SimpleBGC Software User Manual

Board ver. 1.0 Firmware ver. 2.3 GUI ver. 2.3

2013 Basecamelectronics

Connection to PC

To connect the main controller board equipped with an FTDI interface to a ! "ou will need a #$B%to% serial con&erter and a suitable software dri&er' For board &ersions with inte(rated #$B interface "ou will need a mini#$B cable' For a #$B connection "ou)ll need to install the appropriate software dri&er' Dependin( on "our controller* the FTDI chip dri&er mi(ht be http+,,www'ftdichip'com,Dri&ers,-! 'htm* or for the ! 2102 chip use http+,,www'silabs'com,products,mcu,pa(es,usbtouartbrid(e&cpdri&ers'asp.' In both cases* after "ou install the dri&er and connectin( the board* a new &irtual !/0 port will be created' 1ou will need to choose this !/0 port in the $imleB2! software 32#I4 to initiate the connection'
-!! 2;D -!! $!= $D8

I2!

2;D

2;D

? B8T
2;D

B=D

FTDI

DT<

TCD

<CI

2<;

F!@</== F!@ IT!> <!@</== <!@ IT!>

2;D B0 ?A-

BT;

IT!>

</==

The GUI starts in the English version of the user interface. To change the interface language choose one in the !language! menu and restart the "rogram. Follow these steps to connect "our main controller board to the 2#I software+ !onnect the FTDI adapter cable with the ri(ht polarit" 3Blac5 wire usuall" is the 6(round7 wire4* or use mini%#$B cable in case of #$B port is present on board' $tart the 2#I* select correct !/0%port from the list* and clic5 "Connect"' 8fter the connection is established* all board settin(s and profiles will be loaded into the 2#I' ' 1ou can re%load the current board parameters an"time b" clic5in( the "READ" button' 8fter ad9ustin( parameters in the 2#I "ou should write them to the controller board b" clic5in( the "WRITE" button' /nl" the current profile parameters will be sa&ed to the board' To return to the default settin(s push the "RESET TO DE AU!TS" button' To choose a different profile 3with different settin(s4 select it from the list of profiles 3located in the upper ri(ht corner of the 2#I window4' 1ou can store different settin(s as three different profiles onto the controller board' 1ou can switch profiles sa&ed on the board b" choosin( the profile in the 2#I or b" pressin( the 0:;# button on the controller board'

<emember that some settin(s are common for all profiles and can not be sa&ed on a per profile basis' arameters such as sensor orientation* hardware confi(uration* <! inputs* and motors outs are the same across all profiles'

2013 Basecamelectronics

GUI Blocks

The GUI contains different functional #loc$s% 1' !onfi(uration bloc5 in the central part of the window* or(aniEed b" FtabG+ Basic H Basic (imbal stabiliEation settin(s' 8d9ustin( these settin(s is usuall" adequate to achie&e (ood camera stabiliEation' 8d&anced I 0ore precise tunin( options' <! $ettin(s H settin(s to control the (imbal roll,pitch,"aw orientation with <! inputs' Follow 0ode H settin(s related to special mode of the camera control' 0enu Button H $pecif" the beha&ior of the 0:;# button 3located on the controller board or mounted e.ternall"4 <eal%time Data I real%time sensor data monitorin(' This screen is e.tremel" helpful in tunin( "our (imbal performance' Firmware #pdate I Firmware and 2#I software &ersions and update options' rofile I rofile selection* loadin(* re%namin(* and sa&in(' Blac$ arrows are dis"la&ing the angles #lue arrows are a 10' time magnification to "rovide higher "recision. Thin #lue lines shows the ma'imum deflection from the central neutral "oint. Blue digits show pea5 deflection am"litude. Using these num#ers stabiliEation (ualit& can #e estimated. 3

2' !onnection I !/0%port selection and connection status' 3' J' !ontrol anel I (raphic &isualiEation of (imbal orientation an(les in three a.es'

2013 Basecamelectronics

A' <:8D,B<IT:,<:$:T T/ D:F8#=T$ buttons' <esets all settin(s to the defaults' K' 8t the bottom of the screen* tips* status or error messa(es 3in red color4 are displa"ed ' /&erall c"cle time and I2! error count is also displa"ed'

Basic $ettin(s' ;ote+ Before tunin( "our controller* install the camera into the (imbal firml" and ensure "our (imbalGs center of (ra&it" is le&eled as much as possible' "#I#D $ "ID re%ulation parameters for all a&es' ' H describes the power of disturbance response' >i(her &alues means a stron(er response reaction to e.ternal disturbance' <aise this &alue until the stabiliEation qualit" of fast disturbances will be adequate' If the 6 7 &alue is too hi(h* oscillations of the a.is will start to be present' These oscillations will (et worse if there are &ibrations that reach the I0# sensor board' If oscillations occur raise the )*+ "arameter #& 1 or 2 units and then tr& to raise the ),- value again.

