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CC3D Revolution Board Setup

Introduction

Welcome to the Revolution (Revo) board setup page. Along with the tutorials you will also find links to
the relevant Wiki pages to assist you in setting up the best Flight Controller board on the market.

The OpenPilot Revolution board, also called 'Revo', is a new breed of Autopilot using the STM32F4
series, 210MIPS ARM Micro-controller. This is important, as it contains a hardware floating point unit
(FPU), which is a huge advancement for the hobby-class autopilots. Of course, OpenPilot has been
32bit since day one, and the FPU is another step up the performance ladder. The FPU allows
precise, low-latency processing of real-life measurements using advanced attitude estimation algorithms.

The Revolution is a flight control computer with autopilot, intended for multirotors, helicopters and fixed
wings. It is a full 10DOF with gyroscope, accelerometer, magnetometer and
pressure sensors.

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Setting up your Revolution Board for the first time

You have just received a brand new Revolution board and are trying to mount it in your air frame, follow
the instructions below.

Vehicle Setup Wizard

Once you have mounted your Revo on your frame you need to configure it through the Ground
Control Station (GCS) using the Vehicle Setup Wizard, follow the Tutorial below for setting up on a
Multirotor.

connection diagram

The diagram below summarizes how the overall Revolution system is connected.

Technical description

CPU

CPU is the STM32F405RGT6 chip, with ARM Cortex-M4 core at 210MIPS, FPU, and saturation
arithmetic's DSP functions.

The chip features a range of built-in hardware modules that can be programmed once and function
independently, requiring little to no CPU overhead. These include 14x multichannel
timers, 3x synchronous-sampling ADC serving up to 24 channels, 2x DAC, matrix memory controller
with 16-stream DMA, and others. Communication modules include USB2.0, 3x I2C, 3x SPI, 4x USART,
2x CAN and SIDO. All these modules can be configured for accessing the chip pins using a flexible
switch matrix, or disabled to save power.

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It even contains a real time hardware calendar if you want to wake up flight. The software and settings
are loaded through USB connector and no-hassle update function in the GCS (Ground Control Station).

Modem

The board features built-in 433MHz OPLink Modem.

Dimensions

OpenPilot products use the standard OpenPilot footprint, and hence has the same dimensions and
mounting holes as the OpenPilot Revo, GPS, OSD and PipX boards.

(All dimensions are in millimeters.)

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Ports

• Servo 1-6: These are the PWM outputs that go to servos or ESCs. Power is typically
applied through these headers from only one of the ESCs. The positive (Vcc) and negative (Gnd) pins
are indicated on this diagram and the board.

Servo output pin layout is:

o Outside –> ground

o Middle –> 5V - 8.4V
o Inside –> signal
• Flexi-IO Port: JST-SH 10-pin. The receiver port can act as an input or output port
depending on the configuration which is set in the Hardware Settings. Configuring the receiver
port as an output port allows the user to assign more output channels then the 6 standard servo
outputs.

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PWM -vs- PPM Receivers

Please be aware that not all receivers can be configured to use a PPM output. It is the user's
responsibility to research this feature in regards to the desired receiver they wish to use for PPM and
ensure it can be used as such. Many hours of frustration can occur while trying to troubleshoot why
you can't get your radio to connect to the board with PPM if using a receiver that isn't designed with
that feature! Simply make sure the receiver can do it before trying to set it up that way.

• Main Port: JST-SH 4-pin. This is a serial USART whose baud rate can be adjusted through the GCS.
Optionally, Futaba S. Bus receiver, Spektrum/JR satellite receiver or GPS can be mapped to the Main
Port. Default configuration is Telemetry for connecting an RF modem.
• Flexi Port: JST-SH 4-pin. The function of this port also depends on the configuration and can be
configured for I2C or Serial. The default configuration doesn't use this port, but it can be used for
Telemetry, GPS, Spektrum satellite receivers (all working), and other I2C peripherals (under
development).
• RF Socket: Antenna connection socket for on-board OPLink Modem.
• Pwr Sen/Sonar Port: JST-SH 4-pin. This port can be configured to accommodate an
Autopilot current sensor and a low cost Sonar sensor such as the HC-SR04. It can also be used as a
general purpose input/output port or as a one or two channel analog input port.

note

Please note that the output rate on the output channels from the Receiver Port cannot be set individually.
If servos are connected to these outputs, you must ensure that they can work with the defined output rate
for choosing a high output rate to support an octocopter configuration, the update rate from the output
channels from the Receiver Port are bound to the update rate from channels 5 & 6. In this case, you cannot
connect analog servos to these outputs since an analog servo only supports an output rate of 50Hz.

sensor suite

• 3 Axis Gyro
• 3 Axis Accelerometer
• 3 Axis Magnetometer
• Barometric pressure sensor

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MPU

The MPU-6000 combines a 3-axis gyroscope and a 3-axis accelerometer on the same silicon die. This
sensor can also be found on the CC3D and already has a proven track record of great flight
performance.

Pressure Sensor/Altimeter

When it came time to select a barometric pressure sensor, there were many to choose from and many
were not up to the task. For the Revolution, OpenPilot selected the Measurement Specialties MS5611.

The MS5611 is not just any barometric pressure sensor, it is purpose-built, and has a very high
resolution. As a result, it is ideal for use as a UAV altitude sensor. The sensor is so sensitive that it
can sense a vertical shift of only 10 cm. The Revolution uses the newer
MS5611-01BA03 version of this sensor that is far less susceptible to light interference than
the older, plastic case versions.

Magnetometer

Whether you are in 'Position Hold' while taking aerial photographs, or you are flying a fixed-wing UAV
on a pre-planned flight path, it's vitally important to have accurate heading information. The
Honeywell HMC5883L is a three-axis digital compass module which provides rapid updates to changes in
orientation which are accurate to a tolerance of 1° to 2°.

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Connectivity

Just like CC & CC3D, the Revo has many ports, but a key new addition is the Flexi-IO Port. A lot of
thought went into creating a small device that's flexible for use with multirotor platforms,
helicopters and fixed wing aircraft, as well as making connectivity as fool proof as possible.

See pictures below for easy identifications of ports.

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Flexi-IO

The Flexi-IO port uses a 10 pin JST-connector and is designed to perform several different functions. The port
is used for control input and output and can be configured to serve 6 PWM inputs or outputs. A mixture of other
modes can also be configured.

• 6 channel PWM input for receiver + 2 GPIO

• 1 channel PPM input for receiver + 5 PWM I/O channels for motor/servo or sensors
• 4 SPI pin + 1 UART + 2 PWM I/O (PPM mode)
• CAN with external transceiver, UART, 4 PWM I/O / PPM

The full unshared SPI I/O port can be used as master or slave, allowing you to interface the Revolution board
to any other embedded system like, for example, the Overo Linux boards.
This also allows use of the Revo for advanced robotic applications.

An additional board can provide raw CPU power and high level functions, ranging from networking and
data storage, up to video analysis, autonomous behavior and artificial intelligence. The Revolution board
will act as a reliable real time hardware controller and sensor platform, keeping your autonomous vehicle
safely under control at all times.

