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SunFounder BEE-100 User Manual

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About SunFounder
SunFounder is a technology company focused on Raspberry Pi and Arduino open source
community development. Committed to the promotion of open source culture, we strive to
bring the fun of electronics making to people all around the world and enable everyone to
be a maker. Our products include learning kits, development boards, robots, sensor modules
and development tools. In addition to high quality products, SunFounder also offers video
tutorials to help your own project. If you have interest in open source or making something
cool, welcome to join us! Visit www.sunfounder.com for more!
About This User Manual
This small and ultralight indoor multicopter kit applies
it gives you all the features you need for the heart of your aircraft. Whether you're into FPV
racing, acrobatic flying or aerial photography, it's perfect. The flight controller has been
configured and firmware burnt, so you can fly it as soon as the receiver, propellers, and battery
are assembled. It is equipped with a 5.8G transmitter for real-time image transmission, bringing
you an extraordinary visual experience.
Follow the instructions to assemble the aircraft before flying the aircraft.
debugging has been configured on the flight controller originally, which is mentioned in
Chapter 3 and Chapter 4. If you want to redo it, you can follow those instructions.
Notes: This guide fits both the
for the two aircrafts; for some different practice, just take
Free Support
If you have any TECHNICAL questions, add a topic under
and we'll reply as soon as possible.
For NON-TECH questions like order and shipment issues, please
service@sunfounder.com.
Preface
BEE-100
kit and the
You're also welcomed to share your projects on FORUM.
F3_EVO_Brush
as the flight controller, thus
BEE-100S
kit. Most of the steps are the same
BEE-100S
for example.
FORUM
The software
section on our website
send an email to

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  • Page 1 Preface About SunFounder SunFounder is a technology company focused on Raspberry Pi and Arduino open source community development. Committed to the promotion of open source culture, we strive to bring the fun of electronics making to people all around the world and enable everyone to be a maker.

  • Page 2: Table Of Contents

    Contents 1. Introduction ........................1 Get to Know the Aircraft ..................1 Hardware ......................... 2 Software ........................3 2. Preparation Before Flying ....................4 Mounting the Receiver ..................... 4 Installing the Betaflight ..................... 6 Connecting the Aircraft ..................10 Auxiliary Channels for Self-stabilization and ARM (AUX1 & AUX2) ......13 Mounting the Propellers ..................
  • Page 3 Installing Cleanflight ....................37 Flashing F3_EVO_Brush Firmware ................39 Configuring the Wizard of F3_EVO_Brush ..............48 4.3.1 Setting the Motor’s Rotation Rate and Throttle Value ........48 4.3.2 Calibrating the Accelerometer ..............49 4.3.3 Configuration....................49 4.3.4 Receiver ....................... 50 4.3.5 Configuring Parameter of PID ...............

  • Page 4: Introduction

    1. Introduction 1.1 Get to Know the Aircraft 1. This is an assembled kit - you can just connect the receiver, install the propellers and batteries, and complete the configurations, and then you are ready to fly! 2. The F3_EVO_Brush flight controller has the firmware flashed and configured.

  • Page 5: Hardware

    1.2 Hardware F3_EVO_Brush flight controller is designed to give awesome flight performance based on tried and tested sensors while providing unparalleled I/O capabilities in a small and extremely lightweight form-factor by a next-generation CPU. With all the features needed for the heart of your aircraft, whether you’re into FPV racing, acrobatic flying or aerial photography, it’s perfect.

  • Page 6: Software

    Back View: 1.3 Software The F3_EVO_Brush runs the Cleanflight Betaflight flight control software which has a community with a growing number of friendly developers and users. Being open-source means that you can also contribute to the system. Note: Here we use firmware Betaflight, and the software debugging operation above is based on Betaflight.

