Arduplane Basic Setup Guide Rev1.

1. Introduction
2. Hardware
3. Software
a) Firmware
b) GCS
4. Setup
a) GPS
b) Radio Calibration
c) Flight modes
d) Accel Calibration
e) Servo Functions
f) OSD
g) RSSI
h) Failsafe
i) Battery Monitor
j) Compass
k) Airspeed
l) Other Parameters
m) ESC calibration
5. First flight

1. Introduction
With the porting of Ardupilot (AP) to F4/F7 miniquad boards, using the most powerful,
full function, autonomous flight system is now possible in a small, inexpensive, highly
integrated (including power module and OSD) FC board. Unfortunately, since AP is so
powerful with so many options and parameters, for some its daunting trying to setup it up the
first time. What this guide attempts to do, is provide a basic guide to setup for an Arduplane
example. I personally do not have much experience with Copter setup, so that is left to
another guide/author. It is by no means the only approach, but its one that has worked for me
many times. Additional features and options (terrain following, pitot tube, autoland, logging,
compass, etc.) are left for you to pursue in the future....the goal here is to get you in the air,
mission capable, with a well flying plane that you can expand on.

2. Hardware
There are so many choices now for FC boards for AP that its beyond the scope of this
guide. See http://ardupilot.org/plane/docs/common-autopilots.html for current supported
boards. For plane, an Omnibus F4 Pro or Matek F405-Wing are good choices for basic plane
configuration. This guide will assume this basic peripheral setup for a FC with integrated
power sense and OSD:
a) GPS
b) RX
c) ESC & Servos
d) VTX and Camera
And that you are capable of wiring the system together using the readily available
resources for whichever board you select. There are numerous RCG forums for hardware
help on any of the supported boards.
Other peripherals (compass, pitot, telemetry, etc.) will not be covered....they are not
needed to get you in the air and flying. You can add or configure them into the system in the
future.

3. Software
This is the are that gives most potential users the most concern and where this guide
will concentrate.

A) Firmware
For commercial AP targeted boards like Pixhawk, they will usually already have some
version of AP loaded, along with a bootloader that will allow updating the firmware using
Mission Planner or other GCS (ground control station) immediately.
For the miniquad or iNav targeted board like Omnibus F4 Pro, then you will need to
load the firmware using something like the iNav config, the first time, in order to get the
appropriate bootloader on board. Subsequently, updates can be made by MP. The procedure
is detailed here, and is straight-forward: http://ardupilot.org/plane/docs/common-loading-
firmware-onto-chibios-only-boards.html.

B) Mission Planner
Mission Planner is a ground control station for AP, but also, the primary tool for
firmware updates and , most importantly, parameters configuration. MP can be downloaded
here:
http://ardupilot.org/planner/docs/mission-planner-overview.html
There are alternatives, for non-PC users:
http://ardupilot.org/planner2/index.html

Once the firmware is installed and you are connected to MP or its alternatives. Software setup
can be begin. Parameters may be changed manually using the Configuration/Tuning Tab.
4. Setup

A) GPS
After connecting to MP, verify that you get eventually GPS fix. Number of sats and
HDOP are shown in the Flight Data tab of MP. If no gps is detected, you will see a message
in the HUD display stating this. That means you have hardware debug to do!
Possible issues:
Connected to wrong port (see your hardware docs for which port AP expects)
Somehow the serial port baud rate and protocol was changed from default.
Usually, AP expects GPS on Serial 3 at 38.4Kbaud. NOTE: this may NOT be the same
number as the UART port...ie UART6 may be designated by that board's AP firmware to be
GPS and is Serial 3 in the parameter listing. You should not have to mess with this if you
attach the GPS on the correct port.
The GPS is not supported....most GPS are UBLOX and NEMA compatible these
days.

B) Radio Calibration.
Go to the Initial Setup Tab/Mandatory Hardware/Radio Calibration tab. You should see
movement when you move the TX controls. If not, you have hardware debug to do! Your
controls should move the sliders in the same TX directions for each input (pitch is opposite).
AP expects AETR order for the flight controls. Change your TX or see the RCMAP_x
parameters. You CAN change the direction of each input (ie reverse the channel) with a check
box, but I recommend it be done via the TX. Adjust your TX subtrims to 1500uS for neutral as
close as you can....perfection not required...the next step will compensate for being off.
However, set the throttle trim such that at low throttle, it is 50-75uS GREATER than its lowest
value possible. This will be used to allow you to setup a throttle failsafe value, lower than low
stick. After this, NEVER adjust your TX trims or subtrims again!
Do the RC Calibration.

