Related Manuals for RadioLink CrossFlight
Summary of Contents for RadioLink CrossFlight
- Page 1 CrossFlight User Manual for Helicopter (Compatible with Fixed-wing/Glider/Multirotor/Helicopter/Car/Boat/Robot) CE FCC RoHS...
- Page 2 2. Send message to us on our Facebook page or leave comments on our YouTube page 3. If the product is purchased from the local distributor, you can also ask them for support and repair as prefer. All manuals and firmware are available on RadioLink official website www.radiolink.com and more tutorials are uploaded.
- Page 3 Changes or modifications not expressly approved by the party responsible for compliance could void the user's authority to operate the equipment. This manual is based on the ARDUPILOT, with setting with RadioLink transmitter AT9S as example. http://ardupilot.org/copter/docs/initial- More details about how to use flight controller please refer to:...
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Page 4: Table Of Contents
4. F/S(failsafe) Setting ............................33 4.1 Radio Failsafe Setup ..........................33 4.2 EKF FailSafe .............................38 5. Installation and setup of CrossFlight ......................38 5.1 Install CrossFlight on aircraft ........................38 5.2 Connect CrossFlight to Helicopter ......................40 5.3 Connect the Spare Parts .......................... 40 5.4 Level Calibration ............................ - Page 5 Radiolink Electronic Ltd www.radiolink.com 5.5.6 Tailrotor Setup ........................... 50 6. LED Indicator, Arming and Troubleshooting ....................52 6.1 LED Indicator ............................52 6.2 Arming and Disarming ..........................52 6.3 Failure Messages ............................. 53 7. Helicopter Advanced Settings ........................56 7.1 Advanced parameters ..........................56 7.2 Rate Yaw ..............................
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Page 6: Crossflight Introduction
Radiolink Electronic Ltd www.radiolink.com 1. CrossFlight Introduction 1.1 Spare Parts... -
Page 7: Connectors And Specifications
Radiolink Electronic Ltd www.radiolink.com 1.2 Connectors and Specifications... - Page 8 Radiolink Electronic Ltd www.radiolink.com Specifications 39.7*39.7*12.1mm Weight & Dimension Dimension (1.56"*1.56"*0.48") 16.5g (0.58oz), 54g (1.9oz when all the Weight connect wires included) Hardware Processor HC32F4A0PITB Sensor Gyro ICM42670 Compass VCM5883L Barometer LPS22HB Without FRAM, use the internal flash to store parameters, 2617 waypoints...
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Page 9: Advices
-40~80℃ 1.3 Advices For the users who firstly use CrossFlight, we suggest that you use CrossFlight following below steps: 1. You have to install the mission planner and driver from here and familiar with the menu. Download the latest Mission Planner from here: https://www.radiolink.com/CrossFlight_missionplanner... -
Page 10: Mission Planner Introduction
Radiolink Electronic Ltd www.radiolink.com Then download the Mission Planner from https://www.radiolink.com/CrossFlight_missionplanner Open the Microsoft installer file and select Run to run the installation utility. 2.2 Mission Planner Introduction Once installation is complete, open Mission Planner by clicking on its system icon. -
Page 11: Initial Setup
RadioLink. The default firmware of CrossFlight is for Multicopter. First, you have to upgrade the firmware you need when you the first time ready to use CrossFlight. Radiolink CrossFlight is default with quadcopter firmware, you have to install the right firmware if you use the... -
Page 12: Download And Install Firmware
Radiolink Electronic Ltd www.radiolink.com 3.1 Download and Install Firmware Please connect your CrossFlight and computer via USB cable. Open the Mission Planner to loading the firmware you need to your CrossFlight. Attention: (1) Do not click CONNECT before you upload the new firmware, please click DISCONNECT if you have connected successful before. - Page 13 In some situation, you it may prompt you to unplug the board, click OK and plug in the board. Please disconnect the USB cable, click OK and then reconnect USB cable immediately (Pay attention: CrossFlight will have failed to connect if there are more than one COM, please remove other equipment if disconnect).
- Page 14 Radiolink Electronic Ltd www.radiolink.com (3) There’s no INITIAL SETUP. Full Parameter List in Please set Layout from “Basic” to “Advanced” in CONFIG/TUNING menu if any of the three questions as below encontered when you installing the Mission Planner.
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Page 15: Accelerometer Calibration
3.2 Accelerometer Calibration Make sure the CrossFlight is keeping horizontal when do the accel calibration. 1. Place vehicle level and press any key to save setting. 2. Place vehicle on its LEFT side and press any key to save setting. - Page 16 Radiolink Electronic Ltd www.radiolink.com 3. Place vehicle on its RIGHT side and press any key to save setting. 4. Place vehicle DOWN and press any key to save setting.
