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126
docs/Board - ColibriRace.md Executable file
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@ -0,0 +1,126 @@
# Board - Colibri RACE
The Colibri RACE is a STM32F3 based flight control designed specifically to work with the TBS POWERCUBE multi rotor stack.
## Hardware Features:
* STM32F303 based chipset for ultimate performance
* PPM, SBUS, DSM, DSMX input (5V and 3.3V provided over internal BUS). No inverters or hacks needed.
* 6 PWM ESC output channels (autoconnect, internal BUS)
* RGB LED strip support incl. power management
* Extension port for GPS / external compass / pressure sensor
* UART port for peripherals (Blackbox, FrSky telemetry etc.)
* Choose between plug & play sockets or solder pads for R/C and buzzer
* 5V buzzer output
* MPU6500 new generation accelerometer/gyro
* 3x status LED (DCDC pwr/ 3.3V pwr/ status)
* Battery monitoring for 12V, 5V and VBat supply
* Size: 36mmx36mm (30.5mm standard raster)
* Weight: 4.4g
For more details please visit:
http://www.team-blacksheep.com/powercube
## Serial Ports
| Value | Identifier | Board Markings | Notes |
| ----- | ------------ | -------------- | ------------------------------------------|
| 1 | VCP | USB PORT | Main Port For MSP |
| 2 | USART1 | FREE PORT | PC4 and PC5(Tx and Rx respectively) |
| 3 | USART2 | PPM Serial | PA15 |
| 4 | USART3 | GPS PORT | PB10 and PB11(Tx and Rx respectively) |
## Pinouts
Full pinout details are available in the manual, here:
http://www.team-blacksheep.com/colibri_race
### SWD - ICSP
| Pin | Function | Notes |
| --- | -------------- | -------------------------------------------- |
| 1 | VCC_IN | 3.3 Volt |
| 2 | SWDIO | |
| 3 | nRESET | |
| 4 | SWCLK | |
| 5 | Ground | |
| 6 | SWO/TDO | |
### Internal Bus
| Pin | Function | Notes |
| --- | -------------- | -------------------------------------------- |
| 1 | PWM1 | MOTOR 1 |
| 2 | PWM2 | MOTOR 2 |
| 3 | PWM3 | MOTOR 3 |
| 4 | PWM4 | MOTOR 4 |
| 5 | PWM5 | MOTOR 5 (For Y6 or Hex X) |
| 6 | PWM6 | MOTOR 6 (For Y6 or Hex X) |
| 7 | BST SDA | Use For TBS CorePro Control Device |
| 8 | BST SCL | Use For TBS CorePro Control Device |
| 9 | PWM7 | Can be a normal GPIO (PA2) or PWM |
| 10 | PWM8 | Can be a normal GPIO (PA2) or PWM |
| 11 | 12.2V DCDC | If 12v is detected, the Blue LED will turn on|
| 12 | 5.1V DCDC | Voltage for MCU |
### Servo
| Pin | Function | Notes |
| --- | -------------- | -------------------------------------------- |
| 1 | Ground | |
| 2 | VCC_OUT | 5.1 Volt output to LCD Strip |
| 3 | PWM Servo | PB14 - PWM10 |
### IO_1 - LED Strip
| Pin | Function | Notes |
| --- | ----------------- | -------------------------------------------- |
| 1 | LED_STRIP | Enable `feature LED_STRIP` |
| 2 | VCC_OUT | 5.1 Volt output to LCD Strip |
| 3 | Ground | |
### IO_2 - Sensor Interface
| Pin | Function | Notes |
| --- | ----------------- | -------------------------------------------- |
| 1 | VCC_OUT | 4.7 Volt output to the device |
| 2 | Ground | |
| 3 | UART3 TX | GPS |
| 4 | UART3 RX | GPS |
| 5 | SDA | mag, pressure, or other i2c device |
| 6 | SCL | mag, pressure, or other i2c device |
### IO_3 - RC input
IO_3 is used for RX_PPM/RX_SERIAL. Under the `PORT` tab, set RX_SERIAL to UART2 when using RX_SERIAL.
| Pin | Function | Notes |
| --- | ----------------- | -------------------------------------------- |
| 1 | PPM/Serial | Can PPM or Serial input |
| 2 | VCC_OUT | 3.3 Volt output to the device |
| 3 | Ground | |
| 4 | VCC_OUT | 5.1 Volt output to the device |
### IO_4 - Buzzer
| Pin | Function | Notes |
| --- | ----------------- | -------------------------------------------- |
| 1 | BUZZER | Normal high (5.1v) |
| 2 | VCC_OUT | 5.1 Volt output to the device |
### IO_5 - Free UART
| Pin | Function | Notes |
| --- | ----------------- | -------------------------------------------- |
| 1 | UART1 TX | Free UART |
| 2 | UART1 RX | Free UART |
| 3 | Ground | |
| 4 | VCC_OUT | 4.7 Volt output to the device |
### IO_6 - IR TX (extension)
| Pin | Function | Notes |
| --- | ----------------- | -------------------------------------------- |
| 1 | IR TX | |
| 2 | Ground | |

146
docs/Failsafe.md
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@ -5,77 +5,39 @@ There are two types of failsafe:
1. Receiver based failsafe
2. Flight controller based failsafe
Receiver based failsafe is where you, from your transmitter and receiver, configure channels to output desired signals if your receiver detects signal loss.