PPM+
PPM PPM + Outputs Telemetry
Pin Color PWM PPM Telemetry
function
Function Outputs Function Function
1 Black GND GND GND GND GND GND GND
2 Network VCC VCC VCC VCC VCC VCC VCC
3
4
PPM PWM
PWM PPM
5 White Input PPM Input Output
1 Input 1-8
1-8 12
PWM PWM PWM
6Blue
2 Output 7 Output 7
PWM Telemetry PWM PWM Telemetry
7Yellow
3 TX Output 8 Output 8 TX
PWM Telemetry PWM PWM Telemetry
8 Green
4 RX Output 9 Output 9 RX
PWM PWM
PWM
9Orange 5 Output Output
10 10
PWM PWM
PWM
10Violet Output Output
6
11 11

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Flexi Port

The Revo uses the same FlexiPort as the CC3D. The port can be used as either a UART or for I2C bus
connectivity. It can be connected to serial devices like the OP GPS or any I2C device
like the Eagle Tree Airspeed expander module, ADCs, I2C ESCs and a lot more. It can also be
used to connect Spektrum DSM2/DSMX Satellite to be used as receiver, or any other custom component
interfacing with I2C or a serial connection including custom extension boards. Of course, it's also possible to
run a serial Telemetry link to the GCS over the Flexi Port.

Pinout

Serial
function
JST-SH (GPS,
Color Pin Voltage Telemetry) I2C Function DSM
Black 1 GND GND GND GND
PWR Out PWR Out PWR Out
(VCC (VCC (VCC
Grid 2 4.8V - 15V Unregulated) Unregulated) Unregulated)
Blue 3 3.3V TX SCL
3.3V (5V
Orange 4 Tolerant) RX SDA TX (Signal)

Warning: The Spektrum adapter should only be powered by 3.3V, a step down adapter must be used.

Warning: The PWR Out voltage is dependent on the DC supplied voltage. Verify that you use the correct
voltage for your S.BUS receiver.

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Main Port

Standard serial port/S.Bus port (same as CC3D). This can be used to connect serial devices like Telemetry,
OP GPS, Futaba S.Bus receivers or Spektrum DSM2/DSMX satellites (to be used as a receiver), freeing
in these cases the Flexi-IO port for other uses. These systems use a single wire to help cut down cable
clutter.

Pinout

Serial
function
JST-SH (GPS,
Color Pin Voltage Telemetry) DSM S.BUS
Black 1 GND GND GND GND
PWR Out PWR Out PWR Out
(VCC (VCC (VCC
Grid 2 4.8V - 15V Unregulated) Unregulated) Unregulated)
Blue 3 3.3V TX
3.3V (5V
Orange 4 Tolerant) RX TX (Signal) TX (Signal)

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Current / Sonar

This port can be configured to accommodate an Autopilot current sensor and a low cost Sonar sensor such as
the HC-SR04. It can also be used as a general purpose input/output port or as a one or two channel analog
input port.

Pinout

JST-SH power
Color Pin Voltage Sensor
Black 1 GND GND
PWR Out
(VCC
Grid 2 4.8V - 15V Unregulated)
Current
Blue 3 3.3V Input
3.3V (5V Voltage
Orange 4 Tolerant) Input

Revo - Current/Voltage Sensor Setup

This page describes how to setup a voltage/current sensor using a Revolution board.

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Connector AttoPilot
pin pin
Color (board) Description (sensor)
Black 1 GND GND

Grid 2 Vcc Not used

Blue 3 Current input Yo

Orange 4 Voltage input V

Basic voltage sensor

A basic voltage divider can be used, using two resistors connected between ground and plus
from battery.

For a 4S battery (16.8Volts) the following values can be used:

• R1: 2.2 KOhms

• R2: 10 KOhms

With V battery = 16.8V, V out = (16.8 * 2.2) / (10 + 2.2) = 3.03V

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See also http://en.wikipedia.org/wiki/Voltage_divider

Current/Voltage sensor

Here is a list of common Attopilot sensors that can be used:

Voltage Current Voltage Current

Sensor Type Sensitivity Factor Factor Zero Zero
Attopilot 242.3mV/V,
13.6V/45A 73.20mV/A 4,127 13,661 0 0
Attopilot 63.69mV/V,
50V/90A 36.60mV/A 15,701 27,322 0 0

Attopilot 63.69mV/V,
50V/180A 18.30mV/A 15,701 54,645 0 0

Note : Attopilot 90A is same as RCTIMER 90A current sensor

Calculate Sensor Calibration values

To configure the battery monitor, you need to calculate the Sensor Calibration values.

For example, the documentation for Attopilot current sensor specifies the following
information for each sensor type:

Voltage current
Sensor type sensitivity sensitivity
18.30mV/Amp
50V/180A 63.69mV/Volt
36.60mV/Amp
50V/90A 63.69mV/Volt
73.20mV/Amp
13.6V/45A 242.3mV/Volt

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In order to use 50V/90A you'll have to do the following:

• Convert everything to Volt, so Volt/Volt and Volt/Amp:

o 63.69mV/V / 1000 = 0.06369 V/V o

36.60mV/A / 1000 = 0.0366 V/A
• Then calculate the values to insert in Voltage and Current Factors:

o VoltageFactor = 1 / 0.06369 = 15.701 o

CurrentFactor = 1 / 0.0366 = 27.322

Those factors are start values that can be adjusted later from readings, generally sensor's sensitivity
are not so accurate.

hardware settings

The first thing to do is to configure the hardware settings:

1. Connect the board to your computer and got to the System tab in your GCS 2. Browse
the first part (Settings) and find the HwSettings UAVObject 3. Enable the Battery
module: Optional Modules > Battery > Enable 4. Set the analog input pins for
voltage and current: • ADCRouting > adc0 > BatteryCurrent
• ADCRouting > adc1 > BatteryVoltage

5. Save changes, click Upload button 6.

Reboot your board: disconnect all power sources and reconnect to your computer.

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Calibrate sensor

Now connect the battery to the battery sensor, if changes are done and battery module enabled
you can see the display on PFD:

But values displayed are not accurate, we need to calibrate sensor!

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Setting Flight Battery Settings Properties

1. Connect the board to your computer and go to the System tab in your GCS
2. Browse the first part (Settings) and find the Flight Battery Settings UAV Object
3. Set the Voltage Factor and Current Factor as in the previous section.
4. Set the cell Capacity if you want a warning to be issued when there are less than 2
minutes of flight time available; otherwise, set to 0.
5. Set Nb Cells with the number of cells in series (2 for 2S, 3 for 3S, 3 for 3S2P)
6. Set the Warning and Alarm thresholds if you would like a warning or critical alarm to be
issued when going under the values that you specify.
7. Save changes, click Upload button.

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Note:

Sometimes sensors are not accurate with small readings, especially for current.

A Current Zero setting can be set without any load change this value to obtain a 0 amperes display.

PWM output headers

Just like the CC & CC3D, the Revo has a bank of 6 PWM output headers. If more PWM outputs are needed -
the Flexi-IO port can be configured to support up to an additional 6 PWM channels if so required.
PWM port 5 can also be configured to communicate with an external analog airspeed sensor or a governor
for helicopters.

SWD Port

Serial wire debug port. This allows the use of cheap boards like the STM F4 Discovery as an in-circuit
debugger to ease the firmware development.

Pinout

Pin
Color JST-SH Pin Description

Black 1 GND

Grid 2 NRS

Blue 3 IO

Orange 4 CLK

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Micro USB

We have decided to move away from using the mini USB port found on the existing CC and CC3D
and instead use a Micro USB port. The Micro USB port has several benefits, it's physically
smaller, more robust, a much more widely adopted standard, and is the same type of port found on the
majority of mobile phones. In all likelihood, you'll already have one of these cables at home.

The USB port provides a USB composite device with the following functions:

• OpenPilot HID device (default GCS interface, uses PC system drivers)

• CDC virtual serial port (telemetry, debugging, serial bridge mode relaying data from/to physical
serial port to the virtual one for GPS/Bluetooth module setup, etc)
• 8-channel HID joystick (passes data from all supported R/C inputs to PC flight simulators)

OPLink Modem

The Revolution has its own OPLink Mini built right onto the board! This is not only a 10DoF flight
controller with an ST32F4 processor in the same small footprint as the CC3D, but also has its own LRS
modem. The modem is directly powered from the Revolution itself, so you don't need to worry about
any additional power supply.