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Page 17: Compass Calibration
If the GPS mounted with the same direction with flight controller, then it need not to setup the direction of GPS in MP but if you mounted the GPS with the different direction of CrossFlight, you have to setup in the MP. - Page 18 Radiolink Electronic Ltd www.radiolink.com Compass calibrate Positioning Indicate Please use Mission Planner Arrows shows the front, point to the Humanized positioning green LED indicate. same direction as the flight controller. The green LED will flicker when TS100 have Keep the same direction with flight controller.
- Page 19 Radiolink Electronic Ltd www.radiolink.com Please fixed CrossFlight and TS100, then click “Start” and turn CrossFlight and TS100 till the progress bar of Mag 1 and 2 to the end and comes out the MAG_CAL_SUCCESS marked words. Calibrate the compass as these steps below:...
- Page 20 The mission planner will remind you when the compass has calibrated success. Click OK and then reconnect CrossFlight to computer, compass calibrate success after restart the CrossFlight. Attention: When the progress bar moves to 100 and then restart from 0, it may because of the wrong calibrate action or interference.
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Page 21: Radio Calibration
Bind your transmitter and receiver before calibrate radio, connect CrossFlight to computer via USB cable and then turn on transmitter. The RC receiver ask to connect to the RC port of CrossFlight. The transmitter will make AT9S as an example in this manual. - Page 22 Radiolink Electronic Ltd www.radiolink.com 3. Setup CH3: THRO REV in REVERSE menu (setting steps: Press Mode button about one second to into BASIC MENU, and then turn the dial to choose REVERSE, press Push button to into the REVERSE menu, turn the dial to setup 3: THRO REV, press End to back to Basic menu.
- Page 23 Radiolink Electronic Ltd www.radiolink.com There are two tool pop-ups after you click “OK”, one for make sure both your transmitter and receiver are powered on and connected, and the motor of your drone does not have power and without propellers.
- Page 24 Radiolink Electronic Ltd www.radiolink.com CH1: low position = roll (towards the left), up position= roll (towards the right). CH2: low position =pitch(forward), up position =pitch(backwards). CH3: low position =reduced speed, up position =speed up. CH4: low position = yaw (towards the left), up position = yaw (towards the right).
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Page 25: Flight Modes Setting
3.5 Flight Modes Setting CrossFlight has 20 flight built-in flight modes, 10 of which are regularly used. There are modes to support different levels/types of flight stabilization, a sophisticated autopilot, a follow-me system etc. Flight modes are controlled through the radio (via a transmitter switch), via mission commands, or using commands from a ground station (GCS) or companion computer. - Page 26 Radiolink Electronic Ltd www.radiolink.com 3．Setup Flight Mode 1 is Stabilize both in Mission Planner and transmitter. Make sure the -swt- is ON (by press the 3 Posi-SW or 2 Posi-SW to make it ON or OFF) and then you can setup the PWM data.
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Page 27: Flight Modes Introduction
Radiolink Electronic Ltd www.radiolink.com 3.6 Flight Modes Introduction 3.6.1 Stabilize Mode Stabilize mode allows you to fly your vehicle manually, but self-levels the roll and pitch axis. If you’re learning to fly, try Alt Hold or Loiter instead of Stabilize. You’ll have fewer crashes if you don’t need to concentrate on too many controls at once. -
Page 28: Altitude Hold Mode
Radiolink Electronic Ltd www.radiolink.com Parameters Setting ACRO_RP_P controls the rotation rate for the roll and pitch axis. The default, 4.5, will command a 200deg/sec rotation rate. Higher values lead to higher rotation rates, lower to slower rotation rates. ACRO_YAW_P controls the rotation rate for the yaw axis. The default, 4.5, like roll and pitch, will command a 200deg/sec rotation rate. -
Page 29: Auto Mode
(i.e. way points) and “do” commands (i.e. commands that do not affect the location of the copter including triggering a camera shutter). CrossFlight multi-rotor firmware can store up to 2617 waypoints, commands and events at one time. - Page 30 HDOP of under 2.0. AUTO should be set-up as one of the Flight Modes on the flight mode switch. Make sure that the GPS is positioning first: The LED of CrossFlight is green. The LED of GPS and compass module is blinking.
