contact pad with solder
![Blanching pads](../assets/zapPDBtest.jpg)
## Blanching wires
Blanching a wire means doing the following:
1. Strip the wire to remove the insulation layer
2. Twist stripped wires
3. Apply flux to the twisted stripped wires
4. Apply a layer of solder.
![Blanching wires](../assets/zap.jpg)