D H The 6D7 &alue reduces the reaction speed' This &alue helps to remo&e low%frequenc" oscillations' 8 6D7 &alue that is too hi(h can cause hi(h%frequenc" oscillations* particularl"* when the I0# sensor is e.posed to &ibrations' I H The 6I7 &alue chan(es the speed at which the (imbal mo&es to incomin( <! commands and to mo&e the (imbal bac5 to neutral' .ow values result in a slow and smooth reaction to /0 commands and to getting #ac$ to neutral. Increase this value to s"eed u" the movement !imit Accelerations ( this option lets to limit an(ular accelerations in case of hard <! or $erial control 3useful to pre&ents 9er5s or s5ipped steps* smoother camera control* less impact on the multirotor)s frame4' The less is &alue* the smoother is camera rotation under control' "OWER H ma.imum &olta(e supplied to the motors 30 % 2AA* where 2AA means full batter" &olta(e4' !hoose this parameter accordin( to "our motor characteristics' Basic tuning% 0otors should not (et too hot1 2otor tem"eratures of over 304 will cause "ermanent damage to motor magnets. 5 ,ower value that is too low will not "rovide enough force for the motor to move the gim#al and sta#ili6e the camera ade(uatel&. 5 low "ower value will #e most noticea#le in wind& conditions when the gim#al is not well #alanced or if the gim#al suffers from mechanical friction. $lowl" lower the ower parameter to find its optimal &alue' Find the lowest &alue that still pro&ides (ood stabiliEation and adequate holdin( torque' <aisin( the power equals raisin( the 6 7 &alue of ID settin(s' If "ou raise the /B:< &alue* "ou should re%tune "our ID &alues as well' I)*ERT H re&erse motor rotation direction' It)s e.tremel" important to choose the correct motor rotation direction to not dama(e "our (imbal' To determine the correct direction* set the * I* and D &alues to 0 and the /B:< &alues to L0 3or hi(her if "our motors donGt produce enou(h force to hold,mo&e the camera4' =e&el the camera tra" horiEontall" and clic5 the 8#T/ button in the M0otor confi(urationM settin(s' The (imbal will ma5e small mo&ement to determine correct motor rotation direction' Bait for the calibration procedure to complete' Then* re%set "our ID &alues and tune "our ower &alues' )UM'"O!ES H ;umber of motor poles' This &alue needs to be equal to the number of ma(nets in "our motorGs bell' Durin( the 6auto7 calibration process described abo&e* this &alue is automaticall" detected' >owe&er* this &alue is sometimes not correctl" determined durin( the 6auto7 calibration process and will need to be &erified and possibl" corrected manuall"' 0ost brushless (imbal motors are built with 1J poles 3or ma(nets4 and utiliEe a D=<D windin( scheme' !ount "our motor ma(nets and enter this &alue if the &alue is not correct in the 2#I' E&ternal C Gain H 2ain &alue for matchin( the (imbal data from "our fli(ht controller 3optional4' For better stabiliEation and utiliEation of some additional features* the 5nowled(e J