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Page 31: Poshold Mode
Radiolink Electronic Ltd www.radiolink.com passes the next waypoint. Ending a mission Missions should normally have an RTL as their final command to ensure the copter will return after the mission completes. Alternatively, the final command could be a LAND with a different location. Without a final RTL or LAND command the copter will simply stop at the final waypoint and the pilot will need to retake control with the transmitter. - Page 32 Radiolink Electronic Ltd www.radiolink.com When RTL mode is selected, the copter will return to the home location. The copter will first rise to RTL_ALT before returning home or maintain the current altitude if the current altitude is higher than RTL_ALT. The default value for RTL_ALT is 15m.
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Page 33: Simple And Super Simple Modes
Radiolink Electronic Ltd www.radiolink.com 2. RTL_ALT_FINAL: The altitude the copter will move to at the final stage of “Returning to Launch” or after completing a Mission. (1) Set to zero to automatically land the copter. (2) The final return altitude may be adjusted from 0 to 1000 centimeters. - Page 34 Radiolink Electronic Ltd www.radiolink.com armed) but requires a good GPS position. (4) Either mode can be assigned to a particular flight mode switch position or can be enabled/disabled from the Ch7/Ch8 switches. Normal Mode Without Simple or Super Simple enabled, the pilot’s transmitter stick inputs are applied in the orientation of the copter.
- Page 35 Radiolink Electronic Ltd www.radiolink.com Similar to the “care free” mode on other systems, this mode allows you to fly your copter as though it were pointed in the direction it was pointed when it was armed regardless of its current heading orientation. So, if you hold the pitch stick forward the copter will fly away from you, pull the pitch stick back and it will come back towards home.
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Page 36: More Flight Modes
4. F/S(failsafe) Setting 4.1 Radio Failsafe Setup CrossFlight supports Return-To-Launch in cases where contact between the Pilot’s RC transmitter and the flight controller’s receiver is lost. This page explains this failsafe’s setup and testing. Note the “Radio failsafe” was previously called “Throttle failsafe” because of the way in which some receivers use the throttle channel... - Page 37 Radiolink Electronic Ltd www.radiolink.com Make sure transmitter and receiver connect success and work with SBUS signal. F/S setting steps: Setup in transmitter: setup the throttle trim to -120 by trim switch and then press Mode button one second into BASIC MENU, choose and into F/S menu, put the throttle stick to the bottom to setup 3: THRO 3%. Please...
- Page 38 Radiolink Electronic Ltd www.radiolink.com Receiver and flight controller CrossFlight setup: By default, a newly purchased receiver will be set-up to simply hold all channels at their last known position when the receiver and transmitter lose contact. This is not good because the flight controller has no way to know that the Pilot has lost control of the vehicle.
- Page 39 Radiolink Electronic Ltd www.radiolink.com You can turn off transmitter to check if the Failsafe function setup success(the PWM of CH3 is smaller than 975) If enabled and set-up correctly the radio Failsafe will trigger if: (1) The pilot turns off the RC transmitter.
- Page 40 Copter also supports Battery, Ground Station and EKF/DCM failsafes. You can check your Failsafe by performing the following tests with the CrossFlight connected to the Mission Planner either via a USB cable or telemetry link. You can complete these tests without plugging in your LiPo battery but if you do connect a battery you should first remove the propellers.
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Page 41: Ekf Failsafe
Allows setting the maximum acceptable compass and velocity variance 5. Installation and setup of CrossFlight 5.1 Install CrossFlight on aircraft Mount the CrossFlight at the barycenter of the drone, make sure the arrow of the CrossFlight is point to the front. - Page 42 Radiolink Electronic Ltd www.radiolink.com Keep the GPS with the same direction of CrossFlight if you need to use CrossFlight with GPS. If the installation can’t be done with the default direction, parameters need to be setup according to the installation direction.
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Page 43: Connect Crossflight To Helicopter
Power Module: use a 6-pin GH wire to connect the power module to the POWER port of the CrossFlight. GPS and compass: use a 6-pin GH wire to connect the GPS (TS100 for example) to the GPS/I2C port of... -
Page 44: Level Calibration
Radiolink Electronic Ltd www.radiolink.com Battery Monitors Setup Set battery monitor on Monitors: 4: Battery & Voltage Sensor: 0: Other APM version: 4: The Cube or Pixhawk Turn off battery monitor settings monitor:0:disable When the setting is turned on, there may be no data. At this time, please disconnect the flight controller, re-power the flight controller, and then open this interface, enter the measured battery voltage, and when the same voltage as the input measurement value appears in the 2. - Page 45 Radiolink Electronic Ltd www.radiolink.com Under Initial Setup--Mandatory Hardware--select Accel Calibration from the left-side menu--Click Calibrate Level to start the calibration.
