FablabSU

Here you will find everything you need to easily build your quadcopter

• Set the motor on the frame.
• Screw it.
• You can add some glue to prevent the screw to escape thanks to the vibration. We advice you to put the glue only when the configuration is done, otherwise it will be hard to replace a motor.

Connect the ESC as describe in the ESC datasheet.

As you can see on this photo, opposite motors are in the same configuration. However between the two axis, you need to switch two phases (motor on the left goes Red to Red & Yellow to Blue and motor on the rigth goes Red to Blue & Yellow to Red). The result is that on one axis the motors will turn in the same direction and on the other axis they will turn in the opposite direction. It will prevent the inertia on your drone and parasite yaw on it.

Connect the ESC to the fly controller as describe in the fly controller datasheet.

Download multiwii source code:

• https://code.google.com/p/multiwii/downloads/list

You can load it in the flight controller thanks to arduino 1.0.5 software

Download multiwii GUI, it is the interface that will allow you to change your parameter.

• wingui_2.2.zip

You can also use a smartphone app (Multiwii EZ-GUI) with a bluetooth module plugged on one serial port of the multiwii board.

Our configuration is a “plus” configuration. The advantage of this config is that your setup must be symetric so if you can setup PID for one axis (pitch for example) the other one should be the same….but be carefull it is not always the case.

PID Setup procedure:

• Attach your drone as shown on the photo and don't forget to remove unused propeller.
• Security First
• 1st Step: Erase PID values for pitch and roll, let's set 0 for all parameter
• 2nd Step: Verify the axis you are going to setup, tilt a bit your drone and check on the GUI graph which axis is moving.
• 3rd Step: Verify that you are in accro mode (on GUI –> all flight mode disable)
• 4th Step: Increase progressively the P value of our axis until your drone start swinging.
• 5th Step: Reduce a little P value and increase I value until your drone start swinging when it arrive at reference point you ask with the radio.
• 6th Step: Reduce a little I value and increase D value until your drone response is perfect!! :)
• 7th Step: Do the same with the other axis

Watch our video to have more details !! XP

## video ici

Once you have configure you PID it's time to take off.

• Find a space where you can fly without fearing broke your drone.
• Take off you drone above 5 meter(at least) from the ground. Don't give any direction first, just check for the drift.
• If the drone drift you have to set the trim to counterbalance it ⇒ this may be needed each time you take off the drone
• Once the drone don't drift anymore. You can enjoyyyyy!!

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