NEJZG3S RGVE M3NIJ3L

ill
J
Naze32 rev6 manual vl.2
Copyright 2015 Quadquestions LLC. All rights reserved

.cnn

WARNINGS
NGTGS

WARNING Do not use t h is hardware fo r serious business, commercial a e ria l photography, or

anything else where i t s usage could endanger the end user, sp e ctators, inanimate o b je c ts ,
a ir c r a f t f ly in g overhead, e tc.
NOTE While the f l i g h t c o n tr o lle r firm ware and c o n fig u ra tio n software is based on the Mult i w i i system, the processor is not Atmel AVR, and t h is hardware cannot be programmed
through the Arduino development environment or any AVR development to o ls . For more in f o r
mation on STM32 development, see the fo llo w in g lin k : h ttp ://co d e .g o o g le .co m /p 7 a fro d e v ic es/wiki/STM32Development
NOTE This hardware is provided a s -is and end-user is expected to have reasonable te c h n i
c a l knowledge to complete set-up and reasonable R/C experience to operate m u lti- r o to r
a ir c r a f t .
\

OQu

S ' P)

Naze32 rev6 manual vl.2

Copyright 2015 Quadquestions LLC. All rights reserved

.M

BnaRn LayniJTS acRn vs.

full

C P 2 1 0 X USB to serial
*board colons vary

Aero Board

STM32 FI
32bit
processor

16mbit
o n b oard
memory

Mems
MP u 6 5 0 0
invensense
gyro/acc

Full Board
BMP 280
Barometer
128mbit
on board m e m o r y
ms5611 Barometer

Magnetometer
+ upgraded
Barometer & Memory

) C77U

Naze32 rev6 manual vl.2

Copyright 2015 Quadquestions LLC. All rights reserved

.cnM

FEWER SCHEME
**main header

Provide 5v power to board

e ith e r v ia BEC or step
down voltage re g u la to r.
Many escs have bees i n
cluded and th e re fo re
allo w you to power the
board from your esc.

used to send
voltage to rx

n e g

**The Battery monitor

ing connection does
not power the board.
To power the board 5v
must be connected to a
5V connection such as
via a servo lead to
the main header.

5v
signal
* The hardware is 16v
to le re n t which means
th a t you can power i t
d ir e c t ly w ith b a tte ry power,
however t h is voltage w i l l be
present at a l l 5v lo c a tio n s .
I t is best p ra c tic e to use a
BEC when powering the board.
I f t h is warning is ignored
you w i l l f r y your attached
5v hardware such
as rece ive rs
sensors, e tc .'

telemetry

5v

5-26v battery
monitoring connection

SDA

The I2C bus can be

used fo r a d d itio n
a l sensors or de
bugging. I2C bus
runs a t 3.3V on ly,
do not connect 5V
sensors here (such
as I2C sonar,
e tc ).

\M }
.CGM
Naze32 rev6 manual vl.2

Copyright 2015 Quadquestions LLC. All rights reserved

GROUNDING
The NEG pads are on outen edge of board

Warning: there is noreversevoltage polarity

protection built intothis board, soif youconnect
your power backwardsyouwill instantly destroy
thehardware.

S ' P)

ODD
Naze32 rev6 manual vl.2
Copyright 2015 Quadquestions LLC. All rights reserved

.CGM

GGNGREIL INPUTS
ESC/servo
headers/
outputs

Bootloader
pads

Power in d ic a to r LED

Micro USB
connector
R/C in pu ts
CPPM/PWM
motor output
SBUS RC in p u t
LED connection
s o fts e r ia l

* O ptional B a tte ry V o lt
age M onitor To enable
i n - f l i g h t b a tte ry voltage
m onitoring and alarm, con
nect t h is header to f l i g h t
b a tte ry or power d is tr o
board. Up to 25V
(6S LiPo) can be measured.
No reverse p o la r ity pro
te c tio n - connecting b a t
te ry in reverse w i l l in
s ta n tly destroy the hard
ware .

/ fi \

Board
O rie n ta tio n
In d ic a to r

TX/RX uart
Connected
to USB.

Spektrum
S a te llite
po rt

Th e n a z e 3 2 is a st a t i c
s e n s i t i v e device. Use
caution when handling
and m a k e sure t h a t you
f o l l o w p r o p e r anti
stat i c h a n d l i n g
procedures.

---------- s.

ml

p )

\
/ ---------s

11

i=d L-i
m

Naze32 rev6 manual vl.2

Copyright 2015 Quadquestions LLC. All rights reserved

.cm

PORTS
IJ3 RT 3 ND SGFTSGRiaL
The N a z e 3 2 f e a t u r e s 2 d e d i c a t e d h a r d w a r e U A R T
s e r i a l ports.
O n e on t x & r x and one at pins 3&4

W h e n f e a t u r e s o f t s e r i a l
is e n a b l e d in t h e s o f t
ware, it w i l l c r e a t e
s o f t w a r e e m u l a t e d se r i a l
p o r ts on pins 5&6, & 7&8.

USB Port

5=rx 1
6=tx 1
7=rx 2

tx&rx

T h e USB S e r i a l port s h a r e s t h e same U A R T as tx&rx.

telemetry
pins

If a s e r i a l d e v i c e is c o n n e c t e d to t x / r x it w o n t w o r k w h e n t h e usb is
c o n n e c t e d and v i c e versa,
if t h e r e is a d e v i c e c o n n e c t e d to tx & rx
t h e r e w i l l be p r o b l e m s w i t h t h e usb c o n n e c t i o n , so d i s c o n n c t d e v i c e s
a t t a c h e d h ere w h e n c o n n e c t i n g t h e N a z e 3 2 to USB.
Also, F r s k y t e l e m e t r y is c o n n e c t e d to t h i s same UART1, if you w a n t to
use t h e t x & rx pins, y o u w i l l h a v e t o m o v e y o u r t e l m e t r y to a soft
s e r i a l port or U A R T 2 . If t h e r e is no c o n n e c t i o n to tx&rx, t h e t e l e m e
t r y w i l l not w o r k w h e n usb is c o n n e c t e d .

T h e h a r d w a r e w i l l not o u t p u t to t h e
t e l e m t r y pins w h e n c o n n e c t e d via
usb, so if you are u s i n g t h e t e l e m
e t r y pins, you w i l l not see t e l e m e
t r y v a l u e s until t h e b o a r d has been
armed.

Naze32 rev6 manual vl.2

Copyright 2015 Quadquestions LLC. All rights reserved

.cnM

anniTinNaL

fgeitijrgs
3 .3 V -to le ra n t GPIO
connected to PB5
on STM32. Cannot
be connected to 5V
le v e ls as th is
w i l l in s ta n tly
destory the hard
ware .

Bootloader pads can be

shonted out in the event
th a t the board cannot be
flashed w ith the bootloader fla s h e r. Make
sure "no reboot se
quence'' is checked in
the firm ware fla s h e r i f
these pads are shorted.