Of course, the on-board modem will have the same functionality as the OPLink Mini. Both are fully
configurable from the GCS.

Operating on the 433MHz band (a 900Mhz version will be released at a later date), the modem
provides a direct telemetry link between the GCS and your flight controller. And just as with the OPLink
Mini, you can adjust the output RF power for compliance with any governmental RF regulations,
or it can be disabled entirely.

DIY Board Users

Please download below file for Schematics, PCB Layout.

http://opwiki.readthedocs.io/en/latest/_downloads/Revolution.zip

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Revo - LED Indications

They will show in sequence:

• Notifications
• Alarms
• Heartbeat/FlightStatus/ArmingMode.

Revo - External LED setup

Overview

This document will describe the necessary hardware and software setup to connect an external
notification LED to Revolution. WS2811, WS2812 and WS2812B multicolor LEDs are supported in both
single LED or multiple LED configurations. The LED is useful for debugging and it provides visual
information about flight modes and warnings during flight. The battery low voltage warning is particularly
useful.

Please refer video link below

https://www.youtube.com/watch?v=S7CISYWC7MA

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Hardware Connections

The OpenPilot firmware supports LEDs wired in both parallel and series configurations. A single
LED is capable of displaying all of the data. Both the LED strips and the modules have voltage input
(5V), ground (GND) and signal input (DI) pins, and also often corresponding output pins. For a single
LED configuration, the output pins are not used; and in a multiple LED configuration, you can wire the
LEDs together serially in a chain.

On the left is an example of a very common single LED module which is readily available on eBay. If
you use a single LED, make sure that the breakout board has a capacitor on it; Otherwise, inrush
current spikes can damage the LED. The capacitor is usually a surface mounted component just
like the brown one next to the LED unit in the photo. A capacitor is optional on configurations with two
or more LEDs.

Revolution can command the LED(s) from various outputs. For the output signal, servo output rail
pins 1-6 are supported, and Flexi-IO port pins 3 and 4 (from the left) are supported. Power for
the LED is available from Flexi-IO pins 1 (GND) and 2 (5V), or from the servo output rail. After making
the necessary connections, it is recommended that you mount the LED so that it is visible from below
while flying.

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Software Setup

Following hardware setup, configure the controller in GCS as follows:

• Go to System tab > HwSettings > WS2811LED_Out and choose the pin where you
connected the LED(s)
• Click the red Save button in the top part of the view
• Disconnect Revolution from PC
• Connect your flight battery. LED(s) should start showing system status according to the graphic in
the Light Codes section below.

Light Codes

The following graphic shows different notifications Revolution will display with the LED(s).

Revo - Sensor Calibration

This panel will allow you to undertake a Manual Calibration of the Sensors on the Revolution board.

There are six (6) different ways of Calibrations that can be performed.

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• Setting Home Location •

Thermal Calibration
• Accelerometer Bias Calibration
• Magnetometer Calibration •
Board Level Calibration
• Gyro Bias Calibration

How to video link below.

https://www.youtube.com/watch?v=dn9IDw2D1qw

Setting Home Location

Warning

You must set your home location before performing the Sensor Calibrations

There are two ways to set your home location:

1. Using GPS Module

2. Manually Select

• Go to Flight Data Tab •

Either wait for GPS to go to your home location (using GPS Module) or manually zoom
map up to your location (Manual Select)
• Once found, right click on the map and click on Set the Home Location

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• Enter the Altitude of your home location in meters, click OK

note

You can check the home location coordinates by going to the Configuration Tab -
Attitude/Settings tab

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Thermal Calibration

note

The procedure below outlines the way to thermally calibrate the Revo to meet large temperature
changes, it is not essential to put in the freezer as the min and max temp ranges of the calibration only
need to be below and above the ambit temps of your location. (approx +- 10/15 deg C above and below)

However if the temperature rises or falls above or below the min/max temps you calibrated at, you will
need to redo this calibration, so it is best to use some form of cooling to lower the min start temp and raise
above max ambit temps of your location.

Also note this calibration is not needed, but it will improve the performance of your board

1. Plug your USB cable into your Revo. Start the OP GCS and ensure that you have disabled the
OPLink modem (ie Max Power = 0). Then Save and Disconnect. Remove USB cable from
computer but leave Revo plugged in.
2. Put your Revo in a plastic bag and seal it reasonably well, but with the USB cable exiting
the baggie so it can be plugged into the computer.

note

The bag is because we are going to freeze Revo and it will get condensation on it if we don't do this. For
added temperature range (higher temperatures) you could build a very simple hot box out of a low
wattage incandescent light and a shoe box. You also might consider just

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wrapping Revo up in a good insulator, like a warm lightweight modern jacket. You could also set it out in
the hot sun in the summer if you can plug it into USB at the same time.

3. Put Revo/baggie/cable in the freezer for 20 minutes or so.

4. Take it out, put it in the hot box or wrapped up or in the sun, or not... Immediately start
the thermal calibration.

• Don't move it at all while calibrating this test (gyros and baro are being calibrated).
• Don't allow your home heater or air conditioner fan to run while doing this test. (air pressure
changes).
• Don't open or close any doors in the house. (air pressure changes).
• Don't do this on a windy day (chimney, etc.).
• Don't do this on a stormy day (rapid changes in barometer).
• Don't play 1812 Overture or let your sister dance in the next room.

5. Watch the thermal calibration and unplug the light bulb when it gets within a few degrees of your
desired high temperature (ie 10-15 deg above what hottest day in your location).

6. If it finishes thermal calibration before reaching your desired temperature, you can start over or use
what you have.

7. Save your thermal calibration with the Save button in the lower right.

note

You can check the temperature min-max (temp_calibrated_extent). Go to the System Tab then Settings/
Accel Gyro Settings/temp_calibrated_extent. You can then see the min & max calibrated temps (below is
screen shot of uncalibrated board showing 0 for both min & max, once calibrated you will see your
boards min & max temps)

Accelerometer Calibration

Warning

During this calibration the board MUST remain perfectly still during each position of calibration.
Even vibrations on a table or someone walking past could upset the calibration

On the Calibration Tab, click start “Accelerometer calibration”.

1. Place the board as shown in the picture on screen and click Save Position.

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2. If the calibration failed, you will need to restart the accelerometer calibration over.

Multirotor Vehicle Setup Wizard

The Vehicle Setup Wizard allows users to step through and setup all the initial settings including
the TX.

When the GCS is started, the Vehicle Setup Wizard can be accessed by clicking on the “green”
Vehicle Setup Wizard button.

Ensure board is connected through USB port before starting Wizard.

Depending on the flight controller board, some screens may or may not be displayed as you progress
through the wizard.

First Flight

Pre-flight checks.

There are a few things that you'll want to check before flying. Especially in the case of a multi-rotor.
If you have swapped your motor outputs or your servo output is reversed, then the multi-rotor may flip or
spin directly upon lift off.

Warning

REMOVE PROPELLERS!

You should always remove your propellers prior to starting tests or connecting your battery for the
first time.

Arming (Turn your board on)

At start-up the system is disarmed. When disarmed, the motor(s) will not function, but the servos should
work (If installed, eg on Tri-Copter). Before flying, the system needs to be armed with a specific stick
input. The input that is needed for arming (and disarming) is configurable. For safety reasons, the
default configuration is such that the system will not arm under any conditions. Hence, it's mandatory
that you configure the arming in the GCS input configuration.