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Page 46: Helicopter Setup
Radiolink Electronic Ltd www.radiolink.com 5.5 Helicopter Setup Before your first flight, please follow these pre-flight checks: 1. Disconnect the three connecting wires between the ESC and the motor to ensure that the armed motor will not rotate. 2. Connect lithium battery for power supply. - Page 47 Radiolink Electronic Ltd www.radiolink.com For four servo swashplates, the fourth servo (Servo 5) on the single heli frame defaults to servo output 5 and is assigned motor 37. For the dual heli frame, the fourth servo (Servo 7) on swashplate 1 defaults to servo output 7 and is assigned motor 39.
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Page 48: Swashplate Setting
Radiolink Electronic Ltd www.radiolink.com 5.5.3 Swashplate Setting 1. Check Proper Swashplate Movement. Use your transmitter to check for proper swashplate response to cyclic and collective inputs. Push forward on the elevator stick and swashplate tilts forward; pull back on the elevator stick and swashplate tilts aft. - Page 49 Radiolink Electronic Ltd www.radiolink.com (3) Set -10 degrees. First modify the Manual Servo Mode in the figure ① below to Min collective, and then check the pitch scale number. And adjust the Minimum Collective Pitch(PWM) in the figure ② below, so that the pitch scale is -10 degrees.
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Page 50: Rotot Speed Control Setup
Radiolink Electronic Ltd www.radiolink.com (5) The H_COL_LAND_MIN parameter is used as the lower collective pitch limit in degrees for modes that use altitude hold in the vertical axis. This keeps the autopilot from driving collective too low resulting in ground resonance and is also used to detect landing in these modes. The default angle... -
Page 51: Internal Rsc Governor
Radiolink Electronic Ltd www.radiolink.com the HeliRSC servo output based on the collective (throttle stick) on the RC transmitter. This mode can be used for open loop control of the heli motor, providing no constant head speed control, but is usually used to setup the feed-forward throttle curve baseline for the Governor mode below. - Page 52 Radiolink Electronic Ltd www.radiolink.com within the governor range. If the RPM falls outside this range for more than 0.5 seconds, the governor will declare the appropriate overspeed or underspeed fault and the throttle output is reverted back to the throttle curve.
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Page 53: Tailrotor Setup
Radiolink Electronic Ltd www.radiolink.com 5.5.6 Tailrotor Setup There are several ways for controlling the tailrotor to maintain yaw stabilization and provide yaw control, and each have a unique setup. Search H_TAIL_TYPE in Full Parameter List. The H_TAIL_TYPE parameter is used to specify method for controlling the tailrotor. A list of available tail types is given below: 1. - Page 54 Radiolink Electronic Ltd www.radiolink.com Yaw is controlled by the tail rotor pitch servo. As shown in Figure 5 below, select Direct Drive Variable Pitch (DDVP) in the Tail Type drop-down menu to configure it to use motor-driven variable pitch to control. As shown in Figure 6 below, set the parameter SERVOx_FUNCTION to Motor4 to control the tail rotor pitch servo (The default output channel is channel 4).
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Page 55: Led Indicator, Arming And Troubleshooting
Radiolink Electronic Ltd www.radiolink.com As shown in Figure 10 below, set the parameter SERVOx_FUNCTION to "Motor4" to control the tail motor. (The default output channel is channel 4.) Figure 9 Select Direct Drive Fixed Pitch Counter-Clockwise Figure 10 Set Output Channel 6. -
Page 56: Failure Messages
Radiolink Electronic Ltd www.radiolink.com 3. When you hear the buzzer beeping for a long time and the flight controller indicator light is always on, the arming is successful 4. Toggle the 8-channel switch to the maximum value, and wait for the motor to rotate to a constant speed. - Page 57 Radiolink Electronic Ltd www.radiolink.com Compass failures: Compass not healthy: the compass sensor is reporting that it is unhealthy which is a sign of a hardware failure. Compass not calibrated : the compass(es) has not been calibrated. the COMPASS_OFS_X, Y, Z parameters are zero or the number or type of compasses connected has been changed since the last compass calibration was performed.
- Page 58 1. Check that your flight mode switch is set to Stabilize, ACRO, AltHold. 2. Hold throttle at minimum and rudder to the left for 2 seconds till the propeller stop to spin. 3. On the CrossFlight the RGB LED will start flashing green. 4. Disconnect the LiPo battery.