2013 Basecamelectronics

about the frame inclination an(les is required' $impleB2! I0# doesn)t pro&ide such information' 0ost of F! ha&e ser&o outs for connectin( (imbals' This outs should be connected to $impleB2! controller throu(h :CT@</== and :CT@ IT!> inputs' 8cti&ate (imbal outs in F! and set ran(e limits for an(les "ou (enerall" fl" 3for e.ample *?% 30 de(rees of frame inclination should equals full ser&o ran(e about 1000%20004' Deacti&ate all filters and smoothin( of F! (imbal settin(s 3if present4' In the RC(settin%s tab* ma5e sure that inputs :CT@</==* :CT@ IT!> doesn)t used to control (imbal' 3i'e' are not chosen as source for an" other <! control tas54' In REA!TIME DATA tab* chec5 a&ailabilit" of :CT@F!@</==* :CT@F!@ IT!> si(nals* and ma5e sure the" are split to a.es correctl"' 3Frame roll an(le tiltin( should cause :CT@F!@</== chan(e in appro.imatel" N00''2100 ran(e' The same is for pitch'4 !onnect power suppl"* and setup stabiliEation as described abo&e 3tune /B:<* I;-:<T* ID4 ush AUTO button in !IG+T CO)TRO! GAI) (roup* and smoothl" incline copter frame to different directions b" all a.es for 10%30 seconds' ush AUTO button a(ain to complete calibration' 3!alibration will stop automaticall" after some time too4' ;ew (ains will be written into :: </0 and shown in the 2#I' )OTE , 1ou ma" s5ip this step and lea&e Eero &alues at initial setup' Sensor I $pecif" "our I0# sensor boardGs orientation and position on the (imbal ' For a standard I0# sensor installation* loo5 at the (imbal from behind 9ust li5e the camera will &iew out from the (imbal' -iewin( the (imbal in this wa"* the # and <i(ht direction will match the O and C a.is' 1ou can place the I0# sensor in an" direction* 5eepin( its sides alwa"s parallel to the motor a.is 3be &er" accurate here* it is a &er" important to precisel" ali(n the sensor and mount it firml"4' !onfi(ure "our I0# orientation in the 2#I' The correct confi(uration should result in the followin(+ !amera pitches forward H the IT!> arrow spins cloc5wise in the 2#I' !amera rolls ri(ht % </== arrow spins cloc5wise in the 2#I' !amera "aws cloc5wise % 18B arrow spins cloc5wise'

</==

S-ip G.ro cali/ration at startup % Bith this option* the board starts wor5in( immediatel" after powerin( it on* usin( the sa&ed calibration data from last ("roscope calibration call' >owe&er* stored calibration data ma" become inaccurate o&er time or durin( temperature chan(es' Be recommend "ou to re%calibrate "our ("ro from time to time to ensure the best performance'

2013 Basecamelectronics

IT!>

RC Settings tab
RC Input Mappin% H here "ou can assi(n hardware <! inputs to &irtual control channels' There are J hardware inputs pro&ided on the board for <! <adio control connections* which "ou can assi(n to control an" of three channels* one for each a.es* and one command channel' If control for an a.is is not needed* lea&e the option at Mno inputM' RC0RO!! pin mo1e % set this mode to 6;ormal7 if "ou want to use B0 or 8nalo( si(nal' $et to $um% 0 if "ou want to use $um 0 si(nal from the recei&er' $um 0 is a B0 format modification* in which e&er" channel transmits sequentiall" throu(h one cable' If "our recei&er has $um 0 si(nal out* connect it to <!@</== input' 3<ead "our recei&er instructions to be sure it has $um 0 out4' Mo1e of operation I "ou can choose one of three input si(nal formats+ "WM H ulse Bidth 0odulation' 0ost widespread <! output,input si(nal t"pe' Analo% I analo( input 3&olta(e from 0 to ?A &olts4' For e.ample* 9o"stic5 &ariable resistor pro&ides such si(nal' :ach <! port has $i(nal* ?A- and 2;D pins' !onnect $i(nal to center contact of &ariable resistor* ?A- and 2;D to side contacts' 8lso "ou need to solder 3or close 9umper on different board &ersions4 to suppl" <! port with ?A-' ;ormall" it is not closed* because <! ma" ha&e its own power suppl"' *IRT0C+022 H In case of <!@</== pin mode is set to 6$um% the ei(ht <! channels' Control c3annels, RO!!# "ITC+# 4AW % controls the position of the camera CMD allows to e.ecute some actions' 1ou can confi(ure 2% or 3%position switch on "our <! for specified channel* and assi(n it to !0D channel' Its ran(e is split in the 3 sections + =/B *0ID *>I2>' Bhen chan(in( the position of "our <!%switch* si(nal 9umps from one section to another* and assi(ned command is e.ecuted' The full list of a&ailable commands is described in the section 6ME)U BUTTO)5 of this manual' C0RO!!# C0"ITC+ % used to enter si(nal from an e.ternal fli(ht controller' $ee 6:.ternal F! (ain7 section for details' 07* "ou can chose one of

