QS-NDRC

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Box Contents

  • 1x Assembled Espresso
  • 2x Winglets
  • 4x Pylons
  • 1x GPS with helical antenna
  • 2x xBee telemetry modules
  • 1x USB xBee carrier board
  • 3x 8045 normal-rotation propellers
  • 3x 8045R reverse-rotation propellers
  • 1x parts bag containing:
    • 1x cyanoacrylate glue
    • 1x small hardware bag containing:
    • 4x propeller saver rubber bands
    • 1x Lisa/M bind plug

Required Additional Components

See also Compatible Hardware for more info.

Errata

Important.png As shipped, the Lisa/M is set to provide 5V power to the GPS, which is incorrect - it should provide 3.3V power.

To correct this:

  • Disconnect all connectors from the Lisa/M after noting their positions. Note especially the polarity of the 3-wire servo connectors running along the left edge of the Lisa/M.
  • Remove the 4x Phillips-head screws that secure the Lisa/M into the aft section of the electronics bay.
  • On the back side of the Lisa/M, below the main microcontroller chip, note the locations of jumpers JP6 and JP7 as shown in the image at http://paparazzi.enac.fr/wiki/Lisa/M_v20#Jumper_Configuration. JP6 is labelled V_IN and JP7 is labelled 3V3.
  • The correct jumper state is JP6 open and JP7 closed.
  • Verify that the current state is INCORRECT (JP6 is closed and JP7 is open).
  • Using a fine-point soldering iron:
    • Remove the 0-Ohm resistor closing JP6 and ensure the pads are not bridged with solder.
    • Bridge the pads of JP7 with solder.
  • reinstall the Lisa/M into the airframe and reconnect all connectors.

Instructions and Notes

The Lisa/M has been pre-flashed with the Phase 2 firmware:

  • Rotorcraft (eg, non-transitioning)

Flight Modes

See http://paparazzi.enac.fr/wiki/Rotorcraft_Configuration#Autopilot_modes for a complete description of available flight modes.

  • Mode 1: Manual flight (AP_MODE_ATTITUDE_DIRECT)
    • Roll/pitch/yaw attitudes are commanded from the sticks. Thrust is proportional to throttle stick position.
  • Mode 2: Climb Rate Control (AP_MODE_ATTITUDE_RC_CLIMB)
    • Roll/pitch/yaw attitudes are commanded from the sticks. Throttle at 50% to maintain altitude; throttle <50% to descend, >50% to ascend. Extent of deviation from 50% throttle setting is proportional to climb rate.
  • Mode 3: Hover Hold (AP_MODE_ATTITUDE_Z_HOLD)
    • Roll/pitch/yaw attitudes are commanded from the sticks. Captures altitude at which the mode is activated. Throttle position sets maximum throttle the autopilot can use to maintain altitude/stabilize.

Software Installation

See also Software User Guide.

Follow the instructions linked from the Software User Guide to install Paparazzi prerequisites. For example, using Linux:

git clone https://github.com/psinha/paparazzi.git
  • Switch to your paparazzi installation directory.
  • Check out the ndrc branch:
git checkout -b ndrc origin/ndrc
  • Choose the NDRC conf.xml file (conf.xml defines the main files used to define an aircraft's configuration - look in here for a listing of other important files, usually inside /conf, that relate to the aircraft's settings):
mv conf/conf.xml.ndrc conf/conf.xml

Hardware instructions

See Quadshot Assembly Manual for complete assembly and setup instructions.

  • The xBee modules must be configured to 57.6 kbaud.
  • Follow the instructions from section 3.8.3.1 step 4 to install and bind your satellite receivers. Note the receiver pigtail ends have been pulled through to exit in the receiver bays on the underside of the wings
  • Install the winglets and lids.
  • Read the Before You Fly section to learn general Quadshot flying tips and for useful information on configuring your transmitter. See also RC Radios and Receivers for more info.

Ground Station User Guide

See http://paparazzi.enac.fr/wiki/Paparazzi_Center for general theory and operation of the ground station.

  • Select qs_ndrc as the aircraft.
  • Select ap as Target from the top center tab.
  • Click Build.
  • Select Flight-USB Serial@57600 from the session menu at the upper right and click Execute. The Ground Control Station (GCS) agent will open, and the server and data link agents (windowless) will start.
    • To ensure telemetry is working, double-check the ttyUSB ID of your xBee module and change from ttyUSB0 if necessary (click Stop and then Redo to enact changes). You can also check that the RX/TX lights on the xBee carrier modules are active.
    • Note you will get MD5 checksum errors because the Lisa/M was flashed from a different machine. You can correct this either by reflashing the Lisa/M or adding the no md5 check option to the server agent as instructed in the error text.
    • Once the aircraft as a GPS lock, bring the GCS to the front and choose 'Center A/C' from the 'qsndrc' menu. This is necessary because you are at a different location than the waypoints in the default flight plan. You can update the locations by editing the flight plan file.