Workshop

on

Quadcopter
What is QUADCOPTER??
Basically a Quadcopter is a
quadrotor helicopter that is lifted
and propelled by four rotors.
Unlike helicopters they use
symmetrically pitched blades.
Control of vehicle motion is
achieved by altering the pitch
and/or rotation rate of one or more
rotor discs, thereby changing its
torque load and thrust/lift
characteristics.
The motors 1 and 4 rotate in CW
direction while 3 and 2 rotate CCW thus
creating a downward thrust which lifts the
quad.
By varying the speed of the 4 rotors
various movements are possible.
There are three important terms namely
the YAW , ROLL and PITCH which we must
have a clear concept of before
understanding the quads movement.
Here Yaw = Rudder , Roll = Aileron and
Pitch = Elevator.
INTRODUCTION:
The HobbyKing KK2.1 Multi-Rotor controller
manages the flight of (mostly) multi-rotor Aircraft
(Tricopters, Quadcopters, Hexcopters etc).

Its purpose is to stabilize the aircraft during flight and to

do this, it takes signals from on-board gyroscopes (roll,
pitch and yaw) and passes these signals to the
Atmega324PA processor, which in-turn processes signals
according the users selected firmware (e.g. Quadcopter)
and passes the control signals to the installed Electronic
Speed Controllers (ESCs) and the combination of these
signals instructs the ESCs to make fine adjustments to the
motors rotational speeds which in-turn stabilizes the craft.
The HobbyKing KK2.1 Multi-Rotor control
board also uses signals from your radio
system via a receiver (Rx) and passes
these signals together with stabilisation
signals to the Atmega324PA IC via the
aileron; elevator; throttle and rudder user
demand inputs.

Once processed, this information is sent to

the ESCs which in turn adjust the rotational
speed of each motor to control flight
orientation (up, down, backwards,
forwards, left, right, yaw).
Quadcopter and
Accessories

Q450 Glass Fiber Quadcopter
Frame
450mm.
Brushless Outrunner Motor -
(Type 950kV,1200kV,1600kV)
30A ESC
Propellers
(Clockwise & counter
clockwise)
KK Multicopter Board
Li-Po Battery
1) Q450 Glass Fiber Quadcopter
Frame 450mm.

The Q450 is a well thought out

450mm quad frame built from
quality materials. The main frame is
glass fiber while the arms are
constructed from ultra durable
polyamide nylon.
This is the most basic and
important part of the quadcopter.
You can mount your brushless
motors, power cells and other
electronic equipement on it easily.
You can even create your own
Features:
Built from quality glass fiber and polyamide
nylon.
Pre-threaded brass sleeves for all of the frame
bolts.
Colored arms for orientation to keep you
flying in
the right direction.
Large mounting tabs on main frame bottom
plate
for easy camera mounting.
Easy assembly.
2) Brushless Outrunner
Motor -
(Type
950kV,1200kV,1600kV)
Designed to be a direct swap out for
your 15 size glow engine.
The brushless out-runner will provide
more power and with its high
efficiency, long run
times.
A quality motor, built specifically for
planes
designed to fly with a 15 size glow
engine.
I. Brushless motors are commonly used in
RC. Brushless motors have three wires.
II. These wires control the motors three
phases.
III. When connecting the motor to its ESC
(Electronic Speed Controller), it doesnt
actually matter how you connect the
wires to let it spin because you want two
motors to rotate CW and other two to
rotate CCW.
IV. So it is just by trail and error method you
fix these wires.
Features:
Magnet type: 45SH.
Voltage: 2-3.

Prop: APC7x4.
Thrust: 480g.

Power: 130W.
For 300~500g airplane.
3) 30A ESC
This brushless ESC includes
programmable motor
braking, soft start for helis
and planes, timing, throttle
input range and low-voltage
cutoff.
The three-phased brushless
motor are controlled by the
Electronic Speed Controller
(ESC). The ESC has three
pairs of wires: current
supply(2 thick) / motor wires
Features:
Up to 30-amp continuous current with proper airflow, 35-amp
peak.

