Calibration

Follow these instructions to calibrate a copter using Mission Planner or APM Planner.

1Downloadsoftware

Follow the instructions here (http://3drobotics.com/learn/download_software/) to download Mission Planner or APM Planner to begin

calibrating your copter.

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2Launchwizard

Open the mission planner application, and connect Pixhawk to your computer using the micro-USB cable. Connect a battery to the

power module XT60 connector to power your copter. It is essential that you have no propellers attached to your copter during this

process.

(http://3drobotics.com/wp-content/uploads/2014/03/pixhawk-usb.jpg)

Select Initial Setup and Wizard to launch the calibration wizard. The wizard will prompt you through each step of configuring and

calibrating your copter.

(http://3drobotics.com/wp-content/uploads/2014/03/mp-wizard.jpg)

1. Install firmware

Select your frame type to install firmware. Listen for the tone once firmware installation is complete. You may need to perform the
extra step below to complete installation.

(http://3drobotics.com/wp-content/uploads/2014/03/install-firmware-extra-step.jpg)

2. Frame type

Select the symmetrical quad frame for a 2014 Quad. For a 2014 Y6, ensure that you select Y6B.

(http://3drobotics.com/wp-content/uploads/2014/03/mission-planner-frame-typey6b.png)

3. Calibrate accelerometer

Follow the prompts to complete accelerometer calibration. Make sure to rest the copter in each position for a few seconds before

moving to the next position.

4. Calibrate compass
Follow the prompts to complete compass calibration.

5. Battery monitor

Select 3DR Power Module for both options to enable battery monitoring using the power module. Click here for more information

about battery monitoring setup. (http://www.youtube.com/watch?v=tEA0Or-1n18&feature=youtu.be)

6. Sonar

Select the options to enable sonar. If you do not have sonar sensors installed on your copter, select Next to skip sonar configuration.

7. Calibrate radio control

Ensure that your RC transmitter and receiver are bound before performing calibration. Turn on your RC transmitter, and select

Calibrate Radio. Select Calibrate to start, and move the sticks and switches on your transmitter to all possible positions. Check to see

the red bars stop at the extremes of each control. When each channel has a correct minimum and maximum limit set by the red bars,

select Click when Done to complete.

8. Select flight modes

Move the switches on the transmitter, and assign a flight mode to the green-highlighted entry for each position of the switch. Visit the

APM:Copter Wiki to learn more about flight modes.

9. Failsafe

Failsafes are pre-programmed behaviors that can be assigned to your copter in the case of specific failure conditions. Visit the

APM:Copter Wiki to learn more about configuring ()throttle (http://copter.ardupilot.com/wiki/throttle-failsafe/), battery, GPS, and

ground control station (http://copter.ardupilot.com/wiki/battery-gps-and-gcs-failsafes/) failsafes.
10. Geofence

Configuring a geofence allows the autopilot to restrict the copter to a predefined area during flight. Visit the APM:Copter wiki to learn

more about configuring a geofence. (http://copter.ardupilot.com/wiki/ac2_simple_geofence/)

3CalibrateESCs

Check out this video (http://www.youtube.com/watch?v=gYoknRObfOg&feature=youtu.be) to learn how to calibrate your copter’s ESCs.

4Testmotorrotation

Once you have verified that the motors spin at the same rate, check the direction of rotation for each motor: clockwise (CW) or
counterclockwise (CCW). The motors should spin in the directions shown below for Quad and Y6.

Quad motor rotation order

(http://3drobotics.com/wp-content/uploads/2014/03/quad-motor-and-rotation-diagram.png)

Y6 motor rotation order

(http://3drobotics.com/wp-content/uploads/2014/03/y6-motor-rotation-and-order-diagram.png)

If any of the motor rotations need to be reversed, undo the steps of this build until you can access the connection between the

motors and ESCs. To reverse the order of a motor, switch two of the cables connecting the motor to the ESC. In the example below,

one order of motor-to-ESC wiring produces one direction of rotation and the other produces a reversed rotation.

clockwise rotation wiring

(http://3drobotics.com/wp-content/uploads/2014/03/motor-to-esc-CW.png)


counterclockwise rotation wiring

(http://3drobotics.com/wp-content/uploads/2014/03/motor-to-esc-CCW.png)

back to DIY Y6 Kit (http://3drobotics.com/learn/diy-y6-kit/)

back to DIY Quad Kit (http://3drobotics.com/learn/diy-quad-kit/)

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