  • Page 7: Preparation Before Flying

    2. Preparation Before Flying Notice: The Flight Controller in the kit has firmware flashed and been configured. You can fly it after finishing the preparation in this chapter (2). The procedures in Chapter 3. Betaflight and Chapter 4. Cleanflight are about firmware flashing and configuration. If you want to redo those operations, please refer to the instructions in those two chapters.
  • Page 8 For DSM/DSMX Mode Remove the upper plate of the frame first. Solder three jumper wires to the UART3, connecting to GND, 3.3V, and respectively. 3) Then connect the jumper wires to the receiver. Pay attention to connect wires inversely. If you have an ultra-small receiver with a protective case, you can just fasten it on the flight controller and fix it with a rubber band.

  • Page 9: Installing The Betaflight

    4) If your receiver does not have a protective case, just fix it on the upper plate of the frame in case of short circuit. 2.2 Installing the Betaflight Step 1: Run the Google Chrome You will see the interface as shown below:...
  • Page 10 Step 2: Click on the Customize and Control Google Chrome button at the top right of the window, then on the drop-down list select More Tools -> Extensions: Step 3: On the window, click browse the Chrome Web Store.
  • Page 11 And you'll see the shop page as below: Step 4: Type in Betaflight in the search bar, select Apps and press Enter. You will see the Betaflight app.
  • Page 12 Step 5: Click + ADD TO CHROME, and a prompt Add "Betaflight - Configurator" will pop up asking you whether to add the extension or not. Just click Add app. Step 6: The software installation may take a little time. When it is done, you will see the Betaflight app in Chrome Extensions.

  • Page 13: Connecting The Aircraft

    2.3 Connecting the Aircraft Step 1: Click Betaflight to run the ground control software (GCS). Step 2: Connect the F3_EVO_Brush to the computer with a USB cable. Go to Computer Management -> Device Manager -> Ports (COM & LPT) to check whether the F3_EVO_Brush recognized by the computer or not.
  • Page 14 Step 3: If YES, choose the corresponding COM port at the top right corner on the software. Do not connect now. Step 4: If there is driver software on your computer, please install the driver first. Note: If the flight controller is recognized by the computer, please skip this step. 1) The F3_EVO_Brush flight controller applies STM32 Virtual COM Port (VCP).
  • Page 15 3) Get into C:\Program Files (x86)\STMicroelectronics\Software\Virtual comport driver\Win8\ - Here type in Win7 or Win8 for your computer’s operating system. You can see there are two files. If your system is 64-bit, please click dpinst_amd64 to install; if it is 32-bit, click dpinst_x86.

  • Page 16: Auxiliary Channels For Self-Stabilization And Arm (Aux1 & Aux2)

    Click Connect at the top right of the software. 2.4 Auxiliary Channels for Self-stabilization and ARM (AUX1 & AUX2) 1) Place the F3_EVO_Brush on a level surface, click Calibrate Accelerometer to proceed calibrate horizontally. There is no need to calibrate the compass.

  • Page 17: Mounting The Propellers

    2) Set the Receiver Mode in Betaflight Please refer to the operations in 3.2.3 Configuration to set the Receiver Mode in Configuration. For Cleanflight, please refer to the operations in 4.3.4 Receiver. 3) Check the corresponding channel of ARM, AIR, ANGLE, and HORIZON ARM: Run the ARM/DISARM mode AIR: Run the manual mode ANGLE: Run the self-stability mode...

  • Page 18: Mounting The Battery

    Mount the propellers to the aircraft as shown below. 2.6 Mounting the Battery Fix the battery under the aircraft, and ensure the direction of the wire is opposite to the head. Make sure the propellers are mounted correctly, and connect the aircraft to the battery.

  • Page 19: Unlocking The Aircraft

    2.7 Unlocking the Aircraft Place the aircraft on a level surface, or the blue LED will keep flickering - after it's done, the LED will go out. Then pull the rocker of the throttle to the lowest, and toggle the AUX1 to self- stabilization (recommended for beginners).
  • Page 20 Basic Flight Modes and Corresponding Channels of Remote Controller Aircraft (Climb -Sink) Remote Controller (right hand throttle) Remote Controller (left hand throttle)
  • Page 21 Aircraft (Forward and backward) Remote Controller (right hand throttle) Remote Controller (left hand throttle) Aircraft (Roll to the right and left) Remote Controller...