C) Flight Modes
Now setup your TX to provide the ability to output six different levels on Channel 8, the
flight mode channel. (the designated channel for flight mode is controlled by the FLTMODE_CH
param, which is channel 8 by default). Here are instructions for various transmitters:
http://ardupilot.org/copter/docs/common-rc-transmitter-flight-mode-configuration.html .
Now that the TX can select 6 modes (usually using two of the three position switches), which
modes?
I strongly suggest that you “waste” two positions for MANUAL mode, such that no matter what
position the second switch is in, one position of the other switch is always producing
MANUAL, This is a “bailout”. Its a lot easier to remember to just slam one switch down( or up)
without worrying about the state of the other mode switch. I then usually set the TX switches
to produce the following modes:
SW1 SW2 Mode
Hi Hi Auto
Hi Mid AutoTune (then Loiter after autotuning)
Hi Lo Manual
Lo Hi Cruise
Lo Mid Stabilize (or FBWA)
Lo Lo Manual
(low on SW2 ALWAYS drives Manual...its your bailout!)
Set these up in the Flight Modes subtab of Initial Setup/Mandatory Hardware.

D) Accel Calibration

Go to the Initial Configuration/Mandatory Hardware/Accelerometer Calibration and

perform the full calibration. For the level position, I suggest that you carefully level the wings,
and have the wing chord set a few degrees (~ 3 deg) nose up, since this is the normal cruise
attitude for level flight for most planes. This can be reset/adjusted using the LEVEL only
calibration button, at any time. You can also do this calibration before the FC is mounted in
the plane, but you will need to redo the wings level/pitch at cruise attitude leveling using the
LEVEL only calibration later.
Also, check that the orientation of the flight controller is correct. Moving the plane
should be correctly reflected in the HUD display of MP. Otherwise, you will need to manually
change the AHRS_ORIENTATION param appropriately.

E) Servo Functions
Now setup the outputs of the FC to drive the servos/esc. This is done using the
SERVOx_FUNCTION params for however you want to connect your equipment to the FC
outputs: normal plane, v-tail, elevons, etc.
You should try to get the servo output arms centered when the channel driving it is in neutral
position, if possible. You can tweak this using the SERVOx_TRIM params. You can do this
manually or via the Initial Configuration/Mandatory Hardware/Servo tab.
Now check that the servos move in the correct directions to level the plane when moved around while
in STAB or FBWA mode. Reverse the sevos with the reverse box for a servo if needed. If you have
correctly adjusted the TX channel directions in part B above, then they will move in the correct
directions also in MANUAL mode.

F) OSD
For flight controllers with integrated OSDs, this should be automatically enabled. You
can use the Onboard OSD subtab in MP Initial Setup tab to setup the display configuration.
Note that the elements of each OSD screen are visible only after having enabled that screen
and rebooting/reconnecting to the FC.
G) Receiver RSSI
Ardupilot supports either analog RSSI or PWM RSSI embedded in an RC channel. For
analog, set RSSI_TYPE =1 and reboot, for PWM: RSSI_TYPE =2. The remaining RSSI
parameters will not appear until this parameter is set and reboot occurs.
RSSI_ANA_PIN,x (check Ardupilot FC docs for which pin)
RSSI_PIN_HIGH,3.3 (Note that most FC can only accept RSSI up to 3.3V)
RSSI_PIN_LOW,0

For PWM adjust these parameters:

RSSI_CHAN_HIGH,2000
RSSI_CHAN_LOW,1000
RSSI_CHANNEL,16

Note: RSSI can be monitored in MP by adding the user defined screen item in the HUD view
(right click): rxrssi.

H) Failsafe
Ardupilot has many options for initiating failsafe. The only one of concern for this guide
is receiver failsafe. Failsafe will always be entered if the RX is disconnected or stops
outputting signals. In addition, for Sbus connected RX, radio signal failsafe will always trigger
FS via its FS bit in the Sbus output stream. In fact, Ardupilot ignores all the RC channels
when in FS (including embedded RSSI if using PWM...the last value is used). For PPM
connected receivers, you set the RX's failsafe to use either throttle failsafe or to stop
outputting (NOT HOLD!). Setting up throttle failsafe is described here:
http://ardupilot.org/plane/docs/apms-failsafe-function.html.
Whether or not I am using a PPM or Sbus receiver, I always setup a throttle failsafe and can activate it
by a separate switch on the TX which will force the throttle channel to the failsafe value below normal
idle stick. This avoids setting RTH as a flight mode and is a good check on FS if desired while flying.
On the bench while connected to MP, make sure that FS is entered when you power off the TX.

