IEEE Barcelona Student Branch: Project: Tritus I

IEEE Barcelona Student Branch
Project: Tritus I
2016
05/02/16
C/Jordi Girona, 1-3 Campus Nord UPC, Edificio Omega, S-105, 08034 - Barcelona • 934137656 • ieee.upc.edu
Table of contents
BEC.................................................................................................................................... 5
Brief description............................................................................................................ 5
Uses............................................................................................................................... 5
Model in use................................................................................................................... 5
Physical connection........................................................................................................ 5
Configuration................................................................................................................. 6
Checklist........................................................................................................................ 6
FrSky X8R receiver............................................................................................................ 7
Specs.............................................................................................................................. 7
Binding Procedure......................................................................................................... 7
Failsafe........................................................................................................................... 7
Configuration................................................................................................................. 8
RSSI................................................................................................................................... 9
Brief description............................................................................................................ 9
Configuration................................................................................................................. 9
Checklist........................................................................................................................ 9
Buzzer.............................................................................................................................. 10
Uses............................................................................................................................. 10
Physical connection...................................................................................................... 10
Configuration............................................................................................................... 10
GPS + Compass Module................................................................................................... 11
Brief description.......................................................................................................... 11
Model in use................................................................................................................. 11
Physical connections.................................................................................................... 11
Configuration............................................................................................................... 12
IEEE Barcelona student branch
Page 4 of 13
Page 5 of 13
BECi
Brief description
A battery eliminator circuit (BEC) is an electronic circuit designed to deliver electrical power to other
circuitry without the need for multiple batteries.
Uses
• Provides a stable 5.37V and 2.25Amp power supply
• Allows monitoring of the battery’s voltage and current and triggering events when the voltage
becomes low or the total power consumed during the flight approaches the battery’s capacity.
• Allows the autopilot firmware to more accurately compensate for the interference on the compass
from other components
Model in use
A Chinese version of 3DR BEC.
Provide power to APM and allow monitoring of the consume if well configured.
Physical connection
Figure 1: BEC connection
Although the board works at 5V it have a 6V zener diode that generates a 0,37V loss.
Note The output voltage of the BEC must be 5.37 ± 0,25 with an absolute maximum of 5,5V.
Max input battery voltage 18V (Not info for the Chinese version).
Page 6 of 13
Configuration
Figure 2: MP BEC configuration
If the voltage shown is significant different from the real it can must be calibrated. If error in calibration
procedure it can be solved changing the sensor to “Others”.
Is possible to create a voice low-battery alert for the Mission Flaner telemetry by checking the box {2}.
Checklist
Pre-flight:
1. ESC have power
2. APM have power
3. Telemetry read voltage
One time tests:
1. Battery voltage reading calibration
2. BEC output voltage is 5.37 ± 0,25V
Page 7 of 13
FrSky X8R receiver

Specs
8 channels
With RSSI PWM output (0~3.3V)
Operating Voltage Range: 4.0~10V
Operating Current: 100mA@5V
Operating Range: full range (>1.5km)
Physical connection
Figure 3: X8R pin layout Table 1: X8R led status
Binding Procedure
1. Set the transmission in binding mode. We use the Mode 5 – D16.
2. Power off the receiver holding the F/S button. It must now be on binding mode.
3. Power off both element. Binding process is completed.
Failsafe
Failsafe move all controls to a preset position whenever the control signal is lost for a period of time.
By default if failsafe is not set the receiver will hold the last signal. If the last signal
Caution
received is maximum throttle the drone will ascend until no battery left and then fall to
someone's head (maybe).
Set up:
1. The receiver and transmitter must be binded and turned on.
2. Move the controls to the desired failsafe position for all channels;
3. Press briefly the F/S button on the receiver (less than 1 second). The Green LED will flash twice,
indicating the failsafe position has been set in the receiver.
To disable the failsafe function, re-bind the receiver.
Page 8 of 13
Configuration
Figure 5: APM2.6 inputs layout for connection with

receiver Figure 4: Mode 2 transmitter layout
(used in Spain)
Page 9 of 13
RSSIii
Brief description
Received Signal Strength Indication (RSSI) feature allow the APM to know the strength of the reviver
signal.
Physical connection
A 4.7k resistor and 10uF capacitor are used to filter