Check your system alarms

The flight controller will not arm itself if any system status alarms are present. They can be checked by
connecting to the flight controller board with OpenPilot Ground Control Station,

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and looking at system status indication under the primary flight display. All status objects should be
green. PATH can remain yellow. For more information on alarms, read the next
page.

Check your stick inputs

With props removed, after you have armed your board, the blue LED should start flashing rapidly
indicating that the board is armed. If you have specified that the “motors should spin at neutral output” in
the output configuration, the motors should start spinning right now.
Otherwise you can now apply some throttle and get the motors spinning.

Verify that the correct motors follow your stick input. Eg rolling left should increase the throttle on
your right motor(s) and vice versa. If the wrong motors are spinning faster, you need to recheck your
configuration.

Rate mode

Note that some motors could start spinning faster if you have already selected a stability mode on
your transmitter with the Flight Mode switch. You should do your first tests in rate mode only.

Check your stabilization

While the motors are spinning, you can move the aircraft in the pitch or roll direction. The flight
controller should react promptly and accelerate the correct motors to counteract the movement.
Please make sure that the correct motors are spinning up. If the opposite motors spin up, then you would
flip your multi-rotor immediately upon lift off. In this case, you need to recheck your configuration.

Important: Check fail-safe!

Arm the aircraft and run your motors, now turn off the transmitter and confirm that all motors stop.

Your first flight (multicopters and helicopters)

You've done your pre-flight checks, your transmitter and flight batteries are all fully charged, and you are
confident that the vehicle has been configured correctly - it's time to fly!

But, it's also time to take a deep breath and honestly evaluate your flying skills - if you are a novice then
you should consider buying a flight simulator and developing some basic skills -

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crashes in a simulator cost nothing, so you will quickly justify the investment for this software.

If you are feeling confident, take the model to a large, clear and deserted open space - you don't want
any trees or overhead wires nearby, you definitely don't want any people or dogs in the area, and you
shouldn't be too close to a road. A grass field is better for first flights, rather than concrete or tarmac.
Ideally there will be no wind, but a very slight breeze shouldn't be a problem.

Important

You may be disconnecting and connecting power to the model several times during these first steps - you
must wait at least 30 seconds before reconnecting power, otherwise the model may behave
unpredictably.

Remember to keep the model still for about 10 seconds after each connection, while the gyros are
calibrated.

The following steps have been written on the assumption that 'Zero gyros while arming aircraft' has
been selected on the Attitude Configuration page of GCS (the recommended setting). This can help
with the stabilization of the model.

note

Remember to keep the model still for several seconds after arming, while the gyros are zeroed.

1. If you have brought anyone with you to witness the first flight, make sure that they know where to stand,
how to behave, and what to do if the vehicle goes out of control. If there are any children, make sure
that they are under close supervision.
2. Put the throttle stick to minimum and switch on the transmitter. If your transmitter has a throttle lock
facility, set this to 'locked'. Put the transmitter on the ground next to where you plan to stand while
flying the vehicle.
3. Place the model on the ground about 10 paces away with the tail towards the transmitter.
If there is a breeze, put the model either upwind or downwind of the transmitter - you don't want a
cross-wind.
4. Connect the power to the vehicle and do not move it for about 10 seconds while the
gyros are calibrated. Return to your transmitter.
5. Take a good look around for safety's sake, then unlock the throttle and arm your board -
the blue LED on the board will now flash rapidly and the rotors will spin if you've selected

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'Motors spin at neutral output when armed'. IMPORTANT: you must wait a few seconds
after arming while the gyros are zeroed (see note above). The aircraft may be unstable if this isn't
done. Use this time to have another good look around you.
6. Steadily increase the throttle until the vehicle is about to lift off the ground - any tendency to flip or spin
will be apparent at this time. Close the throttle immediately if the vehicle does anything unexpected,
and then take a look at the problem-finding guide.
7. If everything looks OK. then close the throttle, disarm the vehicle, take a deep breath and have yet
another look around the field - it's time for lift-off!
8. Arm the vehicle, wait for a few seconds, then open the throttle confidently until the
aircraft lifts off the ground. Try to hover about 1 or 2 meters off the ground, while keeping in one
position.

You are now flying! Obviously this bit is not as easy as it sounds and a lot of practice is required.

The important thing to remember is to close the throttle if the aircraft goes out of control -
you will crash at some time, and cutting the power will minimize the damage.

Get into the habit of disarming the board when landing for more than a few seconds or when approaching
the vehicle to handle it, and don't forget the short wait after re-arming - again, use this period to look
around the field before flying .

Disarm the board and set the throttle lock when you have finished flying, then put down the transmitter
a little way from the model. Disconnect the power from the aircraft, then turn off your transmitter.

Now that you have proven that the aircraft will fly, you might like to try the training exercise videos for
helicopters found on this website page. Many of these are also suitable for multi-
rotors.

Optimizing values

Apart from tuning the stabilization settings, there are some values which advanced users may want to
change pretty soon. The default values will fly your aircraft perfectly fine, but would limit some users in
their flying style.

Please find below a few settings which can easily be cranked up for more experienced users.
Note: these are available in each of the three Settings Banks.

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Tuning your Revolution

Full stick angle in Attitude mode

Location Stabilization panel, Responsiveness, Attitude mode response (deg)

Standard value 55°

Tuned+ value 65° or more

Specifies how many degrees the vehicle will bank on a full stick deflection when in attitude mode.

If you fly your multi-rotor in heavy wind, you may find that low values are not sufficient to counteract
the wind fast enough. The default value is fairly good for a beginner.

Full stick response in Rate mode

Location Stabilization panel, Responsiveness, Rate mode response (deg/s)

Standard value 220°/s

Tuned+ value 360°/s or more

Specifies how many degrees per second a full stick deflection commands in all modes except Attitude
mode.

If you want to do flips with your multi-rotor you should increase this setting. Flips that take too long to
complete can result in too much loss of altitude for the beginner. To get some idea of how fast you
want to flip, imagine the flip taking one second to complete - that would be equivalent to 360°/s.

note

This is the value to control rotation rate when using attitude mode

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Full stick response limit in any mode

Location Stabilization panel, Responsiveness, Max rate limit (deg/s)

Standard value 300°/s

Tuned+ value 360°/s or more

Specifies the maximum rotation rate in degrees per second commanded by a full stick deflection
on the associated axis in any mode.

Make sure this is the same or higher than Rate mode response above.

MaxAxisLock

Location Stabilization panel, Expert Tab, Axis Lock

Standard value 5°

Tuned+ value 15°

The maximum number of degrees that the control accumulates error. The default setting is changed to
15° in newer firmware & should be a good value for multi-rotors.

Alarms - What they mean and how to fix them

Status widget overview

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The OpenPilot/LibrePilot flight control firmware has a built-in status system that gives you an overview
about what's happening with the board. The System Health Status widget in the Ground Control
Station can be used to diagnose various problems, and to check which modules of the firmware
are running.

Arming

The flight control board cannot be armed until crossed-out alarms and red alarms have been solved. All
objects, except for the special “Plan”, should be green for optimal flight performance. The
information corresponds to the UAVObject DataObjects > SystemAlarms > Alarm.

Status object explanations

Auto (Autonomous)

Atti

Shows the status of the board's attitude data. If all is well with gyroscope and accelerometer, it turns
green after gyroscope calibration upon power up, or if you are using “GPS Navigation
(INS13GPSOutdoor)” stabilization mode, when the Inertial Navigation System's Extended
Kalman Filter (EKF) has fired up. EKF is a sophisticated sensor fusion algorithm that takes data from
relevant sensors and creates a best possible estimation of the board's angle, velocity and position.