RC Mi& % "ou can mi. 2 inputs to(ether before appl"in( to an" of </==* IT!> or 18B a.is' It lets to control the camera from the 2 sources 39o"stic5 and <! for e.ample4' 1ou can ad9ust the proportion of the mi. from 0 to 100P' MI)'A)G!E# MA2'A)G!E H ran(e of the an(les controlled from <!' To in&erse the control* set hi(her &alue first* and lower &alue second' For e.ample* if "ou want to confi(ure a camera to (o from le&eled position to down position* set 0%N0 3or N0%0 to in&erse4' A)G!E MODE I <! stic5 will control the camera an(le directl"' The full <! ran(e will cause a camera to (o from min to ma. an(les* as specified abo&e' If <! stic5 doesn)t mo&e* camera stands still' The speed of rotation depends on the 6$ ::D7 settin( and the acceleration limiter settin(' S"EED MODE I <! stic5 will control the rotation speed' If stic5 is centered % camera stands still* if stic5 is deflected* camera starts to rotate* but does not e.ceed min%ma. ran(e' $peed is sli(htl" decreased near min%ma. borders' $peed of rotation is proportional to stic5 an(le and the S"EED settin(' <! control in&ersion is allowed in both of control modes' !" H <! si(nal filterin(' The hi(her is &alue H the smoother is reaction to the stic5 commands' This filter cuts fast stic5 mo&ements* but adds some dela"'

Follow Mode
There is a special control mode* when the camera 6follows7 for a tiltin( of the outer frame* but eliminates small frame 9er5in(' $e&eral modes of operation are possible+ Disa/le1 H camera is loc5ed to (round and ma" be rotated onl" from <!'

ollow li%3t Controller H camera is controlled from <! to(ether with the mi.ed si(nal from an e.ternal fli(ht controller 3F!4' 8lmost e&er" F! has ser&o outputs to dri&e a (imbal' It feeds the 2013 Basecamelectronics K

information about the frame an(les to this outputs* in the B0 format that all ser&os understand' $impleB2! can (et this information and use it to control a camera' It is necessar" to connect and calibrate e.ternal fli(ht controller 3see E2T' C GAI) settin(s4' 8fter calibration "ou can setup the percenta(e &alues for </== and IT!> a.is* so the camera will follow frame inclinations' 6 ollow "ITC+(RO!!(4AW5 mo1e H this mode is dedicated to hand%held s"stems' F! connection is not required' In this mode* the position of the outer frame b" all of 3 a.es is estimated from the motor)s ma(netic field' This means that if motor will s5ip steps* position will be estimated incorrectl" and operator should correct camera b" hands* returnin( it to proper position' 1ou should use this mode carefull" for F - fl"in(* because if the camera misses its initial direction* there is no chance to return it bac5 automaticall"' ollow RO!! start# 1e%' % $et the an(le 3in de(rees4 of the camera IT!>%in( up or down* where the </== a.is starts to switch from the )loc5) mode to the )follow) mode' ollow RO!! mi&# 1e%' % $et the ran(e 3in de(rees4 of the camera IT!>%in(* where the </== a.is is (raduall" switched from the )loc5) mode to )follow) mode 3see picture4
an(le of the camera inclination b" IT!>

RO!! a&is mo1e loc5ed to the (round soft transition follow frame

ollow 4AW H the same as abo&e* e.cept it can be used separatel" onl" for 18B a.is' For e.ample* "ou can loc5 camera b" </== and IT!> a.is b" selectin( 6Disabled7 option* but still control camera b" 18B b" enablin( 6Follow 18B7 option'

The speed of rotation in all modes of operation is defined b" I%term of the ID settin(s' There are additional settin(s to tune follow mode+ Dea1/an1# 1e%rees+ "ou can set the ran(e where the rotation of an outer frame does not affect the camera' It helps to s5ip small 9er5s when "ou operate (imbal b" hands' E&po cur7e, "ou can specif" the stren(th of the control when outer frame declines from neutral position' For e.ample+ when the e.po cur&e is enabled 3i'e' is not flat4* small or medium declination of an outer frame will cause &er" fine control e&en if I%term is confi(ured hi(h' But the stren(th of control e.ponentiall" (rows when an(les of declination becomes close to K0 de(rees' It (i&es a bi( freedom in camera operation+ from fine and smooth control to &er" fast mo&ements' "ITC+ offset+ it is a &er" important to properl" confi(ure the initial position of motor)s ma(netic poles* because all further calculations use this information' Bhen "ou turn on the s"stem with the 6Follow IT!>7 mode enabled* camera must sta"s e.actl" parallel to IT!> holdin( arm+

If camera is in wron( position* "ou need to ad9ust the offset settin(' :nter &alues b" hands or use an AUTO button' 2013 Basecamelectronics Q