GPIO 3v3
10 5v to le ra n t

5 V -to le ra n t
GPIO connected
to PA15 on
STM32. Can be
used fo r sonar
tr ig g e r or any
oth er 5V I/O .

3.3V ADC in pu t
connected to
ADC12_IN5 on
STM32. Not 5V
t o le r a n t .

You can cut th is

tra c e to disa b le the
onboard magnetometer
on the f u l l version .

I___________

5v

warning- i f sh o rtin g bootloader

pads., be sure to only sho rt the 2
pads together., be m indful not to
short the pads to the 5v pin or
hardware f a ilu r e w i l l re s u lt.

u
.CGM
Naze32 rev6 manual ul.2

Copyright 2015 Quadquestions LLC. All rights reserved

TUG GaCKSinG

Echo and t rigger

Sonar pads ---w/resistors
added for
direct c o n
nection to
5V sonar.
Cortex Debug Connector
10 pin 0.05" debug c o n
nector conn e c t e d to fS W D J
port of STF132.

S' P
L r^
ED

o ra

Naze32 rev6 manual ul.2

Copyright 2015 Quadquestions LLC. All rights reserved

.c n n

/dev/cu.SLAB_US $

Connect

115200

B Auto-Connect

18:43:37 -- Serial port successfully opened with ID: 2

18:43:40 -- Unique device ID received - 0x66dff515650877067043228
18:43:40 - Running firmware released on: Aug 27 2015
18:44:11 Serial port successfully closed
Setup

Configuration

PID

Receiver

Mode Selection

driver
Servos

GPS

Motor Testing

nnwNLnan
Sensor Data

Logging

Backups

CLI

Welcome to Baseflight - Configurator, utility designed to simplify updating, configuring and tuning of your flight controller.
Demonstration mode can be accessed by selecting "Demo'' in port selection area and connecting.
Application supports complete family of Baseflight hardware (aero naze, naze32, naze32pro and afromini).
Baseflight wiki can be found here
Latest CP210x Drivers can be downloaded from here
News & Changelog
2015.07.24 - 0.68 I Backup & Restore Manager, pa tial restore, bugfixes...
Backup & Restore Manager is the latest feature addit Dn (you can find it inside Backups tab) featuring new experimental partial restore which should help a great deal with
firmware upgrades now and in the future, there is als< new storage area for backups that you can utilize instead of backing up to files,
Updating to latest firmware is currently highly recoir imended so you can reap all the benefits from recently added features,
Note that the minimum restorable API version is v l , f st firmware that supports API versioning was released February 12 2015, older releases are not supported.
Improved RC fake input data from emulator (making le receiver tab look much cooler in demonstration mode),
Added missing ADC (A5) to the list of supported ADC input pins in the Ul (reported through github, thanks dustin).
Added Pitch and Roll values next to the Heading in 3 ) view.
Bugfix for barometer graph not rendering correctly ab )'>ve 500 meters,
Bugfix for emulator bug that caused unexpected beh;ic vior after restoring incompatible backup.
2015.07.20 - 0.67 I Better landing page, demo moc i
The biggest feature in this release is probably the inti:r >duction of demonstration mode, which you enter by selecting "Demo" in port selection area and connecting.
This mode will use an internal MSP emulator for bash MSP transactions, allowing users without a board on hand or new users that are looking to buy a board that runs
baseflight hardware to test the application functionalit' / view supported features before committing to a purchase.
Other changes include revamped interface on thei Ian iiing page to better utilize remaining whitespace and in turn allow more detailed changelogs to be posted,
Several Ul initialization bugfixes (mostly in Receiver nd Servo tabs) and optimizations for Setup tab.
Silent release vO.66.1 contained fix for RC rate not gc mg over 1.0 in Receiver tab (reported through support section on chrome store, thanks Zack C).
2015.07.11 -0.66
- Added Airplane Setup
Project Supporl / Donations

Sponsors

This freeware utility is available free )f charge to all baseflight users,

If you found the utility useful, please consider supporting its development by donating.
^

AbuseMark (Official Naze Hardware Manufacturer)

D ona

Firmware Flasher
Copyrigh cTn 2015 All rights reserved, Configurator uses open source software
Port utilization: D: 0% U: 0%

Packet error: 0

I2C jrror: 0

0.68.3

Cycle Time: 0

D o w n l o a d th e C P 2 1 0 X d r i v e r s by
c l i c k i n g h e r e ___________
W h e n c o n n e c t i n g to B a s e f l i g h t the
f i r s t t h i n g t h a t you need to m a k e
sure to do is d o w n l o a d t h e d r i v e r s
so t h a t y o u r c o m p u t e r can c o m m u n i
cate w i t h th e board.
We a l s o r e c o m
m e n d t e s t i n g th e b o a r d b e f o r e s o l
d e r i n g so t h a t a r e t u r n can be m a d e
if needed.
Al l N a z e 3 2 s are t e s t e d
f r o m th e f a c t o r y b e f o r e shipping.

Naze32 rev6 manual vl.2

Copyright 2015 Quadquestions LLC. All rights reserved

.c

g m

/dev/cu.SLAB_US $

Connect

115200

Qj Auto-Connect

18:43:37 -18:43:40 18:43:40 -18:44:11 --

Serial port successfully opened with ID: 2

Unique device ID received - 0x66dff515650877067043228
Running firmware released on: Aug 27 2015
Serial port successfully closed

Setup

Configuration

PID

Receiver

Mode Selection

Gyro

Ik I T
1^1 I

Servos

GPS

n
^

n
1\

r i D M
| l l x l

Motor Testing

Accel

I H

Sensor Data

Mag

Baro

GPS

Sonar

^ I H
C L I G D
r L C J S l I L I X

Logging

Backups

CLI

Welcome to Baseflight - Configurator, utility designed to simplify updating, configuring and tuning of your flight controller.
Demonstration mode can be accessed by selecting "Demo" in port selection area and connecting.
Application supports complete family of Baseflight hardware (aero naze, naze32, naze32pro and afromini).
Baseflight wiki can be found here
Latest CP210x Drivers can be downloaded from here
News & Changelog
2015.07.24 - 0.68 I Backup & Restore Manager, partial restore, bugfixes ...
Backup & Restore Manager is the latest feature addition (you can find it inside Backups tab) featuring new experimental partial restore which should help a great deal with
firmware upgrades now and in the future, there is also new storage area for backups that you can utilize instead of backing up to files.
Updating to latest firmware is currently highly recommended so you can reap all the benefits from recently added features.
Note that the minimum restorable API version is v l, first firmware that supports API versioning was released February 12 2015, older releases are not supported.
Improved RC fake input data from emulator (making the receiver tab look much cooler in demonstration mode).
Added missing ADC (A5) to the list of supported ADC input pins in the Ul (reported through github, thanks dustin).
Added Pitch and Roll values next to the Heading in 3D view.
Bugfix for barometer graph not rendering correctly above 500 meters.
Bugfix for emulator bug that caused unexpected behavior after restoring incompatible backup.
2015.07.20 - 0.67 I Better landing page, demo mode ...
The biggest feature in this release is probably the introduction of demonstration mode, which you enter by selecting "Demo" in port selection area and connecting.
This mode will use an internal MSP emulator for basic MSP transactions, allowing users without a board on hand or new users that are looking to buy a board that runs
baseflight hardware to test the application functionality / view supported features before committing to a purchase.
Other changes include revamped interface on the landing page to better utilize remaining whitespace and in turn allow more detailed changelogs to be posted.
Several Ul initialization bugfixes (mostly in Receiver and Servo tabs) and optimizations for Setup tab.
Silent release vO.66.1 contained fix for RC rate not going over 1.0 in Receiver tab (reported through support section on chrome store, thanks Zack C).
2015.07.11 -0.66
- Added Airplane Setup
Project Support/Donations

This freeware utility is available free of charge to all baseflight users.