I) Battery Monitor
Do not use the Initial Configuration tab to setup the Battery Monitor for the newer
Chibios boards. These boards have the default configuration already loaded when installing
the firmware.
You will probably have to adjust the BATT_AMP_OFFSET and BATT_AMP_PERVLT
parameters. Most systems will draw 400 to 600 ma when the motor is not running. This is set
with the BATT_AMP_OFFSET parameter. Then you can adjust the BATT_AMP_PERVLT
parameter to match the mah drawn during the flights by taking the amount of current you re-
charge the battery with and the displayed amount of mah used using this formula:

new BATT_AMP_PERVLT = old BATT_AMP_PERVLT * MAH -recharged/ MAH

shown as used.
Note: this isn't 100% accurate due to several factors, but is close enough. You may have to
iterate a few times.
Also be sure to set the BATT_CAPACITY parameter.

J) Compass
Arduplane does not need a compass for good performance, unlike Copter or
Quadplane which require them. If you have a compass, disable it. At least until you have
everything else working. Then you can expand to it.

K) Airspeed
Arduplane does not need an airspeed sensor for good performance, either. And it
computes an airspeed estimate every time it turns which is fairly accurate. In order to display
this in the OSD, you will need to set ARSPD_TYPE,0. Feel free to add/enable a pitot sensor
later.

L) Other Parameters
1. Set SERVO_AUTO_TRIM =1. This will automatically adjust your servo trims as
you fly to make the plane fly level (ie, the same attitude as AHRS level) when in
Manual Mode at cruise throttle. Unless you have your mechanical trims WAY
OFF, this eliminates the need to trim the plane. You should never trim using the
TX trims, as stated above.
2. If you have an overpowered plane, you might want to set THR_MAX to a lower
value, ie 75%, otherwise climbs could be at max throttle, like during
AUTOTAKEOFFs.
3. Set TRIM_THROTTLE to the expected cruise throttle. Usually a little below mid-
throttle.
4. If you have a small flying wing (like Z-84), then half the default value of
PTCH2SRV_P. Its a little too aggressive for small wings.
5. ARMING. Leave all arming params at default. Tjhere is no reason to disable
these safety checks. You should be able to get a GPS lock even indoors with
modern GPS units. Inability to arm due to one of these checks means
something has to be corrected.
All other parameters can be left to default. However, after you get some flights, you
might want to play with : LIM_PITCH_MAX, LIM_ROLL_CD, and FBWB_CLIMB_RATE. These
are pretty docile at default values.

M) ESC Calibration
Calibration is easy. Remove prop. Power up on the bench with radio on using USB.
When GPS is locked, ARM the plane by giving full right rudder for a few seconds and move
throttle to high. Attach battery. When ESC beeps its throttle set sequence, lower the throttle.
Unpower, and re-attach prop.
If it does not arm, something has not been setup correctly above, or (if you have an SD
card for logging) the SD card is not inserted. Diagnostic messages will be displayed on the
OSD and in MP messages tab.

5. First Flight
First, go to the flight planner page of MP and create a waypoint anywhere, and change
it to TAKEOFF type. Set it for 150ft altitude or so and pitch of no more than 15deg for the first
flight. Load it into the plane.
At the field, power the plane, check that the controls move correctly from the TX in
MANUAL mode, AND that when switched into STAB mode, the surfaces move to level the
attitude of the plane when you move it around. THIS IS CRITICAL! Also recheck CG to be
sure battery is properly placed.
ARM the plane and get ready to launch it. Switch into AUTO mode and the TAKEOFF
waypoint will be activated and the plane will go to THR_MAX even though the throttle stick is
at idle. Toss it and it will climb straight ahead (more or less, best walk a few steps with in the
desired direction before autolaunching to allow ground track to be established) until the
programmed altitude is reached and then will go into RTH since no other waypoint is loaded.
Be sure to move the throttle stick from idle to midstick after launch to avoid unexpected
throttle idle if you have to switch to STAB or MANUAL for some reason. Also be prepared for
another THR_MAX climb to the RTH altitude (ALT_HOLD_RTL) if your TAKEOFF alt is below
this.
Now, I usually switch immediately into CRUISE mode and start flying some. Letting it
cruise without input for several ten second or more internals allows the SERVO_AUTO TRIM
function to trim the servo trims. I do this for several minutes, then switch into Manual mode to
verify that its been trimmed.
Then check all the other flight modes one by one, just as a check. Especially FS using
the switch to force throttle below idle.
At this point the plane should be flyable and well trimmed. Now you can explore the
other features of Ardupilot and/or tweak things to your liking. If you elect to use AUTOTUNE,
be sure to read its documentation. Many do not exercise it enough to get a good tune and
then complain about the sluggish handling. The default PIDs work well for most aircraft
(except as noted above for small agile wings).

Finally, backup all the parameters to a file using the WRITE TO FILE button in the
CONFIG/TUNING tab , Full Parameters subtab.