Receiver based failsafe is where you, from your transmitter and receiver, configure channels to output desired signals if your receiver detects signal loss and goes to __rx-failsafe-state__.
The idea is that you set throttle and other controls so the aircraft descends in a controlled manner. See your receiver's documentation for this method.
Flight controller based failsafe is where the flight controller attempts to detect signal loss from your receiver.
Flight controller based failsafe is where the flight controller attempts to detect signal loss and/or the __rx-failsafe-state__ of your receiver and upon detection goes to __fc-failsafe-state__. The idea is that the flight controller starts using substitutes for all controls, which are set by you, using the CLI command `rxfail` (see `rxfail` document) or the cleanflight-configurator GUI.
It is possible to use both types at the same time, which may be desirable. Flight controller failsafe can even help if your receiver signal wires come loose, get damaged or your receiver malfunctions in a way the receiver itself cannot detect.
Alternatively you may configure a transmitter switch to activate failsafe mode. This is useful for fieldtesting the failsafe system and as a **_`PANIC`_** switch when you lose orientation.
## Flight controller failsafe system
The failsafe system is not activated until 5 seconds after the flight controller boots up. This is to prevent failsafe from activating, as in the case of TX/RX gear with long bind procedures, before the RX sends out valid data. Note that you need to activate the 'FAILSAFE' feature in order to activate failsafe on flight controller.
The __failsafe-auto-landing__ system is not activated until 5 seconds after the flight controller boots up. This is to prevent __failsafe-auto-landing__ from activating, as in the case of TX/RX gear with long bind procedures, before the RX sends out valid data.
After the failsafe has forced a landing, the flight controller cannot be armed and has to be reset.
The failsafe system attempts to detect when your receiver loses signal. It then attempts to prevent your aircraft from flying away uncontrollably by enabling an auto-level mode and setting the throttle that should allow the craft to come to a safer landing.
The __failsafe-detection__ system attempts to detect when your receiver loses signal *continuously* but the __failsafe-auto-landing__ starts *only when your craft is __armed__*. It then attempts to prevent your aircraft from flying away uncontrollably by enabling an auto-level mode and setting the throttle that should allow the craft to come to a safer landing.
The failsafe is activated when:
**The failsafe is activated when the craft is armed and either:**
Either:
* The control (stick) channels do not have valid signals AND the failsafe guard time specified by `failsafe_delay` has elapsed.
* A transmitter switch that is configured to control the failsafe mode is switched ON (and 'failsafe_kill_switch' is set to 0).
a) no valid channel data from the RX is received via Serial RX.
Failsafe intervention will be aborted when it was due to:
b) the first 4 channels do not have valid signals.
And when:
c) the failsafe guard time specified by `failsafe_delay` has elapsed.
* a lost RC signal and the RC signal has recovered.
* a transmitter failsafe switch was set to ON position and the switch is set to OFF position (and 'failsafe_kill_switch' is set to 0).
Note that:
* At the end of a failsafe intervention, the flight controller will be disarmed and re-arming will be locked. From that moment on it is no longer possible to abort or re-arm and the flight controller has to be reset.
* When 'failsafe_kill_switch' is set to 1 and the rc switch configured for failsafe is set to ON, the craft is instantly disarmed (but re-arming is not locked). Similar effect can be achieved by setting 'failsafe_throttle' to 1000 and 'failsafe_off_delay' to 0 (but arming is locked).
* Prior to starting a failsafe intervention it is checked if the throttle position was below 'min_throttle' level for the last 'failsafe_throttle_low_delay' seconds. If it was the craft is assumed to be on the ground and is only disarmed. It may be re-armed without a power cycle.
d) The failsafe system will be activated regardless of current throttle position.
e) The craft may already be on the ground with motors stopped and that motors and props could spin again - the software does not currently detect if the craft is on the ground. Take care when using MOTOR_STOP feature.
### Testing
Bench test the failsafe system before flying - remove props while doing so.