If you found the utility useful, please consider supporting its development by donating.

Sponsors
AbuseMark (Official Naze Hardware Manufacturer)

Donate

Firmware Flasher
Copyright cTn 2015 All rights reserved, Configurator uses open source software
Port utilization: D: 0% U: 0/

Packet error: 0

I2C error: 0

0.68.3

Cycle Time: 0

C l i c k h ere to o p e n t h e f i r m w a r e
flash er.

f i ' J3]
i J
v

______

Naze32 rev6 manual vl.2

Copyright 2015 Quadquestions LLC. All rights reserved

.CGM


/dev/cu.SLAB_US $

[ 115200

Connect

Q Auto-Connect

21:41:56 - Running - OS: MacOS, Chrome: 46.0.2490.86, Configurator: 0.68.3

Setup

Configuration

PID

Receiver

Mode Selection

Servos

NGN FIRMNaRG

GPS

Motor Testing

Sensor Data

Logging

Backups

CLI
n
|

Please load firmware file

Stable 2015.08.26-21:40

Available online firmware releases

No reboot s c ie n c e

Check if you are flashing board with bootloader pins shorted

Do not verify

Do not verify uploaded data (saves time when flashing multiple boards)

Q Full Chip Era

Flash slowly

Wipes all configuration data currently stored on the board

Use 115200 baudrate for flashing (useful for flashing via bluetooth)
Warning

Please do not try o flash non-baseflight hardware with this firmware flasher (it wont work),
Do not disconnei t the board or turn off your computer while flashing.
Note: STM32 boc loader is stored in ROM, it cannot be bricked.
Note: Auto-Conn jet is always disabled while you are inside firmware flasher.

3. click flash
firmware.

1. Click Load Firmware

2. Select load
f i r m w a r e online

Leave Firmware Flasher

Port utilization: D: 0% U: 0%

Load Firmware [Local]

Packet error: 0

I2C error: 0

Cycle Time: 0

Load Firmware [Online]

Flash Firmware

0.68.3

You can load custom f i r m

w a r e by click i n g "load
f i r m w a r e (local)
This will allow you to run
cus t o m varients of baseflight (for advanced users)

Naze32 rev6 manual vl.2

Copyright 2015 Quadquestions LLC. All rights reserved

.cnM

/dev/cu.SLAB_US $ p il5 2 0 0

22:00:35
22:00:35
22:00:35
22:00:40
Setup

----

Connect

B Auto-Connect

5&^al port successfully opened with ID: 1

Uniqi^device ID received - 0x66dff515650877067043228
Runnin^irmware released on: Aug 27 2015
Serial porNtuccessfully closed
\ r
Configuration

Receiver

Mode Selection

Servos

GPS

Motor Testing

Sensor Data

Logging

Backups

CLI

To c onnect for the first time., plug in y our Naz e 3 2 to the

computer, once this is done, the port should be listed in
the dropdown.
Look for SiLab port, select it and then
click "connect".
If the d r o p d o w n shows "no ports" then you
havent i n stalled the driv e r p r o p e r l y or need to check your
USB cable.
You should see a blue light on the board when
t h e r e is power applied.
C l i c k i n g a u t o c o n n e c t is the e a s iest wa y to find the right
port.
If you click a u t o - c o n n e c t and then plug in y o u r
Naze32, it should a u t o m a t i c a l l y c o n nect to the board.
The tabs at the top of the screen will not be clic k a b l e
until you connect to the board.
You can also connect
to demo under the port dr o p d o w n to play around with
settings.

Naze32 rev6 manual vl.2

Copyright 2015 Quadquestions LLC. All rights reserved

.cm

/dev/cu.SLAB_US P |

22:00:40
22:09:56
22:09:56
22:09:56
Setup

--

115200

| Disconnect

Q Auto-Connect

Serial port successfully closed

Serial port successfully opened with ID: 2
Unique device ID received - 0x66dff515650877067043228
Running firmware released on: Aug 27 2015
Configuration

PID

Receiver

Mode Selection

P Gyro

Accel

Mag

Baro

GPS

Sonar

sensors are working p ro p e rly . GPS and sonar are red

in th is instance because they are not enabled.
Servos

GPS

Motor Testing

Sensor Data

Logging

Backups

CLI

Calibrate Accelerometer

Place board or frame on leveled surface, proceed with calibration, ensure platform is not moving during calibration period

Calibrate Magnetometer

Move multirotor at least 360 degrees on all axis of rotation, you have 30 seconds to perform this task
Reset / Restore settings to default

Reset Settings

Heading:
Pitch:
Roll:

Author: creyc

C lic k t h is only when the quad is le v e l

C a lib ra te Acc
C a lib ra te Mag. Do t h is in open a ir away from m e ta llic objects
Reset S e ttin g s - use th is to reset a l l setings to d e fa u lt.

-35 deg
-30 deg
19 deg

Info
Battery voltage:

0V

Capacity drawn:

0 mAh

Current draw:

0.00 A

RSSI:

0%
GPS

fr o n t o f you fa c in g away from you.,

c lic k rese t z axis to make the 3d
rendering match what the model is
-doing.
-----------------------------------Port utilization: D: 4% U: 2%

Packet error: 0

I2C error: 0

3D Fix:

False

Sats:

Latitude:

0.0000 deg

Longitude:

0.0000 deg

The in fo and GPS

boxes give in f o r
mation from the
sensors on the
board. B att v o l t
age is measured
from the VBat pins
and cu rre n t draw
and rs s i
Reset Z axis, offset: 43 deg

0.68.3

Cycle Time: 3503

I f you get several e rro rs ,

check your USB cable- these
values are mostly used fo r
bluetooth debugging.