• Attitude data not available, waiting for gyroscope calibration. Don't move the
vehicle while gyros are being calibrated upon board power-up. There is no data coming in from the
sensors, which usually indicates faulty onboard sensors on CC3D and unknown home location on
Revo. For Revo this is normal when you have not had GPS fix yet on a new build. The home
location will be automatically set when GPS gets enough satellites and good fix. The sensors can
be damaged in a bad crash. Otherwise, contact board seller.

• Data is received from the sensors, but attitude information is not available. Este
usually happens when the EKF is not running yet. Make sure that GPS and MAG alarms are green,
and that all calibrations have been done properly. It sometimes helps to move the vehicle around a
bit to give EKF a better view of what's going on with sensors.

• EKF is running, but the state estimation is not optimal. Good calibration and
moving the vehicle a bit helps this situation.

• The system has a clear view of the state of the vehicle.

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“The Bug”

There is a very specific condition that can arise within the system that can sometimes occur after the
EKF has been initialized, and the vehicle has been left stationary for an extended period of time.
Fortunately, this condition is easily detected and the flight firmware mitigates the event. However, the
solution is extremely complicated and beyond the capability of most people, and until such a stage as
the developers have a chance to address the matter, it's occurrence is indicated as follows:

• A large red X appears over the PFD.

• A Yellow ATTI alarm with STAB green

This event has been nicknamed “The Bug”, and it is still possible to arm and fly the vehicle in this
condition.

Should you wish to clear the indication, one can reset the Revolution flight controller, or alternatively,
change the Attitude Estimation Algorithm to Basic(Complementary), and then change back to GPS
Navigation(INS13). This action will cause the EKF to reinitialize
and the indications will be cleared.

stab

Shows whether the board is capable of stabilizing flight. This status goes very much hand in hand with
Atti.

• Waiting for gyroscope calibration. Don't move the vehicle while gyros are being
calibrated upon board power-up.

• The stabilization module cannot stabilize flight. See red Atti status for
explanation.

• Can be a brief alarm when one gyroscope update is missing.

• Stabilization of flight can be performed.

Path

Shows whether the Revolution board is capable of autonomous path following. Autonomous flight
requires a GPS and a stabilization algorithm set up as GPS navigation.

• The flight controller has not been configured to do autonomous flying.

Autonomous flight is only possible with stabilization mode “GPS Navigation”.
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• The system has been configured to initialize Path Follower module, but it can't
be used at the moment. It happens usually because EKF is not running, see Atti red explanation.

• All is good with the Path Follower module. You can use GPS flight modes.

Plan

Shows the status of an autonomous flight plan that can be uploaded to Revolution using the Ground
Control Station. The status of Path remains yellow until a proper plan has been uploaded, and
turns green if all is good with the plan. A valid plan can be activated with a path follower flight mode.

• The flight controller has not been configured to do autonomous flying.

Autonomous flight is only possible with stabilization mode “GPS Navigation”.

• Path has been uploaded, but data is invalid and cannot be used for autonomous
missions.

• No path plan has been uploaded, but the system is ready to receive a plan. Este
it is okay if you don't intend to do autonomous missions right now.

• A valid and usable flight plan has been uploaded and stored on Revolution.

GPS

Shows the status of the GPS that can be connected to an OpenPilot flight controller. GPS is required
autonomous for missions and more sophisticated flight modes.

• A GPS has not been configured to be used.

• The GPS has been configured, but no valid data is coming in. This is normal if
flight battery is not connected, because GPS only gets power from external sources, not USB. Check
the baud rate and the used protocol of your GPS. Double check serial connection, TX/RX
need to be crossed between board and GPS.

• Serial communication is fine but the GPS has no valid fix. Wait for GPS to
gather satellites, and preferably have your vehicle in an open area.

• The GPS has a fix and navigation can be used. However, the position quality is
very low (the indication <7 satellites and/or PDOP > 3.5m). A blue LED will flash on the
OP v8 and v9 GPS.

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• The GPS has a valid 3D fix.

Initial GPS setup information

When powering up the GPS for the first time, it might take over 30 minutes for the GPS to download
almanac information from the satellites and acquire a good lock. Be patient, and have a clear view of
the sky.

Sensor

Shows the status of the sensor handler module.

• Sensor module is not being used in current configuration.

• Sensor communications are up and ok.

Airspd

Shows the status of an optional air speed sensor that can be used with fixed wing aircraft.

• Airspeed sensor has not been configured to be used.

• Valid data is coming in from the airspeed sensor.

mag

Shows the status of Revolution's magnetometer, or the status of an auxiliary magnetometer on board the
OpenPilot GPSv9 if the GPS is configured to be used.

• Magnetometer is not being used in current configuration, or auxiliary

magnetometer is not feeding data. If using GPSv9, power up the board externally. Home location has
to be set to enable magnetometer.

• Data is coming from the magnetometer, but the readings are off by over 15%.
This can be caused by various reasons:
o Magnetometer has not been calibrated with current vehicle (or after recent
modifications to vehicle)
o There are high currents in wires, interfering with the magnetometer. Twist wires and
route them away from magnetometer.
o Calibration was properly done outside, away from metallic objects, but the vehicle is
now inside in a different magnetic environment. This behavior is normal.

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• Magnetometer readings are off by over 5%.

• Magnetometer is working properly and the quality of the measurements is

good.

I/O (Input / Output)

Input

Input module handles the data that is coming from your receiver.

• R/C input has not been configured. Use Input tab or Transmitter Setup Wizard to
configure your radio channel inputs.

• No R/C input data. Power up receiver with the flight battery.

• Valid R/C input data is coming in.

Output

Output module takes motor speed and servo position data from stabilization algorithms, and feeds it into
output channels.

• Channel outputs have not been configured. Use Vehicle Setup Wizard to configure
them automatically.

• Outputs are configured and can be updated.

I2C

I2C is a bus that connects onboard or auxiliary sensors and handles the data transmissions.
I2C is designed for communications internal to a PCB, and does not work well via wire connections.
It is okay to use for LED controls and similar functions, but is absolutely not recommended for flight-
critical sensor connections.

• I2C module is not being used.

• I2C module is in error state.

• I2C communications are up and working properly.

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Telemetry

Shows the status of Telemetry communications module

• Telemetry module has encountered an error. Set up only one telemetry

output port.

• Telemetry data communications are working properly.

Pwr (Power)

Batt

Battery status shows whether you have enough voltage in the battery to fly. Set limits for this in FlightBatt
(CHECK this) settings. It requires a battery voltage sensor to work. Battery monitoring module can be
enabled in system settings' optional modules.

• Battery monitoring module is not enabled.

• Not enough battery voltage to safely take off. Default limit is 3.1V/Cell.

• Battery voltage is low, but flying is possible. Default limit is 3.4V/Cell.

• Battery voltage is ok.

time

Shows whether you have enough energy in the battery left for flying, and requires a battery voltage and
current sensor to work. Currently you have a bug when not using a current sensor; set the battery capacity to
0. This disables the estimated flight time counter and associated
alarms.

• Battery monitoring module is not enabled, see above Batt explanation.

• Battery energy is low, flying cannot be performed safely.

• Low amount of energy in the battery, flying is still possible.

• Good amount of energy left in the battery to fly.

Settings

Shows whether your flight controller board has been properly set up.

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• Board configuration problem. If you have set up GPS modes (GPS Assist, PosHold,
RTB) to one flight mode, then make sure that “GPS Navigation (INS13)” fusion
algorithm is selected.