out the pulses from the receiver’s RSSI output.
Figure 6: Complete system Figure 7: Electronic diagram for pulse filter
Configuration
We need to set two parameters on the “Full parameter list”:
• RSSI_PIN: Pin where we’ve connected the RSSI out. Usually 5.
• RSSI_RANGE: Voltage at maximum strength. Usually 3,3V. 1
Checklist
Pre-flight:
1. “rxrssi” is read from telemetry (%)
One time tests:
1. “RSSI_RANGE” is set correctly
1 . Telemetry systems use to have fewer range than regular transmitters.
Page 10 of 13
Buzzeriii
Uses
• Arming: twice at the beginning of the arming procedure, and then again twice when completed
(Copter can take a long time to arm especially the first time).
• Disarming: once when the pilot disarms the copter
• Low Battery: continuous tone when the battery voltage is low. The only way to turn off the tone is
to arm or disarm the copter.
Physical connection
Figure 8: Buzzer connection diagram

Configuration
Figure 9: Buzzer MP set up
Page 11 of 13
GPS + Compass Moduleiv
Brief description
This module allow the adopter to make sense of its position and orientation.
Note APM 2.6 doesn't incorporate an onboard compass.
Model in use
We use a Chinese version of the 3DR UBlox GPS + Compass Module with an Ublox-6M chip. Is the
monoconstellation version, that use the GPS GNSS.
Have native compatibility with APM and use the new version of its gps port (APM 2.6 have another legacy
port).
Physical connections
Table 2: 3DR GPS led code
Figure 10: APM 2.6 conection
A mast allow the GPS to be mounted separately from the flight control module so that it can have the best
clear (view) of the sky and allows the compass to be distanced from interfering magnetic fields.
For better performance and stability place the GPS at leas 10cm from any power source,
Ttp wist power and ground wires where possible and avoid iron containing metallic objects
Page 12 of 13
Configuration
Figure 11: Mission Planner: Compass Calibration
You shouldn’t need to do any more configuration, but you might want to confirm that the Enable
compasses, Obtain declination automatically and Automatically learn offsets check boxes are
checked.
Figure 12: Mission Planner: Live Compass Calibration
Hold the vehicle in the air and rotate it slowly so that each side (front, back, left, right, top and bottom)
points down towards the earth for a few seconds in turn.
The calibration will automatically complete when it has data for all the positions
i . http://ardupilot.org/copter/docs/common-3dr-power-module.html
ii . http://ardupilot.org/copter/docs/common-rssi-received-signal-strength-indication.html
iii . http://ardupilot.org/copter/docs/nav-leds.html#enabling-a-buzzer-in-mission-planner
iv . http://ardupilot.org/copter/docs/common-installing-3dr-ublox-gps-compass-module.html

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FrSky X8R receiver............................................................................................................ 7

GPS + Compass Module................................................................................................... 11

Figure 1: BEC connection

Figure 2: MP BEC configuration

1. ESC have power

2. APM have power

3. Telemetry read voltage

One time tests:

1. Battery voltage reading calibration

2. BEC output voltage is 5.37 ± 0,25V

FrSky X8R receiver

Figure 3: X8R pin layout Table 1: X8R led status

3. Power off both element. Binding process is completed.

1. The receiver and transmitter must be binded and turned on.

To disable the failsafe function, re-bind the receiver.

Figure 5: APM2.6 inputs layout for connection with

A 4.7k resistor and 10uF capacitor are used to filter

Figure 6: Complete system Figure 7: Electronic diagram for pulse filter

• RSSI_PIN: Pin where we’ve connected the RSSI out. Usually 5.

• RSSI_RANGE: Voltage at maximum strength. Usually 3,3V. 1

1. “rxrssi” is read from telemetry (%)

One time tests:

1. “RSSI_RANGE” is set correctly

1 . Telemetry systems use to have fewer range than regular transmitters.

• Disarming: once when the pilot disarms the copter

Figure 8: Buzzer connection diagram

Figure 9: Buzzer MP set up

GPS + Compass Moduleiv

Note APM 2.6 doesn't incorporate an onboard compass.

Table 2: 3DR GPS led code

Figure 10: APM 2.6 conection

Figure 11: Mission Planner: Compass Calibration

Figure 12: Mission Planner: Live Compass Calibration

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