5-volt switch-mode BEC circuit capable of

700mAh continuous current on any recommended input voltage.

Drives up to 5 analog or 4 digital sub-micro

servos with the BEC.

Programmable motor braking.

Safe power-arm mode prevents accidental starts.

Programmable soft start for helis and airplanes.

Auto motor shutdown if signal is lost or there is interference.

4) Propellers
(Clockwise & counter
clockwise)

This is a set of two plastic

propellers, one normal and
one pusher (reverse). You'll need 2 x
propellers &

2 x Pusher propellers for a

quadcopter. Each set comes with
relevant accessories for mounting to
different shaft sizes.
5) KK Multicopter
Board
This board also uses a user programmable
Atmega324PA IC. This is a flight control board for 4
rotor Aircraft (Quadcopters).

Its purpose is to stabilize the aircraft during flight. To

do this it takes the signal from the three on board
gyros (roll, pitch and yaw) then passes the signal to
the Atmega324 PA IC.

The Atmega324PA IC unit then processes these

signals according the users installed software and
passes control signals to the installed Electronic
Speed Controllers (ESCs).

These signals instruct the ESCs to make fine

adjustments to the motors rotational speed which in
turn stabilizes your quadcopter
6) Li-Po Battery
Lithium-Polymer(Li-Po) Battery for robotic
applications.
It can give great instantaneous discharge
current upto 44A.

Very light weight and small size compared

to Ni-Cd, Ni-MH and Lead acid batteries.

Very long life without losing charging

capacity.

Weights just 192 gm.

Features:
Very small in size and weight compared to Ni-
Cd, Ni-MH and Lead Acid Batteries.

Full Charge in 180 minutes with special charger.

Long life with full capacity for upto 1000 charge
cycles.

3X Li-Po 3.7V 2200mAh cells (3S1P).

Low maintenance.

Discharge Current: 20*2200maH = 44Amp.

Max Charging Current: 1A.
) Lipo Battery charger
LiPo battery fast charging with wide AC
input. An internal 100-240V AC switch
power is built in, and the high precision
balance circuit can supply larger current
up to 850mA per cell.

Double colour LED can display the

process of charging (RED: charging;
GREEN: full).

This charger is compact and light;

especially there is separated
corresponding balance port for each
battery pack.
Features:
Input voltage: AC 110V-240V.

Balance charge current:

850mA.

Display: Green & Red LED.

Case: Plastic.

Dimension:90mm*55mm*35mm.

Weight: 180g.
6 Channel Transmitter + Receiver

DMSS (Dual Modulation Spectrum

System) is an innovative 2.4GHz
transmission protocol that offers high-
speed response and high resistance
against RF noise.
With the XG6 transmitter, you get all the
benefits of genuine JR technology in a
basic 6-channel transmitter that comes
with integrated telemetry; a world first for
a 6-channel transmitter.
Specifications:
Channels: 6 channels.
Model type: Heli,Airplane, Glider.
RF power: less than 20db.
Modulation: GFSK.
Code type: PCM.
Sensitivity: 1024.
Low voltage warning: LEDwarning.
DSC port: yes.
MICROCONTROLLERS:

Amicrocontroller(sometimes abbreviatedC,uC
orMCU) is a small computer on a singleintegrated
circuit containing a processor core, memory, and
programmableinput/output peripherals.

Program memory in the form ofNOR flash orOTPROMis

also often included on chip, as well as a typically small
amount ofRAM. Microcontrollers are designed for
embedded applications, in contrast to
themicroprocessors used inpersonal computersor
other general purpose applications.
Microcontrollers are used in automatically controlled
products and devices, such as automobile engine control
systems, implantable medical devices, remote controls,
office machines, appliances, power tools, toys and
otherembedded systems.