4AW offset+ the same as IT!> offset' It helps to correct the camera 18B a.is an(le related to outer frame'

1ou can switch between modes on%the%fl" b" acti&atin( different profiles' !amera will 5eep their position between modes'

Advanced tab
A+RS % options influencin( camera an(le determination accurac"' G.ro trust H The hi(her is &alue* the more trust to the ("ro data compared with the accelerometer data when estimatin( an(les' It can reduce errors caused b" accelerations durin( mo&in(* but also decreases ("ro drift compensation* resultin( in horiEon drift in time' For smooth fl"in(* it is recommended to set low &alues 3J0%L04* which will (i&e more stable horiEon for lon(er time' For a((ressi&e fl"in(* it)s better to set hi(her &alues 3100%1A04' Accelerations compensation H enable it to use a ph"sical model of multirotor to compensate accelerations durin( fli(ht' This option wor5s onl" when e.ternal F! is connected and calibrated' Serial port spee1 I chan(es baud rate used for serial communication' Decrease it when usin( o&er%the%air serial adapters that can)t wor5 on ma.imum speed' The 2#I can auto%detect the baud rate confi(ured in the board' "WM re8uenc. I sets the B0 frequenc" used to dri&e motors b" power sta(e' Two modes are a&ailable + =ow Frequenc" 3in audible ran(e4 and >i(h Frequenc" 3outside audible ran(e4' In the hi(h frequenc" mode it is necessar" to increase the /B:< settin( a bit' Motor outputs I "ou can assi(n hardware motor outs for an" of stabiliEation a.es' For e.ample* "ou can use second controller for 18B stabiliEation and set it up this wa"+ </==Rdisabled* IT!>Rdisabled* 18BR</==@/#T* and connect a 18B motor to hardware </==@/#T'
Connection 1ia%ram, http+,,www'simpleb(c'com,files,&10,$impleB2!@connection@dia(ram@2.'pdf

Bith a sin(le controller "ou can stabiliEe and control an" of two a.es' Bith 3rd a.is e.pansion board is connected* "ou can stabiliEe and control all three a.es'
Connection 1ia%ram, http+,,www'simpleb(c'com,files,&10,$impleB2!@connection@dia(ram'pdf

RC Su/(Trim H allows to correct transmitter inaccurac"' RO!!# "ITC+# 4AW trim H central point trimmin(' !entral point here is B0 1A00' It)s better to trim it in transmitter' But in case of it is not possible 3when usin( 9o"stic5* for e.ample4* "ou can use 8#T/ function in the 2#I' Sust place stic5 in center* and press 8#T/ button' 8ctual data becomes new center point' ress B<IT: button to appl" settin(s' Dea1/an1 I ad9usts a dead band around neutral point' There)s no control while <! si(nal is inside this ran(e' This feature wor5s onl" in $ ::D mode* and helps to achie&e better control b" eliminatin( 9itters of stic5 around neutral point' E&po cur7e H ad9usts the cur&ature of an e.ponential function* that allows to (et precise control from <! in the ran(e of the small &alues* but rou(h and stron( control near endpoints' Bor5s onl" in $ ::D mode'

Sensor G.ro !" H ad9ust filterin( ("ro data' It)s not recommended to set &alues different than 0* because it will ma5e ad9ustin( ID controller harder' 1ou can e.periment with this' G.ro 3i%3 sensiti7it. % Increase ("ro sensiti&it" twice' #se this option for bi(%siEed D$=< cameras* in case if "our ID settin(s are close to upper limits* but stabiliEation still not (ood' Increasin( ("ro sensiti&it" equals to multipl"in( and D &alues b" 2'

I9C "ullups Ena/le % turns /; built in I2! pull%up resistors for $D8 and $!= lines' 2013 Basecamelectronics

#se function on onl" if sensor doesn)t wor5 properl" 3i'e' there are too man" I2! errors4' 75/8I8G1 Built in "ull9u"s can ma$e sensor wor$ #etter #ut voltage levels e'ceed its limits and sensor ma& #e damaged in ver& rare cases.