CC3D can't use GPS Navigation (INS13) and do not support GPS Assisted modes.

Select GPS Navigation (INS13) in Config > Attitude tab > Parameters > Attitude
Estimation Algorithm.

• Board configuration ok.

Sys (System)

boots

Shows that a board reboot is required, or fail-safe settings have been loaded upon boot.

• Boot alarm can be caused by various reasons:

o No valid telemetry option selected, so board will boot with default USB telemetry
o Board init failed due to driver, module or RAM issues, and the board has been booted up in fail-safe state

o Board has been put to safe mode by the user

o Board needs a reboot after hardware configuration changes

• Flight controller booted up properly.

Meme

Displays the status of remaining memory (RAM) that are used by processes internal to the flight controller.

• Very low RAM left, flying cannot be done safely. Less than 40 bytes for CC/CC3D
or 500 bytes for other boards.

• Low amount of RAM left, flying can be done but don't enable more software
modules. This is common with older flight controllers such as CopterControl. Less than 200 bytes for CC/
CC3D or 1000 bytes for other boards.

• Sufficient amount of RAM left for system to operate and expand.

stack

Shows the status of the microcontroller's stack, which is a place where low-level functions
store data.

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• Stack status ok.

Event

Shows the status of event system. A very heavy load can cause the event system to be
overloaded.

• Event system error or overloaded. This can be caused by a bug or too high
telemetry update rates when OPLink has low baud, for example.

• Event system at high stress. See above.

• Event system ok.

CPU

Indicates CPU load.

• CPU load is very high; flight cannot be performed safely.

• CPU load is high, but flight can be performed. Don't enable more software
modules like TPS or board rotation. Should only occur for CC/CC3D.

• CPU load is at an acceptable level, and flying is safe.

OPLink and Bluetooth Setup

• Overview
• DIY Board
• Serial Bluetooth RF Transceiver Module RS232
• OPLM CC - CC3D - Atom Hardware Setup
• OPLM Binding and Basic Telemetry
• OPLM Vehicle Control Link

• Bluetooth Setup for Telemetry

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Overview

The OPLink is a radio transceiver backed by an ARM32 powered digital packet processor
specifically designed for the OpenPilot project, it was originally developed under the codename:
PipXtreme and there are many artifacts that still reflect this. It is a two-way radio system allowing real
time telemetry information for the Ground Control Station, Wireless Configuration and even radio
control from your transmitter over a single communications link.

You will need two OPLink radios to establish a connection between the vehicle and ground station.
Note that the Revolution board has an OPLink built into the flight controller. The same firmware
version must be running in Revo and OPLM devices (ie if you upgrade one board, you will need to
upgrade all others that are 'bound' together).

The OPLM units operate at 433Mhz. This means that there will be a frequency conflict if you operate
the vehicle using a UHF 433Mhz system. In basic terms, this conflict will lead to a loss of vehicle
control and/or a crash. Use transmitters in other parts of the spectrum (ie
2.4G, 27Mhz, 36Mhz) for vehicle control if you intend to enable the OPLink on your Revo for
transmission of telemetry data. If you wish to use a 433Mhz transmitter for vehicle control, then use
an OPLM which will by default, enable the transmission of telemetry.

Check local laws and regulations regarding radio licensing, see our license article for more
information.

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The device that is intended to undertake the most of the transmissions should be allocated as
the Co-ordinator. If you wish to use the OPLM for vehicle control, then the Co-ordinator should be
the OPLM device in your transmitter module at the ground station. In this case, the Revo or another OPLink
will be acting as a slave receiver but will also transmit telemetry information to your ground station
which is comprised of another OPLM connected to a computer that is running the OP GCS Flight
Data page. Alternatively, if you wish to simply receive telemetry data at the ground station, then the
Revo should be configured as the Co-ordinator. Configuration instructions are provided below and linked-
to pages.

First time use with OPLM

When you first try to use your OPLM with the GCS, it will not be automatically picked up by the GCS.
You first need to go into the 'Firmware' tab and click 'Upgrade & Erase' while the OPLink is
disconnected. Then plug in OPLink when the upgrade process asks for it. Once this has been done, your
OPLM board will show up at the bottom of your GCS as a connected device. The configuration
page icon at the bottom of the page icon list may be hidden without scrolling down,
depending on the size of your computer screen.

OPLink Mini

• 100mW Standalone Radio Modem

• 3 IO Ports: Micro-B USB, Mainport & Flexiport
• MMCX Antenna Connector.
• Weight: 4g
• Dimensions: 20mm x 29mm
• Input Voltage: +5v

OPLink Revo

• 100mW integrated radio modem included the OpenPilot Revolution platform.

• MMCX Antenna Connector.
• Directly integrated, no external connections or power needed.
• Dipole whip antenna

• OPLM CC - CC3D - Atom Hardware Setup

• OPLM Binding and Basic Telemetry
• OPLM Vehicle Control Link

DIY Board

Pls download below file for Schematics, PCB Layout, Gerbers, BOM.

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http://opwiki.readthedocs.io/en/latest/_downloads/OPLink%20Mini.zip

Serial Bluetooth RF Transceiver Module RS232

This small size Bluetooth TTL transceiver module allows your target device to both send or receive
the TTL data via Bluetooth technology without connecting a serial cable to your computer. It's
easy to use and completely encapsulated. It can be used to establish a short telemetry link directly to
the vehicle, or a telemetry link between a computer and a transmitter, which has an OPLink
module connected to it.

• CSR BC417143 Chipset

• Bluetooth version V2.0+EDR (Enhanced Data Rate)
• Output power Class II (±2.5mW range ±10m)
• Flash 8Mbit
• Power Supply 3.3V (5VDC via breakout board)
• UART interface

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This configuration guide covers the displayed serial Bluetooth module. It's available in many different
internet shops (eg Ebay, Goodluckbuy, BlueSkyRC). The boards generally ship for around $10 - $20.
Although the hardware is the same, several software or firmware revisions exist.

Different input voltage versions

Important

There are different versions available; 3VDC or 5VDC. You want the 5VDC version in order to connect
directly to CopterControl. This module has an on-board voltage regulator.

The voltage input must be clearly mentioned. Typically, these boards can handle a power supply
between 3.6VDC ~ 6.0VDC when an on-board voltage regulator is available

Check for the input & output voltage which is mostly mentioned on the module diagram.

• Bluetooth Setup for Telemetry

OPLM CC - CC3D - Atom Hardware Setup

Summary

This page will walk you through how to set up the hardware connections that are required for CopterControl,
CC3D and Atom OPLink operation. All OpenPilot boards support connection with the OPLink module.
The OPLink connection can be used for telemetry and/or vehicle control.

The OPLink module will get its power from the flight controller's external power, so unlike Revolution,
the modem will not get powered on by just plugging in the USB to the flight controller. Make sure that
you have the same OpenPilot firmware versions on both the flight controller and OPLink modem. All the
examples below are shown with a CC3D flight controller board, but they can be applied to CopterControl
and Atom, also.

Hardware connections

Telemetry only

The OPLink will be set up to talk bidirectional telemetry with the flight controller. You can use a regular
OpenPilot 4-pin JST SH cable to connect the two boards. It is recommended to use Main port for both
boards, but you can also use other ports to connect telemetry. just

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remember the changes in the Configuration steps below. Connect the boards like in the diagram:

Telemetry and vehicle control

If you also want to use OPLink modem for vehicle control, you'll need to add one additional wire from
the TX pin of the OPLink to the PPM input pin on the flight controller. In this diagram the wire
goes to PIN 8 on the controller, because that is the pin that allows OneShot125 and PWM
Sync with CC3D. Revolution PPM remains on PIN 3.