By reducing the size and cost compared to a design that

uses a separate microprocessor, memory, and
input/output devices, microcontrollers make it economical
to digitally control even more devices and processes.

Mixed signal microcontrollers are common, integrating

analog components needed to control non-digital
electronic systems.
Some microcontrollers may use four-bitwords and
operate atclock rate frequencies as low as4 kHz,for low
power consumption (single-digit milliwatts or microwatts).

They will generally have the ability to retain functionality

while waiting for an event such as a button press or other
interrupt; power consumption while sleeping (CPU clock
and most peripherals off) may be just nanowatts, making
many of them well suited for long lasting battery
applications.

Other microcontrollers may serve performance-critical

roles, where they may need to act more like adigital
signal processor (DSP), with higher clock speeds and
power consumption

WE ARE USING ATMEGA 324PA IC

WHAT IS GYROSENSORS???

A gyro sensor, angular rate sensor or angular

velocity sensor is a device that can sense angular
velocity.
Gyro sensors can sense rotational motion and
changes in orientation and therefore augment
motion.
Vibration gyro sensors can sense angular
velocity due to the Coriolis force which is applied
to a vibrating element.
This motion produces a potential difference from
which angular velocity is sensed.
The angular velocity is converted into an
electrical signal output
WHAT IS ACCELEROMETER

An accelerometer measuresproper
acceleration, which is the acceleration it
experiences relative to freefall and is the
acceleration felt by people and objects.

Put another way, at any point in

spacetime theequivalence principle
guarantees the existence of a localinertial
frame, and an accelerometer measures the
acceleration relative to that frame.

Such accelerations are popularly

measured in terms ofg-force.
THE QUADCOPTER :
CONTROL THE ORIENTATION
USING RAW PITCH AND YAW
ROLL..PITCH..YAWN
The quadcopter orientation can be defined by
three angles :Pitch, Roll, and Yaw.

These angles determine orientation and

therefore the direction the quadcopter will take.

Basically, changing the pitch will make the

quadcopter go forward/backward, the roll bend
to the left/right, and finally the yaw will make it
rotate around its vertical axis.

In order to change the pitch and roll angles , the

main idea is to change each motors speed so the
quadcopter starts bending in the desired
Let's formalize things a bit and define the
motors "power" in C++ language style :

int motor1Power, motor3Power;//

Motors on the X axis //=>;
changing their speeds will affect
the pitch

int motor2Power, motor4Power; //

Motors on the Y axis //=>;
changing their speeds will affect
the roll
the motors power depends on the throttle you
can give them with a remote control
for example. A simple implementation of this
in an Arduino-like sketch would look like this

void loop()
{
motor1Power = throttle;
motor2Power = throttle;
motor3Power = throttle;
motor4Power = throttle;
}
W TO INSTALL FMS SIMULATOR

P 1:
all USB cable drivers (PL-2303 Driver Installer.exe)

P 2:
wnload and Install PPJoy

P 3:
PJoy Add New Joystick, in top combobox select "Virtual Joyst
d click "Add".

P 4:
xt, click "Mapping", "Next", set 6 Axes, 2 Buttons and 0 POV's
STEP 5:
Change Axis3 to Throttle and Axis4 to Rudder, click Next, check
the mapping for axes is in range from "Analog0" to "Analog5", click
Next, check the button mapping is setted to "Digital 0" and
"Digital 1".
Click Next then Finish.

STEP 6:
Click Done and close Joystick setup.

STEP 7:
Connect you USB cable to PC and radio

STEP 8:
Run original T6config program for this radio

STEP 9:
Click "Open" and load included "T6_calibration.cfg" file to radio
and Close T6config application
STEP 10:
Run T6sim.exe

STEP 11:
Select comport used by your USB cable, and if Port status show
"Closed",
click "Open COM". The com status should say "NO DATA

STEP 12:
Turn on your radio. Com status should change to "Connected".
Check for Channels Preview sliders response.