  • Page 22: Ending Up The Flight

    Aircraft (turn on its own axis) Remote Controller 2.9 Ending up the Flight 1) Control the aircraft to land on the ground. 2) Switch the AUX2 to DISARM. 3) Take out the battery from the aircraft. 2.10 Charging the Battery 1) Connect the battery to the USB cable.

  • Page 23: Betaflight

    3. Betaflight 3.1 Flashing the F3_EVO_Brush Firmware Step 1: Click Betaflight to run the ground control software (GCS). Step 2: Connect the F3_EVO_Brush to the computer with a USB cable. Go to Computer Management -> Device Manager -> Ports (COM & LPT) to check whether the F3_EVO_Brush recognized by the computer or not.
  • Page 24 Step 3: If YES, choose the corresponding COM port at the top right corner on the software. Do not connect now. Step 4: If there is driver software on your computer, please install the driver first. Note: If the flight controller is recognized by the computer, please skip this step. 1) The F3_EVO_Brush flight controller applies STM32 Virtual COM Port (VCP).
  • Page 25 3) Get into C:\Program Files (x86)\STMicroelectronics\Software\Virtual comport driver\Win8\ - Here type in Win7 or Win8 for your computer’s operating system. You can see there are two files. If your system is 64-bit, please click dpinst_amd64 to install; if it is 32-bit, click dpinst_x86. Wait until the installation is completed.
  • Page 26 Step 5: Click Firmware Flasher (you can see the icon’s name on the left by amplifying the Betaflight) to upgrade and flash the firmware. Choose a board: SPRACINGF3EVO; Choose a latest firmware version: XXXXX; Enable the “Manual baud rate” and select the baud rate 256000. Step 6: There are two Load Firmware options: Load Firmware[Online] and Load Firmware[Local] - you are recommended to select Load Firmware[Online].
  • Page 27 Step 7: After loading, click Flash Firmware to start flashing. Then you will see a prompt -Failed open serial port after flashing is done. Note: 1) Do not pull out the USB cable during the firmware flashing, or you will get an error “USB Device Not Recognized”...
  • Page 28 3) Then insert the USB cable, and reopen the Betaflight. You will see DFU at the top right of the software. Just repeat the Step 4 – Step 6 above. Step 8: Now, you need to find the corresponding “STM32 BOOTLOADER” driver via a USB driver installation software Zadig.
  • Page 29 Please choose the version to download according to your computer’s operating system. Here we will use version Zadig for Windows Vista or later as an example; only an .exe file is in the package: Note: Do not exit Betaflight or pull out the USB cable during Zadig download. If the cable is pulled out carelessly, repeat the operations in Step 4 –...
  • Page 30 Step 11: Select STM32 BOOTLOADER, and click Replace Driver. Step 12: Exit Zadig and replug the USB cable connected to F3_EVO_Brush when the driver is installed. Click Flash Firmware again, and it should be flashed successfully after a while.

  • Page 31: Configuring The Wizard Of F3_Evo_Brush

    3.2 Configuring the Wizard of F3_EVO_Brush 3.2.1 Setting the Motor’s Rotation Rate and Throttle Value Click Connect at the top right of the software. Click CLI and type in these in the window of command line: set motor_pwm_rate=1000 set max_throttle =2000 Here is to set the max throttle as 2000, which optimizes the flying time.