\ M

Naze32 rev6 manual ul.2

Copyright 2015 Quadquestions LLC. All rights reserved

.COM

Set these to match your battery chemistry (initial values

are setup for Lipo batteries)
^

CDNFIGIJRaTinN TEH3 PG 3
Use these values to setup your current sensor, (battery
current monitoring must be enabled)

Battery Voltage

Current

3.3 :

Minimum Cell Voltage

ADC input pin for an external current sensor

3.5

Warning Cell Voltage

Scale the output voltage to milliamps [1/10th mV/A]

4.3 :

Maximum Cell Voltage

Offset in millivolt steps

no :

Voltage Scale

Enable support for legacy Multiwii MSP current output

Misc

Board Alignment
Roll Adjustment [degrees]

o:
o:

Pitch Adjustment [degrees]

Yaw Adjustment [degrees]

Port utilization: ^ 0% U: 0%

Packet error: 1

Looptime can be
set here. Min
looptime with ACC
is 1000. Warning
This value effects
your PIDS
I2C error: 0

25 :

Looptime [microseconds]
Maximum angle permitted for arming [degrees]
Save

Cycle Time: 3474

To change the board orientation, adjust these settings,

fpr example, to rotate the board counter clockwise 90
degrees in the Yaw axis, you could use either a value
of -90 or 270.
It is extremely important to set this up properly.
You can verify that it is setup by making sure that
the model moves according to the actual movements of
the quad.

A uthor: creyc

3500 C

Heading:
Pitch:
Roll:

-60 deg
-35 deg
-6deg

0.68.3

This is the maximum angle allowed for arming. If you

have troubles arming your quad in rough terrain, adjust
this setting.

Make sure to set the board

alignment before you try
to fly for the first time.
also, calibrate your acc if
the board is realigned.
If you have problems arming on a
level surface, ACC calibration
Is a good place to start.

Naze32 rev6 manual ul.2

Copyright 2015 Quadquestions LLC. All rights reserved

.cnn

Port

Disconnect

( /dev/CU.SLAB_US $ ') ( 115200

22:33:24
22:33:26
22:33:26
22:33:26

Q Auto-Connect

Gyro

-- You need to connect before you can view any of the tabs
-- Serial port successfully opened with ID: 4
- Unique device ID received - 0x66dff515650877067043228
- Running firmware released on: Aug 27 2015

Setup

Configuration

PID

Receiver

Mode Selection

_ _ _ _ m _
_ __ _
1 1^ 1 |h 1 1
1
1
I W I J I X M

Servos

GPS

Mixer

Motor Testing

Accel

Mag

_ _ _
^1
H J I X

Sensor Data

Baro

GPS

Sonar

PG1

Logging

Backups

CLI

Features

This is where you make

most changes to your setup
in c lu d in g changes to your
mix, changes to your
general setup.

Enable PPM input (and disable PWM input)

Enable Battery voltage monitoring
Enable in-flight level calibration
Enable Serial-based receiver
Don't spin the motors when armed
Enable servo gimbal
Enable 3rd serial port
Enable LED ring support
Enable GPS (PPM or 3rd serial port required)
Enable failsafe settings on PPM/PWM signal loss
Enable sonar
Enable FrSky- compatible telemetry output
Enable Battery current monitoring
Enable VARIO
Enable 3D mode (for use with reversible ESCs)

C lic k here to change your mix

Enable GPS Return to Home for Fixed Wing

Enable Oneshot (Syncs PWM output with the main loop)
Enable FastPWM (lowers the PWM pulse length to 1/8th)

Throttle

Accelerometer & Magnetometer

1150 :

Minimum Throttle

Accelerometer Roll Trim

1500

Middle Throttle [RC inputs center value]

Accelerometer Pitch Trim

1850 :

Maximum Throttle

Magnetometer Declination [degrees]

1200

Failsafe Throttle

iooo

Minimum Command

Brushed Motors

OFF

Serial Receiver

GPS

SPEKTRUM1024
SPEKTRUM2048

NMEA

Type

__SELUS______________________
Port utilization: D: 0% U: 0%

Packet error: 1 I I2C error: 0 I Cycle Time: 3518

Min t h r o t t le - t h is value should be set fo r

your escs. BLheli and Kiss escs work w e ll
w ith a the stock minimum t h r o t t le o f 1150.,
simonK firm ware should be set at 1064,
oth er escs vary- i t s best to s ta r t low and
tu rn t h is value up u n t il your motors s ta r t
r e lia b ly .
middle t h r o t t le - The center value f o r your
RC in p u t
max th ro ttle -m a x value f o r the escs at f u l l
power
f a ils a f e t h r o tt le - th e t h r o t t le value set
when f a ils a f e is in it ia t e d .

0.68.3

Brushed M o to rs -s e ttin g to 8000 w i l l use brushed

mode a t 8kHz sw itching frequency. Up to 32kHz
is supported. Note, th a t in brushed mode,
m in th ro ttle is o ffs e t to zero, -must use e x te r
nal fe ts

\ ____
i d

J 2 )

/ i= d 1 1
= J

Naze32 rev6 manual ul.2

MINCOMMAND is the s ig n a l the sent to the ESC

when unarmed.
Copyright 2015 Quadquestions LLC. All rights reserved

.COM

Motor Testing

GPS

Sensor Data

Logging

Backups

C G N P IG U R E lT in N TEH3 PG S

CLI

Features
a

Enable PPM input (and disable PWM input)

Enable this for use with ppm receivers.

Enable Battery voltage monitoring

Enable this to allow batt monitoring on vbat pins

Enable in-flight level calibration

Enable Level calibration during flight.

Enable for use with sbus receiver- utilizes UART2

Enable Serial-based receiver -

Don't spin the motors when armed

Enable servo gimbal
Enable 3rd serial port
Enable LED ring support
Enable GPS (PPM or 3rd serial port required)

Stops motors when armed at minthrottle- useful for beginners.

Use this to enable gimbal output-uses servo 1& 2 for gimbal**
Use this to enable soft serial on pins 5,6 and 7,8
Enables LED ring support-output on pin 5.
Enables GPS on Pins 3 & 4

Enable failsafe settings on PPM/PWM signal loss .

Enables failsave throttle setting on PPM/PWM loss from receiver

Enable sonar

Enables Sonar
Enables Frsky Telemetry output, (inverted on telemetry pins)***

Enable FrSky- compatible telemetry output

Enable Battery current monitoring
Enable VARIO

Enable 3D mode (for use with reversible ESCs)

Enable GPS Return to Home for Fixed Wing .
Enable Oneshot (Syncs PWM output with the main loop)
Enable FastPWM (lowers the PWM pulse length to 1/8th)

Enables Current monitoring****

Enables vario over telemetry-for audible beeps when altitude changes
Enables 3d mode, sets throttle midpoint at 0- use for acrobatic tricks
self explanitory
set this to enable Oneshot
set this if enabling oneshot

Accelerometer & Magnetometer

Accelerometer Roll Trim

set your acc roll trim (acc stick commands change these values)

Accelerometer Pitch Trim

Set your acc pitch trim

Magnetometer Declination [degrees] -

set this for your locale (important for accurate GPS Measurements)

(acc stick commands change these values)

*Inflight level calibration procedure

1. You arm the function with a stick combo and take off as usual
2. you either trim the hover mode using the trims on the rx until it is perfectly level and not drifting or you use
the acromode until it is leveled
3. you now hit the "arm" switch (usually auxl/aux2) and turn off the engine. Don't worry the code does not turn off
the engines - there is a failsafe feature.
4. The copter now takes 50 measurements of the current angle and stores them in ram.
5. After landing you have to transfer the new values into the eeprom with a stick combo.
** When gimbal is enabled, motor outputs shift by 2, so motor 1 is on servo3, motor2 is on servo 4 and so on.
*** Telemetry can be output to a soft serial (must be inverted and programmed via CLI)
* * * * r c inputs (assuming you are using PPM) or you can use the ADC on the bottom of the board, this way baseflight
will keep track of the current and send the data via MSP to the OSD.