STEP 13:
Select your Virtual Joystick from dropdown list (usually Joystick1).
Close T6sim (this drop it to taskbar).

STEP 14:
Go to Windows control panel, and doubleclick on "Gamepads"
icon.
Calibrate Virtual joystick (Properties->Settings->Calibrate).
STEP 15:
If you want restore your original radio settings:
Right click on T6sim icon and select "Close COM"

Run T6config and restore your radio settings.

Close T6config, and click "Open COM" in T6sim.

START SIMULATOR SELECT JOYSTICK MAP IT AND FLY

INITIAZING STEPS
FOR KK 2.1

STEP 1
Mount the FC on the
frame with the LCD
facing front and the
buttons facing back. You
can use the supplied
anti-static foam
container as a form of
protective case for the
Flight Controller on the
craft.
STEP 2
Connect the receiver
outputs to the
corresponding left-hand side
of the controller board. The
pins are defined as:

Ensure the negative (black or

brown) is orientated so that it is
on the pin that is nearest to the
edge of the Flight Controller
Board, so looking at the board
the colour sequence will be
Black, Red and Orange.
The channels are connected as
follows from the front of the
board towards the push buttons:
Receiver Channel Flight Controller
Aileron --- Aileron
Elevator --- Elevator
Throttle --- Throttle
Rudder --- Rudder
AUX1 --- AUX
STEP 3
Connect the ESCs to the right side of the Flight
Controller Board. M1 is towards the front of the
board and M8 is nearest to the push buttons. The
negative (black or brown) lead towards the edge of
the FC. The negative (black or brown) lead is
connected to the edge of the Flight Controller.

DO NOT MOUNT THE PROPELLERS AT THIS STAGE FOR SAFETY

REASONS
The completed Receiver and
Motor wiring (for a QUAD Copter)
looks like this:
The Flight Controller Board must
always have a source of +5v from an
ESC, either one of the motors ESC or
from a separate unit feeding the
Receiver.
If each ESC has a BEC (normal unless
OPTO types) then it may be necessary
to remove the power feed from the
other ESC, usually by cutting the
power line (RED) Cable on the other
ESC.
STEP 4
Set up a new model on your transmitter and use a
normal airplane profile and bind the Receiver to
the Transmitter.

STEP 5
Turn on the power and press the Menu button,
then using the Up and Down buttons highlight
Receiver Test sub-menu and press Enter.
Now move each channel on your transmitter and
check that the displayed direction corresponds
with the stick movements on the Flight Controller,
if any are reversed, then go to your Transmitter
and reverse that channel. Check that the AUX
channel is showing "ON" when you activate the
AUX Switch on your transmitter, if not, reverse the
AUX channel on your transmitter.
STEP-6

Scroll down to and enter the "Load Motor Layout"

sub-menu and choose the configuration you want.

If the configuration you want is not listed, use the

"Mixer Editor" sub-menu to make one.

STEP-7

Enter the "Show Motor Layout" sub-menu and

confirm the following. Is the configuration correct?
Are the motors and servos connected the correct
output? Correct rotation direction? Does the motor
speed up when dropping the arm it is mounted on?
STEP-8
Enter the Receiver test" and check for nominal
values on each channel, move your Transmitter
sticks around to ensure the are all working,
including AUX 1

STEP-9

Enter the "PI Editor sub-menu and check PI gain

values using this option to adjust the gain settings.
The PREV and NEXT buttons to select the
parameter to change, then press CHANGE. To
adjust both Roll and Pitch at the same time, see
the "Mode Settings "sub-menu.
At this stage the propellers can be fitted to test
the Flight Control board.
Hold the craft and Arm with right rudder and zero
throttle for a few seconds, it will beep and the
RED LED will turn on.