  • Page 32: Calibrating The Accelerometer

    3.2.2 Calibrating the Accelerometer Place the F3_EVO_Brush on a level surface, click Calibrate Accelerometer for calibrating horizontally. There is no need to calibrate the compass. If the arrow in the software does not face the front of the aircraft, just replug the USB cable to try. 3.2.3 Configuration 1) Click Configuration on the left to set Quad-X as default mode in Mixer, and select BRUSHED and click to activate MOTOR_STOP in ESC/Motor Features;...
  • Page 33 2) Set the arrow pointing direction of the F3_EVO_Brush in Board and Sensor Alignment. The arrow of F3_EVO_Brush we use should point at the plane head. Set 0 at the Yaw Degrees. When the arrow direction and the head direction are perpendicular with a rotation of 90 degrees counterclockwise, set 0 at the Yaw Degrees.
  • Page 34 SBUS Signal Mode If your receiver is in the SBUS signal mode, click Ports on the left and activate Serial RX in UART2, and then click Save and Reboot. Next, click Configuration on the left, select RX_SERIAL as Receiver Mode, and select SBUS in Serial Receiver Provider.
  • Page 35 After setting, click Save and Reboot to save it. DSM Signal Mode: 1) If your receiver is in the DSM/DSMX signal mode, click Ports and enable Serial RX in UART3, then click Save and Reboot.
  • Page 36 2) Click Configuration, select RX_SERIAL as Receiver Mode, and select SPEKTRUM1024 in Serial Receiver Provider. After setting, click save and Reboot to save it. 3) Click Receiver on the left, select Futaba/Hitec for Channel Map. Click Save. Now, click Receiver on the left, pick up the radio transmitter and pull the rocker of throttle or yaw, and you will see the change of channels related as shown below.

  • Page 37: Configuring Parameter Of Pid

    3.2.4 Configuring parameter of PID Click PID Tuning, and you will see the PID value and RC rate of different channels. You do not need to modify them. PID (Proportional Integral Derivative) is used to adjust the flight performance. By default, the plane flies mildly, which will respond to the control a little slower. You can adjust the PID parameters to get a more agile flight.

  • Page 38: Configuring The Flight Mode

    3.2.5 Configuring the Flight Mode Click Modes on the left to configure the flight mode. 1) Set the self-stabilization mode, horizontal mode and manual mode You need to choose a 2-channel or 3-channel AUX x, set the self-stabilization mode, horizontal mode, and manual mode to be controlled all by AUX x, and then set the volume for three modes in Betaflight.
  • Page 39 Remember to click Save after modifying. If you don’t have a 3-channel AUXx, you can choose two modes from three. 2) Set the ARM/DISARM mode Choose an AUX x to control the ARM/DISARM Mode of the aircraft. For example, here we choose AUX2.

  • Page 40: Cleanflight

    4. Cleanflight 4.1 Installing Cleanflight Step 1: Run the Google Chrome And you will see the interface as shown below: Step 2: Click on the Customize and Control Google Chrome button at the top right of the window, and then on the drop-down list select More Tools -> Extensions.
  • Page 41 Step 3: Click browse the Chrome Web Store. And you'll see the shop page as below: Step 4: Type in Cleanflight in the search bar and select Apps, and you will see the Cleanflight App.

  • Page 42: Flashing F3_Evo_Brush Firmware

    Step 5: Click + ADD TO CHROME. A prompt Add "Cleanflight - Configurator" will pop up, and then click Add app to install. Step 6: The software installation may take a little time. When it is done, you will see the Cleanflight app in Chrome Apps.
  • Page 43 Step 2: Connect the F3_EVO_Brush to the computer with a USB cable. Open the Device Manager to check whether the F3_EVO_Brush is recognized by the computer or not.
  • Page 44 Step 3: If yes, choose the corresponding COM port at the top right of the software. Do not click connect now. Step 4: If there is no driver software on your computer, you need to install the driver first. Note: If the flight controller is recognized by the computer, please ignore this step. 1) The F3_EVO_Brush flight controller applies STM32 Virtual COM Port (VCP).
  • Page 45 3) Get into C:\Program Files (x86)\STMicroelectronics\Software\Virtual comport driver\Win7 or Win8 (here type in Win7 or Win8 according to your computer’s operating system). You can see there are two files. If your system is 64-bit, please click dpinst_amd64 to install; if it is 32-bit, please choose dpinst_x86.
  • Page 46 Step 5: Click Firmware Flasher (you can see the icons’ name on the left by amplifying the Cleanflight logo) to upgrade and flash the firmware. Choose a board: SPRACINGF3EVO; Choose a latest firmware version: XXXXX (based on the actual situation); Enable “Manual baud rate” and select the baud rate 256000.
  • Page 47 Step 7: After loading, click Flash Firmware to start flashing. Then you will see a prompt -Failed open serial port after the flashing. Note: Do not pull out the USB cable during firmware flash, or you will get an error “USB Device Not Recognized”...
  • Page 48 Thus, you need to pull out the USB cable, and use the tip of a tweezer or a screw driver to connect the two BOOT pads as shown below. Then insert the USB cable again, and reopen the Cleanflight. You will see DFU at the top right of the software.
  • Page 49 Note: Do not exit Cleanflight or pull out the USB cable during Zadig download. If the cable is pulled out carelessly, repeat the operations in Step 4 – Step 7. Step 9: Double-click zadig_2.2.exe to run it. Step 10: Select Options, and tick the checkbox List All Devices.
  • Page 50 Step 11: Then select STM32 BOOTLOADER, and then Replace Driver. Step 12: Exit Zadig and replug the USB cable connected to F3_EVO_Brush when the driver is installed, and click Flash Firmware again. It will be flashed successfully after a while.