1. Arm the craft.
1. Turn off transmitter or unplug RX.
1. Observe motors spin at configured throttle setting for configured duration.
1. Observe motors turn off after configured duration.
1. Ensure that when you turn on your TX again or reconnect the RX that you cannot re-arm once the motors have stopped.
1. Power cycle the FC.
1. Arm the craft.
1. Turn off transmitter or unplug RX.
1. Observe motors spin at configured throttle setting for configured duration.
1. Turn on TX or reconnect RX.
1. Ensure that your switch positions don't now cause the craft to disarm (otherwise it would fall out of the sky on regained signal).
1. Observe that normal flight behavior is resumed.
1. Disarm.
Field test the failsafe system
1. Perform bench testing first!
1. On a calm day go to an unpopulated area away from buildings or test indoors in a safe controlled environment - e.g. inside a big net.
1. Arm the craft.
1. Hover over something soft (long grass, ferns, heather, foam, etc.).
1. Descend the craft and observe throttle position and record throttle value from your TX channel monitor. Ideally 1500 should be hover. So your value should be less than 1500.
1. Stop, disarm.
1. Set failsafe throttle to the recorded value.
1. Arm, hover over something soft again.
1. Turn off TX (!)
1. Observe craft descends and motors continue to spin for the configured duration.
1. Observe FC disarms after the configured duration.
1. Remove flight battery.
If craft descends too quickly then increase failsafe throttle setting.
Ensure that the duration is long enough for your craft to land at the altitudes you normally fly at.
Some notes about **SAFETY**:
* The failsafe system will be activated regardless of current throttle position. So when the failsafe intervention is aborted (RC signal restored/failsafe switch set to OFF) the current stick position will direct the craft !
* The craft may already be on the ground with motors stopped and that motors and props could spin again - the software does not currently detect if the craft is on the ground. Take care when using `MOTOR_STOP` feature. **Props will spin up without warning**, when armed with `MOTOR_STOP` feature ON (props are not spinning) **_and_** failsafe is activated !
## Configuration
@ -83,27 +45,27 @@ When configuring the flight controller failsafe, use the following steps:
1. Configure your receiver to do one of the following:
a) Upon signal loss, send no signal/pulses over the channels
b) Send an invalid signal over the channels (for example, send values lower than 'rx_min_usec')
* Upon signal loss, send no signal/pulses over the channels
* Send an invalid signal over the channels (for example, send values lower than 'rx_min_usec')
and
c) Ensure your receiver does not send out channel data that would cause a disarm by switch or sticks to be registered by the FC. This is especially important for those using a switch to arm.
* Ensure your receiver does not send out channel data that would cause a disarm by switch or sticks to be registered by the FC. This is especially important for those using a switch to arm.
See your receiver's documentation for direction on how to accomplish one of these.
* Configure one of the transmitter switches to activate the failsafe mode.
2. Set 'failsafe_off_delay' to an appropriate value based on how high you fly
3. Set 'failsafe_throttle' to a value that allows the aircraft to descend at approximately one meter per second (default is 1000 which should be throttle off).
4. Enable 'FAILSAFE' feature in Cleanflight GUI or via CLI using `feature FAILSAFE`
These are the basic steps for flight controller failsafe configuration; see Failsafe Settings below for additional settings that may be changed.
##Failsafe Settings
## Failsafe Settings
Failsafe delays are configured in 0.1 second steps.
@ -123,5 +85,63 @@ Delay after failsafe activates before motors finally turn off. This is the amou
Throttle level used for landing. Specify a value that causes the aircraft to descend at about 1M/sec. Default is set to 1000 which should correspond to throttle off.
Use standard RX usec values. See RX documentation.
### `failsafe_kill_switch`
Configure the rc switched failsafe action: the same action as when the rc link is lost (set to 0) or disarms instantly (set to 1). Also see above.
### `failsafe_throttle_low_delay`
Time throttle level must have been below 'min_throttle' to _only disarm_ instead of _full failsafe procedure_.
Use standard RX usec values. See Rx documentation.
### `rx_min_usec`
The lowest channel value considered valid. e.g. PWM/PPM pulse length
### `rx_max_usec`
The highest channel value considered valid. e.g. PWM/PPM pulse length
The `rx_min_usec` and `rx_max_usec` settings helps detect when your RX stops sending any data, enters failsafe mode or when the RX looses signal.
With a Graupner GR-24 configured for PWM output with failsafe on channels 1-4 set to OFF in the receiver settings then this setting, at its default value, will allow failsafe to be activated.