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Configuration

Change the flight controller and OPLink Mini configuration to reflect the wiring changes that have been made.
This is where it all becomes pretty rational. After these configuration steps, you are ready to proceed with OPLM
Binding and Basic Telemetry.

Flight-side OPLink modem configuration

• Connect to the OPLink mini modem with USB.

• From the Configuration tab, Navigate to the OPLink page in the GCS.
• From the Main Port drop down menu, select Telemetry.
• Click Save, wait a few seconds for the telemetry gadget (the meter at the bottom of the
GCS) to calm down, and disconnect from the modem.

Flight controller configuration

• Connect to the flight controller with USB.

• From the Configuration tab, navigate to the Hardware page in the GCS.
• From the Main Port drop down menu, select Telemetry
• From the Telemetry Speed drop down menu, select 38400
• Click Save, wait a few seconds for the telemetry gadget (the meter at the bottom of the GCS) to calm
down, and then disconnect from the flight controller

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OPLM Binding and Basic Telemetry

OPLink radios can be used in several different ways: for telemetry connection only, for telemetry
+ vehicle control, and for vehicle control only. The common thread for all these uses is binding, which
also leads to basic telemetry data being transmitted over the link automatically.

This procedure will bind an OPLink mini to another OPLink, either to the integrated OPLink of the
Revolution, or to another independent OPLink module. If you are binding two stand-alone OPLink modules
together, it is recommended to first go through the OPLM CC - CC3D - Atom Hardware Setup page in
order to prepare hardware for the binding operation. For Revolution, port setup or hardware changes are
not necessary.

We will use the ground OPLink as a link coordinator, and the flight OPLink as a slave link. This enables
full telemetry capabilities and makes it possible to use the link for vehicle control. If you are going to
use OPLink for vehicle control, do this tutorial first, then proceed to the vehicle control tutorial.
If you only intend to use telemetry, you can also make the flight OPLink the coordinator, but this does
not have any additional benefits.

Antennas

Caution

From this point on, you should always have antennas connected to all OPLink modules.
Neglecting this will cause permanent damage to the RF electronics.

Prerequisites

• Make sure that all modules are up to date by using the GCS Firmware Update & Erase feature,
found in the Firmware tab. OPLink must be disconnected before clicking the update button.
The OPLink that is integrated into Revolution will be updated when you update the flight controller
firmware.
• If you are connecting a ground OPLink to another stand-alone module, set up the hardware
first by following the OPLM CC - CC3D - Atom Hardware Setup page.
• To protect your hardware from short circuits, consider mounting the OPLink module inside a case or at
least wrap it with heat shrink. DO NOT mount a bare board so that it can touch carbon fiber
frame without insulating it first (carbon fiber is conductive).
• OpenPilot firmware can only support one Telemetry link at a certain time, so disable Telemetry
going to OSD or Bluetooth module etc. DO NOT disable USBTelemetry.
• Check, and re-check that there is an antenna connected to both OPLink modules!

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Binding

Coordinator side

1. Connect to the OPLink module that you are going to use as Coordinator, usually the
ground module.
2. Go to the OPLink page in the GCS, available on the Configuration tab's left bar. It is only
visible if an OPLink or Revolution is connected.
3. Set the following recommended settings:
1. “Max Power” 100 (or maximum for your country)
2. “Com Speed” 38400
3. “Max chan” 250
4. “Min chan” 0
5. Tick the Coordinator checkbox
6. Click Save, wait a few seconds for the telemetry gadget (the meter at the bottom of
the GCS) to calm down.
4. Write down the Device ID. You are going to use it later
5. Disconnect from the coordinating module.

The OPLink Save button will display a green “tick” when settings are saved, but it can disappear
soon after settings are saved. This is normal behavior.
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Using custom frequencies

If your country allows only a fraction of the available frequency band to be used, you can adjust the
operational OPLink channel range to reflect that. The GCS indicates minimum and maximum used
frequency when you change min and max channels. Both OPLinks must have the same min and max
channel pair to bind successfully.

Slave side

1. Connect to the another OPLink device that is going to be the connection slave
2. On the OPLink page in the GCS, set exactly the same Max Power, Com Speed, Max chan and
Min chan as you did for the Coordinator. DO NOT tick the “Coordinator” checkbox.

3. Enter the Device ID that you wrote down from Coordinator into the Coordinator ID text
box.
4. Click Save, wait a few seconds for the telemetry gadget (the meter at the bottom of the GCS) to
calm down.
5. Disconnect from the slave module. The bind is complete.

Testing the link for the first time

At this point, the OPLink modules have a successful bind and no more configuration steps are needed.
The next step is to actually test and verify that the connection between the OPLink

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devices works properly. All OpenPilot devices should be powered off and disconnected from your PC
before testing. This is because the modules need a proper power cycle to apply the changes we made,
and because only one telemetry connection can be supported at a time.
This means that if you have USB connected to the flight controller, only the USB connection gets
telemetry, and the OPLink does not.

1. Power on your vehicle using external power (ie, a flight battery).

2. Connect to the ground module with USB and observe GCS behavior as communication link comes
online. The link usually takes between 10 and 30 seconds to establish, because there are a lot
of settings objects that need to be downloaded through the link. You can observe the download
process in System tab.
3. Go to the OPLink Configuration page, and you should see a blue bar in the Remote
modems area, which indicates signal strength.

Congratulations! Your OPLink telemetry connection is now ready for use. If you wish to use the
connection for vehicle control also, proceed to the OPLM Vehicle Control Link page.

Binding to multiple vehicles

You can use a single coordinator OPLink module to bind to multiple vehicles that act as signal slaves.
They cannot be powered on simultaneously, but this allows you to get telemetry from many vehicles with
just one ground module and no configuration changes. It even supports controlling multiple vehicles.
This is established by repeating the slave side binding procedure for every additional OPLink.

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Multiple Slaves

Caution

Make sure that only one vehicle at a time is powered with a flight battery, or you may have a
second vehicle power up unexpectedly when you arm!

Using higher COM speed

OPLink supports higher COM speeds than 38400. If necessary, you can safely bump it up to 57600.
After that, the range of the link decreases significantly. This makes it possible to transmit larger
amounts of data and raise the update periods of various data objects (manually, in data object
meta data). With faster data rate, ridiculous object update speeds can be achieved, but at the cost of
range.

Using Bluetooth module with OPLink

It is possible to connect a Bluetooth module to OPLink, and establish a completely wireless telemetry
link. In this setup, telemetry data is first transmitted between OPLink modules, and then from ground
OPLink module to Bluetooth module, and finally to a computer or a smartphone with
integrated Bluetooth chip. Setup instructions can be found in the Bluetooth Setup for Telemetry page.

One way operation

If for some reason you want to only transmit with the other module, and receive with the other one,
you can tick “One way” in both OPLink module settings. It will enable a special mode where only the
coordinator module can transmit packets. The slave module receives packets normally.

Vehicle control link only

For those extra long or safety critical flights OPLink can be brought into a special mode where nothing but
PPM vehicle control signal is transmitted from coordinator to slave. This enables a custom communication
speed and protocol in OPLink. You can enable it by ticking “PPM Only” at both OPLink module
configs. The control link has to be set up normally using OPLM Vehicle Control Link page instructions.

OPLM Vehicle Control Link

These instructions will walk you through on how to use your existing OPLink telemetry connection
for vehicle control. The instructions consist of hardware and software side. Set up the hardware side first
and then do the necessary hardware configuration changes. if you

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have not done binding yet for the OPLink modules, do that first using OPLM Binding and Basic Telemetry
page instructions, and return to this tutorial after that.