  • Page 51: Configuring The Wizard Of F3_Evo_Brush

    4.3 Configuring the Wizard of F3_EVO_Brush 4.3.1 Setting the Motor’s Rotation Rate and Throttle Value Click Connect at the top right of the software. Click CLI and type in these in the Command Line: set motor_pwm_rate=1000 set max_throttle = 2000 Here is to set the max throttle as 2000, which optimizes the flying time.

  • Page 52: Calibrating The Accelerometer

    4.3.2 Calibrating the Accelerometer Place the F3_EVO_Brush on a level surface, click Calibrate Accelerometer to proceed calibrate horizontally. There is no need to calibrate the compass. If the arrow in the software does not face the front of the aircraft, just replug the USB cable to try. 4.3.3 Configuration Click Configuration on the left to configure Quad-X as default mode in Mixer, enable MOTOR_STOP in ESC/Motor Features and VBAT in Battery Voltage part, and then remember to...

  • Page 53: Receiver

    Set the arrow pointing direction of the F3_EVO_Brush in Board and Sensor Alignment. The arrow F3_EVO_Brush we use should point at the plane head. Set 0 at the Yaw Degrees. When the arrow direction of the F3_EVO_Brush and the head direction are perpendicular with a rotation of 90 degrees counterclockwise, set 0 at the Yaw Degrees.
  • Page 54 SBUS Signal Mode 1) If your receiver is in the SBUS signal mode, click Ports on the left and enable Serial RX in UART2, then click Save and Reboot. 2) Next, click Receiver on the left, select RX_SERIAL as Receiver Mode, and select SBUS in Serial Receiver Provider.
  • Page 55 DSM/DSMX Signal Mode If your receiver is in DSM/DSMX signal mode, click Ports on the left and enable Serial RX in UART3, and then click Save and Reboot. For DSM Signal Mode: Click Receiver on the left, select Futaba/Hitec for Channel Map. Select RX_SERIAL as Receiver Mode, and select SPEKTRUM1024 in Serial Receiver Provider.
  • Page 56 For DSMX Signal Mode: Click Receiver on the left, select JR/ Spektrum / Graupner for Channel Map, select RX_SERIAL as Receiver Mode, and SPEKTRUM2048 in Serial Receiver Provider. Then click Save.
  • Page 57 Now, you will see the corresponding figure changes when you pull the rocker of throttle or yaw.

  • Page 58: Configuring Parameter Of Pid

    4.3.5 Configuring Parameter of PID Click PID Tuning, and you will see the PID value and RC rate of different channels. You do not need to modify them. PID (Proportional Integral Derivative) is used to adjust the flight performance. By default, the plane flies mildly, which will respond to the control a little slower. You can adjust the PID parameters to get a more agile flight.
  • Page 59 1) Set self-stabilization mode, horizontal mode and manual mode. You need to choose a 2-channel or 3-channel AUX x, set the self-stabilization mode, horizontal mode, and manual mode to be controlled all by AUX x, and then configure the volume for three modes in Cleanflight.
  • Page 60 All contents including but not limited to texts, images, and code in this manual are owned by the SunFounder Company. You should only use it for personal study, investigation, enjoyment, or other non-commercial or nonprofit purposes, under the related regulations and copyrights laws, without infringing the legal rights of the author and relevant right holders.

This manual is also suitable for:

Bee-100s

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