Usually you should not arm it until you have put

the Multicopter on the ground and stepped 5
meters away.

After landing, place it in SAFE Mode by holding

the rudder to left with zero throttle, it beeps and
the RED LED will turn off, always do this before
you approach the Multicopter.
If the craft wants to tip over right away, check the
connections and your custom made mixer table if you
have one.

If it shakes and climbs after its airborne, adjust the Roll

and Pitch Pgain down or if it easily tips over after its
airborne, adjust up.

If it drifts away, use the trims to keep the drift down. It

will normally drift with the wind. If you need excessive
trim, check if the arms and motors have the correct
angles and that the motors are good.

Increase the Roll and Pitch I gain (note the difference

from P gain) until it flies straight forward without pitching
up or down. Turn on the Self-levelling by holding right
aileron while arming or disarming it.
STEP 10
Enter the "Mode Settings" and check and adjust: "Self-
Level": Determines how the self-levelling function will be
controlled, either by STICK or an AUX Channel.

"STICK MODE": Self-levelling is turned on by holding the

aileron to the right when arming or disarming. Turn it off with
left aileron.

"AUX": Self-levelling is turned on/off by the AUX Channel.

"Auto Disarm": If set to YES then Flight Control board will

automatically disarm itself after 10-mins of inactivity.

"CPPM Enabled": Determine if the Flight Control Board is to use

CPPM data input.
"Sensor Test": Displays the output from the sensors. See if
all shows "OK". Move the FC around and see that the
numbers change.

"ACC Calibration": Follow the instructions on the LCD to

calibrate the Acceleration Sensors, which is only
necessary to do once at initial setup.

P and I Settings

1) Make sure the KK2 reads the transmitter stick neutrals. Go to the "Receiver
Test" menu and use the trims to get the values to zero.
2)Go to the "PI Editor" menu and set P to 50 and I to zero for both the Roll
and Pitch Axis. It is only necessary to edit the roll axis, pitch axis will be
automatically changed to the same values as the roll axis. Leave the P-limit
and I-limit alone, it is not necessary to change them.
3)Hover the aircraft and compare the response and adjust accordingly if
required.
If you are a new flier and the craft is not yet flying around, just leave the I-
gain at zero or the default value. Also the Yaw PI-gains can be left at default,
but remember to zero them if you use the string (the craft suspended from
Recommended / Default PI editor settings for first flight:

Roll/Pitch Axis:
P gain = 50
P limit = 100
I gain = 25
I limit = 20

Yaw Axis:
P gain = 50
P limit = 20
I gain = 25
I limit = 10
Default gains are set to 50/50/50 (roll/pitch/yaw) P-term,
and 25, 25, 50 I-term.
Accessing the Self-Levelling Mode
1 You can access the self-levelling mode either from the
settings of STICK or AUX channel.

2 When set to AUX Mode you must connect a spare

channel usually CH5 or Ch6 and changing the
Transmitter switch position will enable/disable Self-
Levelling mode.

3 When set to STICK Mode to go into Self-Levelling

Mode, you must set the Throttle to Minimum and set
maximum Left Rudder whilst at the same time, setting
maximum Left Aileron to disable SL or maximum Right
Aileron to enable SL.
Flight Controller Sounds
1. One Beep (short beep, 2 sec
delay) is emitted when the board
is armed and the throttle is
closed, this is for safety reasons
so you know its armed.

2. One Long Beep is emitted when

the board is either Armed or
Disarmed.

Status Screen:

Displays the message "SAFE" and

the KK2 will not arm unless it says
Model Types Supported
Dualcopter
Tricopter Y6
Quadcopter +
Quadcopter X
Hexcopter +
Hexcopter X
Octoco4pter +
Octocopter X
X8 +
X8 X
H8
H6
V8
V6
Aero 1S Aileron
Aero 2S Aileron
Flying Wing
Singlecopter 1M 2S
Singlecopter 1M 4S