Serial Receiver

GPS

SPEKTRUM1024
SPEKTRUM2048
SBUS
SUMD

Select the GPS Type here

NMEA
(J15200
Auto-detect

Select your serial receiver type here.

Not used if "enable serial based receiver"
is unchecked.

* * x x Y n iJ M UST CLICK TUG G 0VG B IJT T G N 3 T

TUG B G TTG M GF TUG PE1GG TG GE1VG YGIJR
S G T T IN G 5 BGFGRG MGVING GN TG 0N G T H G R
T 3 I3

Baud rate

Select GPS baudrate (configured in

GPS modules settings)

Select Ground assistance type.

(auto is fine for most circumstances

Naze32 rev6 manual vl.2

Copyright 2015 Quadquestions LLC. All rights reserved

.CGM

/dev/cu.SLAB_US i

Disconnect

115200

Q Auto-Connect

Gyro

01:58:44 - Serial port successfully opened with ID: 21

01:58:46 - Unique device ID received - 0x66dff515650877067043228
01:58:46 -- Running firmware released on: Aug 27 2015
01:58:53 -- ASCII scraps: M>IZ
Configuration

PID

Name

Receiver

Mode Selection

Proportional

Servos

Integral

GPS

Motor Testing

Derivative

4.0

0.030

23

PITCH

4.0

0.030

23

YAW

8.5

0.045

o.ooo

12.0

0.045

Pos

o .ii

o
O
o

<>

o
o

<>

0.045

0.080

i.4

LEVEL

9.0

MAG

4.o

o.20
o

2.0

PosR

<>

5.0

VEL

00

ALT

NavR

Sensor Data
Roll rate

ROLL

io o

Mag

Baro

GPS

Sonar

the e s s e n tia l PIDS fo r f l i g h t are

ROLL, PITCH, YAW, and LEVEL.

P in PEIGG

Setup

Accel

o.oo :

Logging
Pitch rate
o.oo :

Backups

CLI

Yaw rate

TPA

o.oo :

o.oo :

These values should be turned up fo r acrobatic

f ly in g and as you get b e tte r. Keep the rates
down i f you are a beginner We lik e to set
these to around .7 fo r fa s t f l i p s and acrobat
ic quads.
TPA or T h ro ttle PID A tte n u a tio n t h a t. I t attenuates the PIDs at
t l e le v e ls , so i f your quad f l i e s
shakes under f u l l t h r o t t le , give

does ju s t
higher t h r o t
n ic e, but
i t some TPA

Profile

You can set m u ltip le p ro file s in

B a s e flig h t. This is nice because
you can have 3 d if fe r e n t sets o f
s e ttin g s . I f the p r o file gets
changed you wont be able to f l y
unless you setup th a t new p r o f ile ,
so keep th is in mind. This is the
f i r s t th in g to check when you are
havine arming issues.
Profile 1

Profile 2

C O -

Profile 3

Port utilization: D: 0% U: 0%

You can
s e le c t the
p r o f ile w ith
s tic k inputs
when unarmed
using these
commands.

PID tuning is beyond the scope o f th is manual, however, some basics are:
S ta rt by tuning aero or gyro ra te mode, auto le v e l should be tuned la s t .
P- adjusts snappiness o f the quad to your in p u t.
u n t il you get shakes then back o f f 10-20%

I f i t is squishy, increase P

I - How the quad reacts to outside fo rc e s , wind, o ff-b a la n c e weight such as a

b a tte ry , e tc . I f the quad d r if t s when an angle is s e t, tu rn th is up. The quad
shouldn't d r i f t .
I f I is too high, i t w i l l o s c illa t e a b it more slowly than P.
D- The speed a t which the quad returns to a p o s itio n , so fo r auto le v e l f o r in
stance, i f D is high, i t snaps back to le v e l when you l e t o f f the s tic k . When D
is turned down, i t slows the response o f the re ac tio n back to le v e l when you l e t
o f f o f the s tic k . D can also be used to tune out o s c illa tio n a f t e r movement.

Refresh

Packet error: 1

I2C error: 0

Cycle Time: 3487

0.68.3

T y p ic a lly , i f the stock values d o n 't work or allo w you to

f l y , then you have got some other issues going on th a t
you should look in to a d ju s tin g . The Naze32 works by
looking a t many fa c to rs , sensor in p u ts , user in p u ts , and
a l l o f these fa c to rs are c alc u late d and a motor output is
w ritte n " This happens over and over again a t a high ra te
o f speed, (lo o p -tim e ) The PID gains a djust t h is c a lc u la
tio n and tuning the PIDS is e s s e n tia l to r e a lly d ia lin g
in your quad. Every quad is d if f e r e n t , and a l l re q u ire
s lig h tly d if fe r e n t s e ttin g s . Also, every p ilo t 's opinion
o f how a quad should f l y is also d if f e r e n t . Be sure to
consider th is when tu n in g , i t is su b jective and th e re are
many d if fe r e n t ways to do i t .
PID tuning videos on you tube, and Google searches should
help you get your quad d ia le d in . Please discuss a t
quadquestions. com

Save

Naze32rev6 manual vl.2

Copyright 2015 Quadquestions LLC. All rights reserved

.cnii

/dev/cu.SLABJJS i

115200

Disconnect

O Auto-Connect

01:59:15 02:25:55 02:25:57 02:25:58 -

Serial port successfully closed

Serial port successfully opened with ID: 22
Unique device ID received - 0x66dff515650877067043228
Running firmware released on: Aug 27 2015

Setup

Configuration

0.50 :

PID

Profile
Throttle MID

Receiver

Mode Selection

GPS

RGCGIVGR TE1I3
Servos

GPS

Motor Testing

Roll

EEoo
n oo

Throttle
RC Rate

0.65 :

RC EXpo

Disabled

Backups

CLI

[E o o

AUX 1

AUX 2

Channel Map

AETR1234

Logging

E o

Throttle Expo

0.90 :

Sensor Data

Pitch
Yaw

o.oo :

Sonar

RSSI on AUX

Channel Map- AETR1234

stands fo r the 8 channel
Inputs 12345678 so th a t
means th a t AETR1234 has
a ile ro n s on channel 1,
e le v a to r on channel 2,
and so on. This is im
portant because many
stock rad io mixes d i f f e r
from one another. The
Taranis X9D plus f o r ex
ample has a channel
output o f AETR but
others are TAER which
has t h r o t t le on channel