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Page 59: Helicopter Advanced Settings
If you connect the battery and armed, the motors begin to have speed even though the throttle is at zero from the version 3.1 firmware. It reminds you that CrossFlight is in service and please take care of the safety. -
Page 60: Rate Yaw
Radiolink Electronic Ltd www.radiolink.com ATC_ACCEL_P_MAX cceleration Max for Pitch When you think that the response speed in which direction is slow, you can add it, but note that after the modification, ATC_ACCEL_R_MAX Acceleration Max for Roll corresponding direction must also be modified direction. -
Page 61: Pid Adjustment
Radiolink Electronic Ltd www.radiolink.com 7.3 PID Adjustment Note: The adjustment here needs to use the log function, please insert the memory card 7.3.1 Adjust FF (Feedforward Compensation) The specific parameters corresponding to the three axes are ATC_RAT_RLL_FF, ATC_RAT_PIT_FF, ATC_RAT_YAW_FF; They are used to compensate for the slow response of the servo and the response problem caused by the length of the connecting rod. -
Page 62: Adjust D
Radiolink Electronic Ltd www.radiolink.com If RATE.PDes is greater than RATE.P, the corresponding ATC_RAT_PIT_FF value needs to be increased, and vice versa; If RATE.RDes is greater than RATE.R, the corresponding ATC_RAT_RLL_FF value needs to be increased, and vice versa; Adjust until the peaks of the two meet and follow. -
Page 63: Adjust P
Radiolink Electronic Ltd www.radiolink.com 7.3.3 Adjust P The adjustment method is similar to the D adjustment. First adjust the P of Rate Roll, and increase it by 0.01 each time until it shakes left and right. Then reduce the value by half as the final value, and set the same value for the Pitch 7.3.4 Adjust I and IMAX... -
Page 64: Hover Level Adjustment
Radiolink Electronic Ltd www.radiolink.com 7.3.5 Hover Level Adjustment The left and right attitude of the aircraft is affected by the rudder, and there may be a left and right tilt angle. In order to compensate for the angle, a parameter can be set to compensate for it. - Page 65 Radiolink Electronic Ltd www.radiolink.com If the vehicle strays outside these borders it will switch into RTL or LAND. At the moment the fence is breached a backup fence is erected 20m further out (or up). If the copter breaches this backup fence (for...
- Page 66 Radiolink Electronic Ltd www.radiolink.com The Fence can be set-up by doing the following: 1. Connect your flight controller CrossFlight to the Mission Planner. 2. Go to the Config/Tuning -- GeoFence screen. 3. Click the Enable button. 4. Leave the “Type” as “Altitude and Circle” (unless you want only an Altitude limit or only a Circular fence in which case you can select “Altitude”...
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Page 67: Onboard Osd
OSD module can return the monitored data to the terminal (FPV glasses or screen) and superimpose it on the video transmission image. CrossFlight flight controller integrates an OSD chip. Users do not need to connect an external OSD module. They only need to connect the signal lines corresponding to the image transmission and camera to the OSD port of CrossFlight to use the OSD function. - Page 68 Radiolink Electronic Ltd www.radiolink.com 1 = select screen based on pwm ranges specified for each screen. 2 = switch to next screen after low to high transition and every 1s while channel value is high. OSD_OPTIONS: OSD Options. This sets options that change the display, including Decimal pack, Inverted Wind, Inverted AH Roll.
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Page 69: Screen Introduction
③ The area can copy the layout of the current screen or paste the layout of other screens to this screen. ④ Write all the current settings in the area. 10. Parameters Setting 10.1 Parameter Introduction All of the parameters of CrossFlight can setup in Mission Planner, please do not change the parameters during the flight. -
Page 70: Parameter Modification
Compare Params: compare the current and the previous parameters. Load Presaved: load the parameters that Radiolink upgrade the files which design for 210-250 frame racing drone to CrossFlight. 10.2 Parameter Modification All the parameters of CrossFlight can be adjusted. You can modify it according to the following steps;... - Page 71 Radiolink Electronic Ltd www.radiolink.com 1. Enter the parameter name you want to modify in the search box 2. Wait for the refresh and the searched parameters is displayed 3. After clicking in the parameter value box , enter the value you want to modify...
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Page 72: Download Dataflash Log
Dataflash logs use the CrossFlight onboard dataflash memory, which you can download after the flight. On Plane and Rover dataflash logs are created soon after start-up. On Copter they are created after you first arm the copter. - Page 73 Radiolink Electronic Ltd www.radiolink.com...