Service tab Menu Button

If "ou)&e connected menu button to BT; connector on the controller* "ou can assi(n different actions to it' 8&ailable actions+ Use profile :''; I loads selected profile Cali/rate ACC H accelerometer calibration* wor5s the same as button in the 2#I' Cali/rate G.ro H ("roscope calibration' Swap RC "ITC+ $ RO!! I temporar" swap <! inputs from IT!> to </==' In most cases onl" one IT!> channel is enou(h to control a camera in 2%a.is s"stems' Before a fli(ht "ou can assi(n control from pitch channel to roll* and ma5e a camera precisel" le&eled' 8cti&atin( this function a(ain swaps channels bac5* and sa&es roll position in the static memor"' Swap RC 4AW $ RO!! I li5e the pre&ious' Set tilt an%les /. 3an1 H motors will be turned off* after that "ou can ta5e the camera in hands and fi. it in the new position for a few seconds' !ontroller will sa&e and hold the new position' This function ma" be useful to correct camera position before fli(ht if there is no <! control connected' Reset controller

Batter. Monitorin%
/n some latest board &ersions there is a &olta(e sensor installed to monitor the main batter" &olta(e' It is used to appl" &olta(e drop compensation 3 ID becomes stable durin( whole batter" life%c"cle4* and to ma5e low%&olta(e alarms and do the motor cut%off when the batter" becomes dischar(ed' Cali/rate ( ad9ust the rate of internal multiplier to ma5e measured &olta(e more precise' 1ou need a multimeter to measure the real &olta(e* than enter this &alue in the calibration dialo(' !ow 7olta%e ( alarm % set the threshold to ma5e alarm when the &olta(e drops below it' !ow 7olta%e ( stop motors % set the threshold to stop motors when the &olta(e drops below it' Compensate 7olta%e 1rop % set this option to automaticall" increase the /B:< parameter 3which controls the output power (oes to the motors4* when the batter" loose &olta(e due to dischar(e process' Set 1efaults for % select the batter" t"pe to fill the fields abo&e with the default settin(s for selected t"pe' )OTE, "ou can add the &olta(e sensor to old boards in DI1 wa"* b" solderin( a &olta(e di&ider 335,105+ 335 (oes to the batter" 6?7* 105 (oes to the 2;D* and common point (oes to the pin 1N of the 32Lp 0!# 3if this
pin is (rounded* de%solder it first4'

Bu<<er
/n some boards there is an output to the buEEer' It is used to buEE on some e&ents' :&ents are confi(ured 3turned /; or /FF4 in the 2#I' 1ou can connect an acti&e buEEer onl" 3which has an internal sound (enerator4* wor5in( from A''12-* currents below J0m8 3chec5 this Di(i5e" product search for e.ample4 )OTE, "ou can connect the buEEer to old boards in DI1 wa"* b" solderin( its 6?7 wire to the pin 32 of the 32Lp
0!#* and 6%7 wire to the 2;D'

2013 Basecamelectronics

Realtime Data tab

In this tab "ou can see raw sensor data stream* and lo(ical <! input le&els' ACC02#4#= H accelerometer data' G4RO02#4#= H ("roscope data' >elps to determine qualit" of and D settin(s' Disturb (imbal b" hand and see trace' If it loo5s li5e sine wa&e* D settin( is too low and (imbal tends to low% frequenc" oscillations' If some noise is alwa"s present e&en without an" disturbance* D settin( is too hi(h and (imbal tends to hi(h%frequenc" self%e.citation' DEBUG0:''> H used in de&elopment and e.perimental firmwares' ERR0RO!!#"ITC+#4AW H stabiliEation error (raph' $ame as pea5 indicators on the control panel and shows ma.imum deflection an(le'

Each gra"h can #e turned on or off scale can #e ad:usted for ; a'is. ;ou can "ause the data transmission at an& time.

Setu ste !b"!ste se#uence :' A1?ustin% t3e mec3anics

0ount the camera on the tra" and balance the (imbal in all three a.es' $tabiliEation qualit" is hardl" connected to the balance qualit"' To chec5 "our balance* pic5 "our turned off (imbal in hands' 0a5e fast motions alon( all a.es* tr"in( to catch resonance point and swin( the (imbal' If it is hard to do % (imbal is balanced correctl"' )OTE , 7ith good #alance and low friction It!s "ossi#le to scale down "ower consum"tion and $ee" good (ualit& of sta#ili6ation If "ou rewound motors b" "ourself* it)s recommended to chec5 windin(' <emo&e motors from (imbal* connect them to controller and set parameters R0* IR0'1* DR0 for each a.is and set enou(h /B:<' !onnect main power suppl"' 0otors should spin smoothl"* while rollin( the sensor' =ittle 9itter is normal due to ma(netic force between rotor and stator 36co((in(7 effect4' a" (reat attention to sensor installation' Its a.es must be parallel with motor a.es' a" attention to mechanical lin5s' The" must be a -:<1 <I2ID and bac5lash%free' $ensor pro&ides feedbac5 data for stabiliEation* and e&en an" little freedom or fle.ibilit" will cause dela"s and low%frequenc" resonances' This can result in difficult ID settin(* and unstable wor5 in real conditions 3 frame &ibrations* wind* etc4