AUX 3
AUX 4

153E

I t is very important to set your

radio servos so th a t they id le
a t 1060, center a t 1500 and max
a t 2000. The trim s on the radio
should remain centered when s e t
tin g these up. On the Taranis,
th is is done on the Servos tab

50 ms

Mapping your t x outputs to chan

nels should be done in the mixer
in your ra d io , so i f you want to
have a s p e c ific switch c o n tro l
aux 1, you would have to set
th is up in your ra d io .

ill

rim

1500A
1500A
1500A
1500a
1500a
1500a

You should set your radio up w ith no expo and then l e t

the f l i g h t c o n tro lle r software setup your expo and rates
fo r you. This is handy because i t allows you to have
d iffe r e n t expos and rates setup on d iffe r e n t p r o file s ,
so you could fo r instance have one p r o file setup fo r
film in g , which has smooth expo, ra te s , pids, e tc , and
then have an acrobatic p r o file th a t is aggressive, and
then have a racing p r o file w ith another set o f s e ttin g s .

Refresh

Save

To make sure your servos aren't reversed, you should see

these values when moving your sticks:
p itch up ( r ig h t s tic k up)=2000
R o ll R ig h t(rig h t s tic k rig h t)= 2000
t h r o t t le fu ll= 2 0 0 0
yaw right=2000

Set RSSI on Aux i f you port the RSSI in v ia a servo

channel.
Be sure to check th is page and th a t your radio is func
tio n in g properly before your f i r s t f l i g h t .
Check th a t a l l channels are properly mapped and th a t
none are reversed. Check QuadQuestions.com fo r videos
on how to do t h is .

EM
.can
Naze32rev6 manual vl.2

Copyright 2015 Quadquestions LLC. All rights reserved

Setup

Configuration

PID

Profile: 1

Receiver

Mode Selection

Servos

Motor Testing

Sensor Data

AUX 2

AUX 1
Name

GPS

HIGH

LOW

MED

Logging

Backups

AUX 4

AUX 3
HIGH

LOW

MED

CLI

HIGH

LOW

MED

HIGH

ARM

HORIZON
BARO
VARIO
MAG
HEADFREE
HEADADJ
CAMSTAB
GPS HOME
GPS HOLD
BEEPER
CALIB
OSD SW

Arm- i f not set to a switch, arming w i l l happen w ith the l e f t s tic k down and to the r ig h t .
I f the arm switch is s e t, arming v ia s tic k command is disab led .

Motor Arm

F lig h t modes:
A ngle=autolevel- the quad le v e ls when s tic k is n e u tra l

When setting the

modes, a check box
sets the mode to a
switch. SO, a typical
flight mode selection
switch, with low being
angle mode, mid being
horizon and high being
rate mode would look
something like this:

H orizon=autolevel plus Aero mode a t edges o f s tic k movements, so hard rig h t would cause
f l i p s , centering s tic k causes a u to le v e l.
no angle or horizon selected=gyro r a te .
Many people have problems when f i r s t s ta rtin g out because they d o n 't s e le c t le v e l mode.
Baro=alt hold
v ario = v a rio sent v ia tele m e try
Mag=heading hold
Headfree ( F u ll board o n ly )- o rie n ts the quad to the user so
no m atter which d ire c tio n the quad is fa c in g , p itch forward
is always away from you and p itch back is always towards you
This works in conjunction w ith HEADADD which allows you to set
the new yaw o rig in .

P ro file: 1

i
Nam e

AUX 1
LOW

ARM
ANGLE
H O R IZ O N

O
I

BARO

GPS HOME= GPS retu rn to home (use a t your own r is k )

GPS HOLD= GPS hold

M AG
HEADFREE

Beeper= Sounds buzzer when a ctiva ted

C a lib - W rite in f l i g h t le v e l c a lib to eeprom
OSDSW- Turn o f f OSD ( i f using minimosd)

Copyright 2015 Quadquestions LLC. All rights reserved

H IG H

Camstab=Camera S ta b iliz a tio n (works i f gimbal is enabled)

V A R IO

MED

rn

t \

-- \

/dev/cu.SLAB_US i

22:57:53
22:57:53
22:58:33
22:58:57
Setup

115200

Disconnect

Q Auto-Connect

Gyro

Mag

-- Unique device ID received - 0x66711515650877067051425

-- Running firmware released on: Aug 27 2015
-- Backup saved successfully
-- Backup saved successfully
Configuration

PID

Receiver

Mode Selection

Servos

GPS

Motor Testing

Sensor Data

Logging

Backups

CLI

Save

Port utilization: D: 4% U: 1%

Packet error: 0

I2C error: 0

Cycle Time: 1202 |

0.68.2

Atypical switch setup, arm on switch 1, alt hold and heading hold on switch 2, flight modes on 3, and heading hold
again /OSDsw on switch 4.
You can see that all switches are in the mid position, so this quad is flying horizon with altitude hold and heading
hold active.

Naze32rev6 manual vl.2

Copyright 2015 Quadquestions LLC. All rights reserved

.cnM

/dev/cu.SLAB_US

03:27:25
03:39:06
03:39:09
03:39:09
Setup

-----

t )

S ) | Disconnect

f r i5 2 0 0

G Auto-Connect

Serial port successfully closed

Serial port successfully opened with ID: 34
Unique device ID received - 0x66dff515650877067043228
Running firmware released on: Aug 27 2015
Configuration

PID

Receiver

Mode Selection

servos
Servos

GPS

Motor Testing

Tara

Sensor Data

Logging

Backups

CLI

Model: Gimbal / Tilt Servos

Servo 0
Min

Max

Rate (%)

Middle
:

<>
o

1500 :

CO

<>
o
CN
O

20 00

Direction of movement
Roll
Reverse

Pitch

Yaw

Throttle

AUX 1

AUX 2

AUX 3

AUX 4

Servo 1

Min

Max
1020

Rate (%)

Middle

2000 :

1500 :

30 :

Direction of movement
Roll

Pitch

Yaw

Throttle

AUX 1

AUX 2

AUX 3

AUX 4

Reverse

Enable Live Mode:

Save

Servos- lets you set your servo movement. You can set it to the throw of your sticks depending on your
check-box, so if aux 1 is checked, you can set the servo to follow the switch when camstab is not enabled.
To reverse the movements, set the rate % to a negative value.
This screen will not be available if Gimbal is not enabled.