## Testing
**Bench test the failsafe system before flying - _remove props while doing so_.**
1. Arm the craft.
1. Turn off transmitter or unplug RX.
1. Observe motors spin at configured throttle setting for configured duration.
1. Observe motors turn off after configured duration.
1. Ensure that when you turn on your TX again or reconnect the RX that you cannot re-arm once the motors have stopped.
1. Power cycle the FC.
1. Arm the craft.
1. Turn off transmitter or unplug RX.
1. Observe motors spin at configured throttle setting for configured duration.
1. Turn on TX or reconnect RX.
1. Ensure that your switch positions don't now cause the craft to disarm (otherwise it would fall out of the sky on regained signal).
1. Observe that normal flight behavior is resumed.
1. Disarm.
**Field test the failsafe system.**
1. Perform bench testing first!
1. On a calm day go to an unpopulated area away from buildings or test indoors in a safe controlled environment - e.g. inside a big net.
1. Arm the craft.
1. Hover over something soft (long grass, ferns, heather, foam, etc.).
1. Descend the craft and observe throttle position and record throttle value from your TX channel monitor. Ideally 1500 should be hover. So your value should be less than 1500.
1. Stop, disarm.
1. Set failsafe throttle to the recorded value.
1. Arm, hover over something soft again.
1. Turn off TX (!)
1. Observe craft descends and motors continue to spin for the configured duration.
1. Observe FC disarms after the configured duration.
1. Remove flight battery.
If craft descends too quickly then increase failsafe throttle setting.
Ensure that the duration is long enough for your craft to land at the altitudes you normally fly at.
Using a configured transmitter switch to activate failsafe mode, instead of switching off your TX, is good primary testing method in addition to the above procedure.

33
docs/Mixer.md
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@ -127,6 +127,18 @@ Custom servo mixing rules can be applied to each servo. Rules are applied in th
Note: the `smix` command may show a servo mix that is not active, custom servo mixes are only active for models that use custom mixers.
## Servo Reversing
Servos are reversed using the `smix reverse` command.
e.g. when using the TRI mixer to reverse the tail servo on a tricopter use this:
`smix reverse 5 2 r`
i.e. when mixing rudder servo slot (`5`) using Stabilised YAW input source (`2`) reverse the direction (`r`)
`smix reverse` is a per-profile setting. So ensure you configure it for your profiles as required.
### Example 1: A KK2.0 wired motor setup
Here's an example of a X configuration quad, but the motors are still wired using the KK board motor numbering scheme.
@ -179,17 +191,12 @@ mmix 0 1.000 0.000 1.333 0.000
mmix 1 1.000 -1.000 -0.667 0.000
mmix 2 1.000 1.000 -0.667 0.000
smix reset
smix 0 6 3 100 0 0 100 0
smix 0 5 2 100 0 0 100 0
profile 0
smix reverse 5 2 r
profile 1
smix reverse 5 2 r
profile 2
smix reverse 5 2 r
```
## Servo Reversing
Servos are reversed using the `smix reverse` command.
e.g. when using the TRI mixer to reverse the tail servo on a tricopter use this:
`smix reverse 5 2 r`
i.e. when mixing rudder servo slot (`5`) using Stabilised YAW input source (`2`) reverse the direction (`r`)

13
docs/Rx.md
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@ -144,13 +144,14 @@ Signal loss can be detected when:
### RX loss configuration
The `rxfail` cli command is used to configure per-channel rx-loss behaviour.
You can use the `rxfail` command to change this behaviour, a channel can either be AUTOMATIC, HOLD or SET.
You can use the `rxfail` command to change this behaviour.
A flight channel can either be AUTOMATIC or HOLD, an AUX channel can either be SET or HOLD.
* AUTOMATIC - Flight channels are set to safe values (low throttle, mid position for yaw/pitch/roll), all AUX channels HOLD last value.
* AUTOMATIC - Flight channels are set to safe values (low throttle, mid position for yaw/pitch/roll).
* HOLD - Channel holds the last value.
* SET - Channel is set to a specific configured value.
The default mode for all channels is AUTOMATIC.
The default mode is AUTOMATIC for flight channels and HOLD for AUX channels.
The rxfail command can be used in conjunction with mode ranges to trigger various actions.
@ -232,8 +233,12 @@ Set the RX for 'No Pulses'. Turn OFF TX and RX, Turn ON RX. Press and release
### Graupner GR-24 PWM
Set failsafe on channels 1-4 set to OFF in the receiver settings (via transmitter menu).
Set failsafe on the throttle channel in the receiver settings (via transmitter menu) to a value below `rx_min_usec` using channel mode FAILSAFE.
This is the prefered way, since this is *much faster* detected by the FC then a channel that sends no pulses (OFF).
__NOTE:__
One or more control channels may be set to OFF to signal a failsafe condition to the FC, all other channels *must* be set to either HOLD or OFF.
Do __NOT USE__ the mode indicated with FAILSAFE instead, as this combination is NOT handled correctly by the FC.
## Receiver Channel Range Configuration.