AeroQuad Configurator v1.2

What is it?

The purpose of this tool is to allow the user to setup the AeroQuad before it's first flight and to quickly adjust settings for desired flight characteristics. The user will be able to graphically observe correct operation of the sensors, transmitter commands and motor control of the quadrocopter. Additionally there are user programmable values such as PID control loop values and the Transmitter Factor that can be adjusted and stored to the AeroQuad's EEPROM. The description of each user defined value can be found here.

It is highly recommended to first checkout the AeroQuad without motors connected (or powered on) with the Configurator.

Where can I get it?

The latest version can be found at our Downloads page.

Altenative Configuration Method

An alternative way to configure the AeroQuad is to use the Arduino IDE's Serial Monitor. To do this, simply connect the Arduino to your serial port and click the Serial Monitor button on the toolbar. In the lower left hand side of the IDE, you will see a pull down to allow you to set the serial link's baud rate. Select 38400 for the baud rate. The AeroQuad responds to single character commands which can be entered into the text field in the lower right hand side of the IDE. When ready, press the Send button to transmit the command to the AeroQuad. Follow this link for a complete description of the AeroQuad serial commands.

Connect to the AeroQuad

Use this screen to connect to the AeroQuad by either using a USB connection or through a wireless connection such as XBee or BlueTooth. Select the COM port to use. If you don't see the COM port of the connection method you'd like to use, select Refresh in the Communication Port pull down control. Click on the Connection Type button to choose between USB or a wireless connection. There are some Arduino Duemilanove 328's that have an approximate bootup time of 8 seconds when connected via USB, while an Arduino Mega takes about a second. Select a USB Bootup Delay that works for your setup.

Transmitter Screen

This screen verifies that the transmitter is setup as expected by the AeroQuad. Each graph indicator should move in the same direction as the transmitter stick. If it doesn't, use the transmitter's reversing function for each channel to match what is on the screen. Make sure the trims and subtrims are centered.

• Before the first flight
  • Using the transmitter's travel adjustment, make sure the throttle has a full range betwen 1000-2000.
  • Using the travel adjustment and subtrims, make sure the roll, pitch and yaw channels are centered as close to 1500 as possible with the full range between 1000-2000.
• During flight
  • Use the transmitter's trim adjustments to achieve as stable hover with minimal user input.
  • If you return to the AeroQuad Configurator Transmitter Screen and see that channels are not centered around 1500, this is normal. Variances in motor efficiency and throttle calibration can cause this.

Configuration Screen

This screen allows the user to visually see the oepration of the sensors and the response of the motors as different sensor values are being measured. Additionally the user will be able to enter user defined values for permanent storage on the AeroQuad.

• The left hand side of the screen displays the graph of the sensor measurements as movement is made to the AeroQuad. The dials underneath the graph provide another visual indication of how the sensors are behaving from movement by the AeroQuad. The roll, pitch and yaw drift indicators show if there is any drift of the data from the very first measured value at power on of the AeroQuad.
• In the middle of the screen, the user can update the user defined values for the AeroQuad. For flight stability, the user will need to configure the PID values for the roll, pitch and yaw axes. The PID values to use are dependent on the type of motors, frame construction/size and flight weight of the quadrocopter. Another important user defined value to enter is the Transmitter Factor. The Transmitter Factor is a value between 0.01 and 1.0 (0.01 = weakest, 1.0 = strongest). This defines the amount of strength the user's transmitter commands has on the quadrocopter. A lower number is well suited for beginners and a higher number is for advanced pilots. The definitions of the other user defined values is found below.
• The Roll and Pitch Level PID values are for the experimental auto level feature. As of AeroQuad v1.1 flight software, it is still under development but made available for experimentation by knowledgeable users. Use at your own risk!
• Use the Gear switch on the transmitter to switch between Acrobatic and Stable flight modes. Acrobatic Mode uses gyros only for flight stabilization. Stable Mode uses gyros and accelerometers for flight stabilization. As of AeroQuad v1.1, Stable Mode is still under development. It is highly recommended to use Acrobatic Mode unless you are interested in experimenting with Stable Mode.

Description of User Defined Fields

The following values are configurable by the user and stored to the AeroQuad's EEPROM.

Value Name Description Roll/Pitch/Yaw PID PID values to stabilize quad. Values depend based on quad size and weight. Typical values for a quad that weighs 1.7 kg / 60 cm measured motor to motor is P = 3.25, I = 0, and D = -10 for Roll/Pitch and P = 12, I = 0, D = 0 for Yaw. Windup Guard When using Integral in PID, it limits the max value the Integral can be set at. Transmitter Factor Controls the strength of the commands sent from the transmitter. Values range from 0.01 (weakest) to 1.0 (strongest). Level Limit Maximum value that experimental auto level code will add to Motor Commands. Level Off Determines what amount of transmitter input will turn off Stable Flight Mode (experimental auto level). When this value is exceeded by the transmitter, the quad will automatically be put into Acrobatic Mode. Gyro Smooth Factor Lower values cause more filtering. Range = 1.0 to 0.01. Typically set to 0.2, but ultimately depends on how much noise the gyros experience. This is implemented as a first order low pass filter. Accel Smooth Factor Lower values cause more filtering. Range = 1.0 to 0.01. Typically set to 0.2, but ultimately depends on how much noise the accelerometers experience. This is implemented as a first order low pass filter. Complementary Filter The cutoff frequency for the second order complementary filter. Typically set to 5 Hz, but ultimately depends on how much noise the quad's sensors experience.

Commanding the AeroQuad

• To arm the AeroQuad, move the throttle to it's lowest position and yaw to the right. This will allow the AeroQuad to send commands to the motor when they are connected. The Motor Output Status indicator will change from Not Armed to Armed.
• To disarm the AeroQuad move the throttle to it's lowest position and yaw to the left. If anything goes wrong remember to do this to kill power to the motors. The Motor Output Status indicator will change from Not Armed to Armed.

Pre-flight Checkout

In the upper right hand side of the Flight Configuration tab is a control that allows the user to display a chart or a bar plot of the motor output. Use the bar plot to do the following pre-flight checkout.

1. Arm the motor output by moving the throttle stick to the lower right. Increase the throttle to 50%.
2. By hand, roll the AeroQuad to the left. The left motor command should increase. The right motor command should decrease.
3. Roll the AeroQuad to the right. The right motor command should increase. The left motor command should decrease.
4. Pitch the AeroQuad down (the front motor should be lower in position than the rear motor). The front motor command should increase. The rear motor command should decrease.
5. Pitch the AeroQuad up (the front motor should be higher than the rear motor). The rear motor command should increase. The front motor command should decrease.
6. Rotate the AeroQuad clockwise. The front and rear motor commands should increase (assuming the motors are wired to rotate in the clockwise direction).
7. Rotate the AeroQuad counter-clockwise. The left and right motor commands should increase in value (assuming the motors are wired to rotate in the counter-clockwise direction).
8. Using the transmitter, move the roll stick to the left. The right motor command should increase. The left motor command should decrease.
9. Move the roll stick to the right. The left motor command should increase. The right motor command should decrease.
10. Move the pitch stick forward. The rear motor command should increase. The front motor command should decrease.
11. Move the pitch stick back. The front motor command should increase. The rear motor command should decrease.
12. Move the yaw stick to the left. The front and rear motor commands should increase.
13. Move the yaw stick to the right. The left and right motor commands should increase.

Command Data

Use this page to observe the raw receiver values measured by the AeroQuad. This is mainly used for troubleshooting.