Port utilization: D: 0% U: 0% | Packet error: 1 | I2C error: 0

Cycle Time: 3500

0.68.3

Naze32 reu6 manual vl.2

Copyright 2015 Quadquestions LLC. All rights reserved

.cm

Setup

Configuration

PID

Receiver

Servos

Mode Selection

GPS

Sensor Data

Motor Testing

3D Fix:

False

ID

Quality

Signal Strength

Altitude:

0m

Idle

Latitude:

0.0000 deg

Longitude:

0.0000 deg

Speed:

0 cm/s

Sats:

Dist to Home:

0m

0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0

1
"
1
1
..
1
i
1
1
1
I
1
1
1
I
I
i
1
i
1
i
I
i
I
1
...........1
i
_
_
_1
i
I
1
_J
1
_
_
_
_
_
_
_
_
_
_
_=

GPS Debug Info

GPS update rate:

- ms

SVINFO rate:

- ms

POS LAT deviation:

POS LON deviation:

POS deviation:

- cm

Horizontal accuracy:

0.00 m

Vertical accuracy:

0.00 m

Port utilization: D: 3% U: 1%

Idle
Idle
Idle
Idle
Idle
Idle
Idle
Idle
Idle
Idle
Idle
Idle
Idle
Idle
Idle

GPS

IMES

QZSS

Packet error: 1

SBAS

I2C error: 0

Galileo

Backups

CLI

GPS Deviation Test

Satellites

GPS

Logging

BeiDou

5m

Area radius

Start Deviation Test

Glonass

0.68.3

Cycle Time: 3544

This page can help you to view and tro u b le sh o o t your gps i f in s ta lle d . I f the GPS is
hooked up but the GPS box on the top r ig h t o f B a s e flig h t is red, t r y swapping your TX
and Rx lin e s .

J@@TD@I. c ^mJ
nj

Naze32 rev6 manual trl.2

Copyright 2015 Quadquestions LLC. All rights reserved

/dev/cu.SLAB_US

Disconnect | Q Auto-Connect

115200

Gyro

03:47:14 -- You need to connect before you can view any of the tabs
03:51:01 - Serial port successfully opened with ID: 37
03:51:01 - Unique device ID received - 0x66dff515650877067043228
03:51:01 -- Running firmware released on: Aug 27 2015
Setup

Configuration

PID

Receiver

Mode Selection

Accel

Mag

Baro

GPS

Sonar

MOTUR TG5TING
Servos

GPS

Motor Testing

Sensor Data

Logging

Backups

CLI

Accelerometer - [Reset]
1.31
UOD

Refresh:

20 ms

Scale:

X:

0.00 (0.03)

U OD

Y:

-1.31

-0.01 (0.07)

Z:

Motors
5

Servos
6

Motor Test Mode Notice:

Moving the sliders will cause the motors to spin up.
In order to prevent injury remove ALL propellers before using this feature.
If you understand these instructions check the box below to enable motor test.
Q Check
1460

1460

1460

1460

1000

1000

1000

1000

Master

MBRNING-NUT REMOVING YOUR PROPS MILL

RESULT IN INJURY OR OGETH MHGN USING
THIS PEGG- YOU hlBVG GGGN MBRNGO.
Port utilization: D: 8% U: 2% | Packet error: 1 | I2C error: 0 | Cycle Time: 3514

SHARP EDGES
\ W I L L CUT

Use This page to test your motors. Make sure to

remove your props. This is the first place you should
go to test your motor rotation. This is also a good
place to visually inspect what your motors and servos
are outputting. The motor value will take into ac
count your mixing, so if the quad is not level, and in
angle mode, these values might not all be the same.
You can use the sliders to spin motors individually, or
you can use the master slider to spin all of the motors
at once.

Naze32 rev6 manual vl.2 'cnM

Copyright 2015 Quadquestions LLC. All rights reserved

Raw
Setup

Configuration

PID

Receiver

Mode Selection

Servos

GPS

Motor Testing

naTa

sensgr

Sensor Data

Logging

Backups

CLI

Keep in mind that using fast update periods and rendering multiple graphs at the same time is resource intensive.
We recommend to only render graphs for data that you are interested in while using reasonable update periods.
Q Gyroscope

Q Accelerometer

Q Magnetometer

Q Barometer

Q Kinematics

Q Debug
Gyroscope - deg/s
Refresh:

40 ms

Scale:

2000

A
r

X:

-0.24

Y:

-4.88

Z:

0.49

Barometer - meters
0.3 -

0.1

Refresh:

100 ms

X:
nv/

0.05

--------------- A

You should use the raw sensor data page

to check your sensors. When moving the
board, you should see movement on the a c
celerometer, gyro, magnetometer, b a r o m e
ter, etc.
If you have an item that is flat-lined at
0, even with lots of movement of the
board, then that is indicative of an
issue with the sensor. You can see in the
above example that there was rapid m o v e
ment of the board showing that the s e n
sors w e r e working, followed by the board
sitting still which is shown by the flat
lines.

J g U3.
J@

Naze32rev6 manual vl.2

Copyright 2015 Quadquestions LLC. All rights reserved

.cnM

/dev/cu.SLAB_US i |

04:23:49
04:23:58
04:23:59
04:23:59

Disconnect

115200

GPS

Q Auto-Connect

Sonar

- You need to connect before you can view any of the tabs
-- Serial port successfully opened with ID: 11
- Unique device ID received - 0x66cff505650877067201939
- Running firmware released on: Aug 27 2015

Setup

Configuration

PID

Receiver

Mode Selection

Servos

GPS

Motor Testing

Sensor Data

Logging

Backups

CLI

Data will be logged in this tab only, leaving the tab will cancel logging and application will return to its normal "configurator" state.
You are free to select the global update period, data will be written into the log file every 1 second for performance reasons.
MSP_RAW_IMU
MSP_ATTITUDE

9 columns (accel[x, y, z], gyro[x, y, z], mag[x, y, z])

3 columns (x, y, z)

MSP_ALTITUDE
MSP_RAWGPS

7 columns

MSP_ANALOG
MSP_RC

Logging tab- useful for logging in Baseflight when

your aircraft is connected to computer via blue tooth

MSP MOTOR
MSP_DEBUG
100 ms

Samples Saved:

Log Size:

0 Bytes

Select Log File

Port utilization: D: 0% U: 0%

Packet error: 2

I2C error: 0

Start Logging

Cycle Time: 3502

0.68.3

Naze32rev6 manual vl.2

Copyright 2015 Quadquestions LLC. All rights reserved

.CHM

/dev/cu.SLABJJS t J | 115200
*

vx

--------------

04:27:21
04:27:24
04:27:25
04:27:25
Setup

.........J - o

Disconnect
a

Gyro

Q Auto-Connect

-- Serial port successfully closed

- Serial port successfully opened with ID: 12
- Unique device ID received - 0x66cff505650877067201939
-- Running firmware released on: Aug 27 2015
Configuration

PID

Receiver

Mag

Accel

GPS

Baro

Sonar

- *

Mode Selection

rc a c K ijp s
Servos

GPS

Motor Testing

Sensor Data

Logging

Backups

CLI

Stored Backups

Backup & Restore manager can save your configuration to a file or inside application storage (backups are saved locally).
Manager also comes with improved back-end which can perform partial restore (between incompatible API versions).
You can select any of your saved configurations by clicking on them inside the Stored Backups area.