9' Cali/ratin% t3e sensor

2"ro is calibrated e&er" time "ou turn controller on* and lasts about J seconds' Tr" to immobiliEe sensor 3camera4 as hard as "ou can in first seconds after powerin( on* while si(nal =:D is blin5in(' 8fter powerin( on "ou ha&e 3 seconds to freeEe (imbal before calibration starts' If "ou acti&ated option 6$5ip ("ro calibration at startup7* ("ro is not calibrated e&er" time and controller start wor5in( immediatel" after powerin( up' Be careful and recalibrate ("ro manuall"* if "ou will notice somethin( wron( with I0# an(les' Cali/ratin% Accelerometer 1ou must perform 8!! calibration onl" once* but it)s recommended to recalibrate it from time to time or when the temperature si(nificantl" chan(es' Simple cali/ration mo1e, set sensor horiEontall"* and press !8=IB'8!! in the 2#I 3or menu button* if it)s assi(ned4' =:D will blin5 for 3 seconds' Tr" not to mo&e sensor durin( calibration' 8t this step no matter how camera is le&eled' 1ou are calibratin( the sensor* not the cameraT A17ance1 mo1e @recommen1e1A, perform calibration in simple mode as abo&e' Then turn 10

2013 Basecamelectronics

sensor in order that each side of sensor loo5s up 3K positions at all* includin( base one4' Fi. the sensor in each position* press CA!IB'ACC button in the 2#I* and wait about 3%J seconds* while =:D if flashin(' The order does not matter* but the base position alwa"s (oes first 3because the simple calibration cancels a result of ad&anced calibration4' ;ou have not to "ress 7/ITE #utton cali#ration data is written automaticall& after each ste". )OTE+ recise accelerometer cali#ration is a ver& im"ortant for hori6on holding during d&namic fl&ing or ;57 rotation.

C O C O C O

O C

>' Tunin% /asic settin%s

!onnect the main power suppl"' $et "OWER accordin( to the motor confi(uration 3see recommendations abo&e4 8uto%detect number of poles and motors direction' 8d9ust ID controller' To chec5 stabiliEation qualit"* use pea5 indicator in control panel' Incline the frame b" small an(les and tr" to minimiEe pea5 &alues b" increasin( * I and D to its ma.imum' 1ou ma" use ("ro data from <ealtime Data tab to estimate stabiliEation qualit"* too' 8t this time it is possible to (et 1 de(ree mista5e * otherwise 2%3 de(rees is a (ood result to'

B' Connectin% an1 confi%urin% RC

!onnect one of the free recei&er)s channels to <!@ IT!> input* preser&in( ri(ht polarit" $et SORCER B0 8ssi(n <!@ IT!> input to IT!> a.is =ea&e all other a.es and !0D as 6no input7 For IT!> a.is* set MI)'A)G!ER%N0* MA2'A)G!ERN0* A)G!E MODERchec5ed* !" RA* S"EEDR10 3not used in an(le mode4 !onnect the batter" to the main controller and recei&er* and chec5 that <!@ IT!> input recei&es data in the 6<ealtime Data7 tab 3slider should be blue filled and reflects to stic5 mo&ement4

In the <! $ettin(s tab+

;ow "ou can control the camera from "our <! transmitter* from %N0 to N0 de(rees' If "ou are not 2013 Basecamelectronics 11

satisfied with the speed of mo&ement* ad9ust the I(term settin( for IT!> in the 6Basic7 tab' Tr" the $ ::D mode and feel difference with the 8;2=: mode' !onnect and tune remainin( a.es the same wa"* as required'

C' Testin% %im/al in real con1itions

!onnect controller to the 2#I and turn /; multirotor motors* holdin( it abo&e "our head' !hec5 the &ibrations on the camera b" usin( <ealtime Data tab , 8!! raw data' Tr" to decrease the le&el of &ibrations usin( soft dampers' )OTE, Brushless motors versus traditional servos "rovide faster reaction #ut less tor(ue. That!s wh& it!s hard for them to fight against wind and air flows from "ro"s. If &ou are develo"ing multirotor frame #& &ourself tr& to avoid this influences <for e'am"le lengthen arms a #it or tilt motors awa& from center or "lace camera a#ove "ro"s in case of =9frame>. 5lso $ee" in mind that when co"ter moves with high s"eed an air flow is deflected and can affect the gim#al.

