TILT RACING DRONE Cleanflight Manual

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Cleanflight Manual Rev.6

Code No. MD04001-00-0108

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Page 1 Cleanflight Manual Rev.6 Code No. MD04001-00-0108...
Page 2  M2 doesn’t have anything connected to it  Motors 1 to 4 go to M3-M6 outputs respectively We also recommend NOT to connect the tilt servo power cables plus and GND to the Naze but on any external 5V supply.
Page 3: Table Of Contents
Code No. MD04001-00-0108 Table of Contents Cleanflight Configurator download ............4 Flashing the Cleanflight firmware ............5 Configuration tab ....................6 Pid setup tab ....................... 7 Servos tab ......................8 Tilt arm tab ......................10 Annex A: Cleanflight settings ..............13...
Page 4: Cleanflight Configurator Download
Our Cleanflight code with tilting arms support is now public on Google Chrome. When the next official CF version is released including our tilting arms features, you’ll be notified and our ‘Tiltflight’ code will eventually be remove from the Chrome Store. To enjoy your TILT...
Page 5: Flashing The Cleanflight Firmware
After installing our Cleanflight Configurator (we call it TiltFlight in Google’s webstore just to distinguish it from the oficial Cleanflight Configurator. We’ll notify you when the tilt features will be available in the new official Cf ), click it and go to the Firmware Flasher tab and tick on ‘Show unstable releases’.
Page 6: Configuration Tab
Cleanflight Manual Rev.6 Code No. MD04001-00-0108 Configuration tab After flashing the firmware (remember to select ‘Full erase the chip’ if you are updating/downgrading from another firmware version!) in the Configuration tab: 1. Check you have PPM 2. Choose the quadXTilt or octoXTilt (for X8 multicopters)
Page 7: Pid Setup Tab
2500 - 400Hz 2000 - 500Hz (Rctimer 30A mini ESC) 1600 - 600Hz In the Annex A at the end of this document you’ll find screenshots of the latest settings where TILT starts getting in shape from the tuning perspective.
Page 8: Servos Tab
Cleanflight Manual Rev.6 Code No. MD04001-00-0108 Servos tab What we want to set up are the first 5 columns and the ‘Direction’ one (NOT columns ‘CH1’ to ‘ A 4):  0° is when the servo is all on one direction: this is normally around 1000 μs. However, we’ve found that for non-180 degrees servos, the PWM for this servo angle is below 500 μs (see note below).
Page 9 Cleanflight Manual Rev.6 Code No. MD04001-00-0108 To set up the values in this tab: Set ‘MIN limit deg’ and ‘MAX limit deg’ to ‒90° and +90° respectively, ‘0 deg PWM’ to 1000 μs, ‘90 deg PWM’ to 1500 μs, and ‘180 deg PWM’...
Page 10: Tilt Arm Tab
Connect the TILT flight controler (without propellers!) to the pc, then connect the battery. If the motors are not vertical, unscrew a bit the set screw in the arms pulleys, rotate the arms and tighten the set screws again.
Page 11 Code No. MD04001-00-0108 Select the receiver channel that you will use to change between dynamic tilting and fixed tilt: any value there below 1500 μs will activate dynamic tilting. However, above 1500 μs, this channel will fix the motors inclination to the corresponding PWM value (only forward).
Page 12 Yaw and roll compensation: the more the motors tilt forward or backward from the vertical orientation, the more mixed are the yaw and roll axis, i.e. that a yaw input has a roll component on the craft and viceversa. In the limit, when the motors are 90° forward or backwards (i.e.
Page 13: Annex A: Cleanflight Settings
Cleanflight Manual Rev.6 Code No. MD04001-00-0108 Annex A: Cleanflight settings Here you’ll find the latest settings and, when possible, videos flying with such values.
Page 14 Cleanflight Manual Rev.6 Code No. MD04001-00-0108 Tuning session #2 (15-07-2015) If attempting to roll please increase the rates from those shown in the following screenshots! VIDEO: https://youtu.be/rpzbqyvrSlI...
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Page 18 Cleanflight Manual Rev.6 Code No. MD04001-00-0108 Code Number: MD04001-00-0108 Rev.6 Revision Date: 01/08/2015 Inkonova AB (Makerspark) Kornhamnstorg 49 111 27 Stockholm Email: info@tiltdrone.com...