Name:
Date:
Version:

You are running firmware with API Version: 4

sparrow kiss 1960 fu

2015.10.12 - 22:58
4

Backups can be stored and reopened here. Self explanatory

and a great tool if you work with many different setups.

Restore [From File]

Port utilization: D: 0% U: 0%

Backup [To File]

Packet error: 2

Backup [To Storage]

I2C error: 0

0.68.3

Cycle Time: 3503

pT n

L J

IZ

Ik J
.cnM
Naze32 rev6 manual vl.2
Copyright 2015 Quadquestions LLC. All rights reserved

/dev/cu.SLABJJS

Disconnect

115200

Auto-Connect

04:30:21 -- You need to connect before you can view any of the tabs
04:30:22 - Serial port successfully opened with ID: 13
04:30:22 -- Unique device ID received - 0x66cff505650877067201939
04:30:22 -- Running firmware released on: Aug 27 2015
Setup

Configuration

PID

Receiver

Mode Selection

GPS

Mag

Sonar

TUG CLI
Servos

GPS

Motor Testing

Sensor Data

Logging

Backups

CLI

Note: Leaving CLI tab or pressing Disconnect will automatically send "exit" to the board, which will make the controller save all the changes and restart.
Entering CLI Mode, type 'exit' to return, or 'help'
# dump
Afro32 CLI version 2.3 Aug 27 2015 / 12:37:56Current Configs Copy everything below here...
aux 0 0
aux 1 0
aux 2 0
aux 3 0
aux 4 0
aux 5 0
aux 6 0
aux 7 0
aux 8 0
aux 9 0
aux 10 0
aux 11 0
aux 12 0
aux 13 0
aux 14 0
aux 15 0
aux 16 0
aux 17 0
aux 18 0
aux 19 0
aux 20 0
aux 21 0
aux 22 0
aux 23 0
mixer QUADX
servo 1 1020 1500 2000 30
servo 2 1020 1500 2000 30
servo 3 1020 1500 2000 100
servo 4 1020 1500 2000 100
servo 5 1020 1500 2000 100
servo 6 1020 1500 2000 100
servo 7 1020 1500 2000 100
servo 8 1020 1500 2000 100
feature -PPM
feature -VBAT
feature -INFLIGHT ACC CAL___________________________________________________________________
|/Vrite your command here

Port utilization: D: 0% U: 0%

Packet error: 2

I2C error: 0

0.68.

Cycle Time: 3498

The CLI is an excellent tool for power

users, you can quickly load settings, and
configure the quad for your needs. When
w o r k i n g with support, you can go to the
CLI, type "dump" and the copy and paste
all of your settings into an email- this
is also a handy wa y to take notes of your
setup. We recommend that you get familiar
with the CLI and do some searches for Multiwii CLI commands to find out all of the
neat things that you can do.

Naze32rev6 manual vl.2

Copyright 2015 Quadquestions LLC. All rights reserved

.cnM

N 3ZG 3S STICK CCMMaNDS

S tic k commands can be used to i n i t i a t e actio ns w ith o u t the need o f a computer., these
actions in clu de th in g s lik e C a lib ra te Accelerometer, Change p r o file s . C a lib ra te mag
and more. In order to use s tic k commands, the quad must be powered and un-armed.

Mode 2 Stick Functions

ARM

Disarm

In F lig h t Level C a lib ra tio n j

P r o file 1 j

P r o file 2 j
P r o file 3 ^

C a lib ra te Gyro ^

C a lib ra te ACC ^

C a lib ra te Compass (mag)

Trim ACC L e ft

Trim ACC Right

Trim ACC Forwards

Trim ACC backwards

When the quad is powered and unarmed, you can

in p u t these commands w ith the tra n s m itte r.
Some o f the fu n c tio n s w i l l be diabled
depending on your c o n fig u ra tio n .

The a u to le v e l mode requires a w e ll c a lib ra te d Acc. I f i t is not c a lib ra te d , the quad

w i l l d r i f t when i t is hovering. You should trim the ACC to make up fo r the d r i f t and
leave your tra n s m itte r trim s cen ter. To trim the quad, hover 2-3 fe e t o f f o f the
ground and then center your s tic k s (use t h r o t t le to m aintain a ltitu d e ) i f the quad is
d r i f t in g r ig h t , land, then disarm, then use t h is s tic k command.
You w i l l need to hold the s tic k command and watch the lig h ts on the Naze32. You w i l l
have to watch the lig h ts fla s h several times before there is any no ticeable change in
the ACC tr im . We u s u a lly go about 5 fla sh e s, then arm and te s t again. Repeat as
needed.

Do not move the Naze32 when f i r s t p lu g

ging i t in and during the f i r s t few
seconds o f power up. The GYRO must be
id le or the i n i t i a l c a lib ra tio n w i l l be
o f f . You can watch the lig h ts on the
board during power up, they w i l l fla s h
when the i n i t i a l measurements are taken
and then they w i l l tu rn s o lid when the
board is ready to arm.

J
Naze32 rev6 manual vl.2

Copyright 2015 Quadquestions LLC. All rights reserved

.c m

CLI CHMMElNnS
CLI commands can be found here:
h t t ps://github.com/multiwii/baseflight/wiki/CLI-Variables

GSC C 3LII3R 3TinN

The Rev6 hardware is sharing the 5v power from the USB connection and allowing
the ESCs to power up as soon as USB is connected.
Please be very careful as this
can lead to a motor spinning at full speed when the flight battery is connected
if you use the old method of calibration. The f ollowing workaround will allow
you to calibrate ESCs properly and safely.
Please note that the flight battery
is never connected during this procedure.
1 disconnect all ESCs from the flight control board
2 props off, flight control board plugged into computer, configurator open,
flight battery not connected
3 on the configuration tab, set minimum command to 1050 and save
4 go to motors tab, check motor test mode box at bottom, raise master slider
to full
5 plug just one ESC into any of the motor outputs 1-4, wait a few seconds for
ESC beeps to finish
6 un-check motor test mode box - values should drop back down to 1050
7 wait a few seconds for beeps to finish, unplug ESC from control board
8 repeat steps 4-7 for the remaining ESCs
9 on the configuration tab, set minimum command back to 1000 and save.

FIN3L C 3VG 3TS

This hobby is in its infancy and it is supported and developed by a community of
open source contributors and innovators that are designing the hardware that goes
along with it. PLEASE PURCHASE OFFICIAL HARDWARE--- There is rampant copying
going on right now and the innovation that has made our great hobby what it is
will be lost if the pioneers cannot innovate anymore, so boycott copied hardware,
and please contribute to these projects to help the t e c h n o l o g y continue to d e v e l
op. If you have any questions, please go to Quad q u e s t i o n s . c o m and post a q u e s
tion. We are happy to answer, and will be quick t o respond.
Have fun flying!
A n t h ony & team
Q u a d Q u e s t i o n s .com
4 1 2 - 2 2 9 -QUAD

J
i@ T O lM ]
Naze32 rev6 manual irl.2

Copyright 2015 Quadquestions LLC. All rights reserved

.COM