Multicopter Setup

From Skookum Robotics Wiki

(Redirected from Quadcopter Setup)
Jump to: navigation, search

Multicopter Instructions For Rev 4 of the SK software


1) Go to the File menu on the top left, and select “Reset to Multicopter Setup”.

2) On the Control tab, select your Radio Input type, and the channel to use for the cyclic (aileron/elevator) gain/bank-switch. Then bind your radio Tx and Rx.

3) Note that the Throttle channel of your radio controls throttle. The pitch (collective) channel is ignored.

4) Go to the Utility menu, and click “Set Control Stick Scaling”. Follow the instructions in the short wizard, then check that “Inputs from Receiver” responds correctly to stick movements.

5) Set the endpoints on the cyclic gain channel in your radio so you get about 35% in the “cyclic gain” field under “Inputs from Receiver”, with the gain-channel switche in both directions. Notice that switching the gain channel changes which cyclic and/or tail bank is in use, marked by a blue bar. By default, the Sk720’s cyclic 1 bank is normal non-self-levelling, and the cyclic-2 bank is self-levelling.

800px-Quad 90 45.jpg

6) For quadcopters, decide whether you want to fly the quad in normal 45-degree mode (X), or with one motor arm as “forward” (+), as shown in the diagrams above, and mount the gyro accordingly. Notice that one side of unit must be mounted square with the direction of flight. If you fly in normal X mode, leave the phase trim at zero!

7) On the Control tab, set the Orientation of the gyro according to which way the servo bus is pointing on the multicopter.

8) Carefully check that the Gyro Motion fields turn green for nose-up and right roll.

9) Connect the Multicopter ESCs (speed controls) to the SK720’s ports, as mapped out in the diagrams above.

10) We recommend keeping the default Servo Tab settings with the travel range of +100% to -110%.

11) Set the RX signal lost failsafes. Set the throttle to around 25%, and in the Utility menu, click set failsafe control positions. If desired, you can also set an SK720 to self level if the RX signal is lost, by checking the "Self Level if Signal Lost" button in the Control tab, or "go home".

12) The motors will not spool up if the gyro is connected to a PC. Also, you have to arm the motors before each take off by putting both control sticks in the lower right corner.

13) The last step is optional, setting the throttle range of the multicopter’s ESCs. If you need to do that, notice first that the ESC outputs are disabled when the SK720 is in setup mode for safety. They are also left disabled until the gyro sees a radio receiver signal.

a) Set the gyro’s active cyclic and tail bank gains to be Locked to 0% in the setup software, on the cyclic and tail setting tabs. It’s important to do this by the “lock gains” feature because the gain-channel option via the radio will not allow gains below 15%.
b) Start the gyro with all escs disconnected, and a separate power supply.
c) Arm the motor output ports by putting both sticks in the lower right corner.
d) Reconnect the ESCs, then lower the throttle stick to zero again.
e) Go in the setup software, and restore your gain settings.
BE SURE to disable the locked-gains or set them to a good value before trying to fly!

14) Do a gentle spin-up to be sure the props go in the right direction. If they don't, swap any two ESC wires on a rotor to reverse, and swap props. If the yaw response turns out to be reversed, you can flip it using the Reverse toggle on the Tail Servo tab in the setup software.

16) The Multicopter should now be ready to fly. Note that 35% gain is just a good starting point, feel free to increase the gains until you start to get oscillation (then reduce them by a few %).


Multicopter flips during takeoff.
Motors are connected incorrectly. Double check ESC connections to the SK540/720

Multicopter has uncommanded rudder movement.
Propeller directions are incorrect. The two propellers furthest from each other should be moving in the same direction, while props nearest to each other should be moving in opposite directions.

Return to the Main Page

Personal tools