Status !ED
There are 2 =:Ds onboard' Re1 led li(hts when power is connected' Green,/lue =:D si(nals actual state

of the s"stem+ !ED is off I pause before calibration* to ta5e hands off or to le&el (imbal' !ED /lin-s slowl. $ !alibration in action' FreeEe (imbal durin( this process' !ED /lin-s fast I s"stem error* stabiliEation cannot be performed' To chec5 error description* connect to 2#I' !ED is on I normal operation mode' !ED is on# /ut /lin-s irre%ularl. H I2! errors appears'

8lso* additional =:Ds ma" present to si(nal serial communication on <C and TC line'

Connectin% 4AW e&pansion /oar1'

0ain board contains onl" two motor dri&ers* and can stabiliEe two a.es' :.tension board allows to (et stabiliEation for all three a.es' It)s connected with I2! and (ets commands from main board' ;o e.tra sensor is needed'
!onnection dia(ram+ http+,,www'simpleb(c'com,files,&10,$impleB2!@connection@dia(ram'pdf

To acti&ate 3rd a.is* (o to A17ance1 , Motor outputs and set 4AWR4AW e&t'/oar1 )OTE, The e'"ansion #oard needs e'tra "ower su""l& to o"erate. 7hen &ou are tuning gim#al connected to ,0 It can!t get "ower su""l& from FT*I or U?B and therefore ma& not #e recogni6ed #& the main #oard. $tatus =:D on e.pansion board shows current mode of operation+ !ED is O % power suppl" is not connected* or short%circuit protection in action* or current o&erload detected 3protection strate(" H turn motors off for 1 second4 !ED is O) % power suppl" connected* but no I2! commands recei&ed' !ED is O) an1 /lin-in% H normal operation mode'

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"ossi/le pro/lems an1 solutions

"ro/lem 0otors donGt spin "ossi/le causes %power suppl" is not connected %$uppl" polarit" in&erted % /B:< set to 0 !amera is tr"in( to ali(n* but falls bac5 %!amera not balanced %It)s an error in motor windin(s*or one phase is bro5en % /B:< is not hi(h enou(h Durin( fast 18B rotatin(* camera %Bad accelerometer calibration deflects b" </==* and then slowl" (ets %$ensor is not in parallel with motor to horiEon' a.es Durin( fast motion with acceleration* %This is normal effect of accelerations camera deflects* and then slowl" (ets to horiEon 18B arrow slowl" spins in the 2#I %$low drift is normal 3less than 1 de(ree,minute4' ItGs because of ("ro drifts in time ' !amera slowl" drifts b" an" or all a.es % Bad ("ro calibration 9ust after power on !lic5s and %I2! errors present' :rrors are possible crunch are heard durin( wor5' =:D is if sensor wires are too lon(* or motors s"nchronousl" blin5in( outs affects sensor b" capaciti&e lin5a(e' Solutions %!hec5 all connections %$et /B:< between A0''200 %Balance camera %!hec5 motor windin( % Increase /B:< parameter %0a5e ad&anced 8!! calibration b" K positions %8li(n sensor with motor a.es %Tr" to increase 2"ro Trust in 8d&anced tab % a" attention to sensor Immobilit" durin( ("ro calibration %<e%calibrate ("ro %<e%calibrate ("ro %$horter sensor wiresU %=ower pullup resistors &alue on the sensor boardU %Install spi5e =!%filter on motor outs 3ma5e 2%3 turns of motor cable throu(h ferrite coil4U % Instal spi5e =!%filter on sensor wires 3the same as motor filter4U % <eplace sensor with &ersion with ==!U %!hec5 the (raphs to understand on what a.is the problem is* and lower D &alue' =ower * increase D %Tr" different !/0%ports %#pload the latest firmware* and download matchin( 2#I &ersion'

>i(h%frequenc" oscillations =ow%frequenc" oscillations 2#I cannot connect to board

%Feedbac5 self%e.itatin( as a result of hi(h D parameter %Feedbac5 self%e.itatin( as a result of hi(h D parameter or hi(h %Bron( !/0%port selected %2#I and firmware &ersions doesnGt match'

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