For Revolution, no hardware configuration is required at the flight controller side. For CC, CC3D and
Atom, a PPM wire has to be connected from the OPLink module to the flight controller. The
instructions for how to prepare those flight controllers for control link can be found on OPLM CC - CC3D
- Atom Hardware Setup page. If you do not have the PPM wire connected, do it now, and then return
to this page.

OPLink wiring

You will need to supply power and control data from the transmitter to the OPLink module.
The OPLink Mini module requires three wires for normal operation with a transmitter.

• Ground
• Voltage (recommended 5V - 8.4V)
• PPM Out from the transmitter

The voltage wire, Vcc in the picture, is a bit tricky. A regular transmitter usually uses 3S LiPo for power
and it outputs that 3S voltage to the trainer port and radio module connections.
That voltage is too high to be directly used. You should use a linear regulator or UBEC to bring the
voltage down to 5 volts.

The PPM wire can be directly connected and does not need anything in between the OPLink module
and transmitter. You can cut a regular OpenPilot 4-pin serial cable in half and use that to connect the
wires to your OPLink module. The blue wire in the 4-pin cable is not used for this application, so you can
remove it.

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OPLink PPM input

OPLink module is programmed to accept PPM sum between 4 and 8 channels. Recommended PPM
frame length is 22.5 milliseconds.

OPLink input voltage

Do not input higher than 8.4 volts (2S) to the OPLink module! Higher voltage will cause permanent
damage to the electronics.

Pinouts for connecting OPLink to the transmitter

Here are two pinout diagrams that might help to connect the OPLink module to your transmitter.
The JR type module bay outputs PPM, which can be connected directly to your OPLink module. A 5V
UBEC is needed between +BAT and GND. You can connect the UBEC
output to OPLink Vcc and GND. The +6V wire can be used to power the OPLink directly if your radio has
it, but most radios don't.

The Futaba and Hitec trainer ports have similar pins that you can use, called GROUND, PPMout
and Vbattery in the diagram. A nice trick is to cut a trainer cable in half and use that to make a neat
connection to the transmitter. If you cut a trainer cable, you'll have to identify the correct wires with a
multimeter.

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Mounting the OPLink module to the transmitter

There are many ways to attach the OPLink mini module to your transmitter. The options listed here
are just ideas and possible inspiration for the job.

• You can install the OPLink module inside an existing JR or Futaba transmitter case
• 3D print a JR module: http://www.thingiverse.com/thing:585245
• Heat shrink the module and attach it to the transmitter with velcro
• Install the OPLink and UBEC inside the module bay without a case
• Invent a new method and contact a forum moderator to add your idea here!

Bluetooth Setup for Telemetry

These instructions will walk you through how to use a serial Bluetooth module, such as HC-05 and HC-06,
with OpenPilot hardware to establish a telemetry connection. There are two ways to connect the module;
either directly to the flight controller, or to an OPLink ground module.
Connecting to the flight controller makes it possible to configure and calibrate the flight controller
near a PC or a smartphone, but as a Bluetooth connection does not travel long distances, the link is
usually lost during flight. OPLink solves this problem, and communicates

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telemetry data from the vehicle to ground. Then Bluetooth connection can be used to connect a PC or a
smartphone to the OPLink ground module. This is especially useful when using OPLink for vehicle
control + telemetry.

No matter which hardware configuration you choose, the Bluetooth module's configuration procedure
is basically the same. HC-05 and HC-06 Bluetooth modules are factory configured to 9600 baud rate, 8
data bit, 1 stop bit and no parity serial connection. The baud rate must be increased to 38400 to match
that of the OPLink. Alternatively, 57600 baud can be used if you are connecting the Bluetooth module
directly to the flight controller, or if you use 57600 baud with OPLink.

Configuring the Bluetooth module

Hardware connections

To change the baud rate of the Bluetooth module, you must connect to the module with a serial link.
You can either use an FTDI USB to serial adapter, or your OpenPilot flight controller to connect
to the Bluetooth module. Both establish the same goal. If you have an FTDI adapter it is recommended
to use that, because it does not require any configuration
steps like the flight controller does for Virtual COM port ComBridge operation.

HW method 1: Using an FTDI adapter

Most R/C hobbyists are familiar with FTDI USB to serial adapters. This is probably the easiest method to
connect to the Bluetooth module. An FTDI module can easily be found on eBay.

1. Connect the wires according to the diagram.

2. Connect USB cable to the FTDI adapter.
3. Install any necessary FTDI drivers on your PC, or wait for your operating system to install
them.
4. COM port becomes available automatically, and can be seen in the Windows Device
Manager. Proceed to the next step below: Software steps.

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HW method 2: Using the flight controller Virtual COM port

OpenPilot flight controllers can work as a USB-to-serial adapter with a feature called Virtual COM port
(VCP). The configuration for VCP ComBridge is fairly simple. The VCP ComBridge feature works
with all OpenPilot flight controllers.

1. Connect the wires according to the diagram.

2. Connect USB cable to the flight controller.
3. Set the following settings:
• USB VCP Function ComBridge
• Main Port ComBridge
• Speed 9600
4. Click Save, and wait a few seconds for the changes to apply.
5. Reboot the flight controller, and the Virtual COM port should appear in the Windows
DeviceManager.

6. Proceed to the next step below: Software steps.

note

To power up the Bluetooth chip for configuration, the flight controller has to be powered up externally,
with a flight battery and UBEC, for example.

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Software steps

In this section, the Bluetooth module will be configured to correct the baud rate. You can also customize
the Bluetooth unit's name. The Bluetooth module expects to be called AT commands in the
COM port, which you can either write in a command line, or automatically send with a Windows tool
that former OpenPilot developer PT_Dreamer wrote. Connect your Bluetooth module to your PC with
either the FTDI or VCP ComBridge. VCP ComBridge usage requires external power to the flight
controller.

If you have not decided on the baud rate you want to use for the Bluetooth module, now is the time.
Recommended settings are 38400 for usage with OPLink and 57600 for usage directly with your
flight controller. Remember the setting, it is a good idea to use a marker pen and write it on the
Bluetooth module.

Configuration method 1: Windows configuration software

1. Download Bluetooth configuration software from the link below.

2. Extract the files and launch the configuration program by clicking on the .exe file.
3. Select COM port and baud 9600, and click Connect.
4. Select the appropriate Speed (baud rate; ie, 38400 or 57600), Name and Pin code.
5. Click Write values.
6. Configuration is done.
7. Undo the USB VCP Com Bridge changes if you used a flight controller for the connection.

Configuration software download from below link.

http://opwiki.readthedocs.io/en/latest/_downloads/BT_Cong_Qt4.zip

Configuration method 2: Command line

While the configuration software above is by far the easiest method on a Windows system, Mac and
Linux users will have to use command line to configure the Bluetooth module. There are many terminal
applications you can choose from. One option for Windows and Linux is PuTTY, and for Mac
CoolTerm. No matter which terminal application you use, connect to the COM port that the FTDI or VCP
Com Bridge is in with 9600 baud rate, 8 data bit, 1 stop bit & no parity serial connection.

When serial connection is open in the terminal application, proceed with the following steps, all CAPS:

1. Send “AT”, the module should answer OK.

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2. Send “AT+NAMEOpenPilot”, this sets the module's name to “OpenPilot”.

3. Send “AT+BAUD6” for 38400 baud rate OR “AT+BAUD7” for 57600 baud rate.
4. Close the terminal application.
5. Configuration is done.
6. Undo the USB VCP Com Bridge changes if you used a flight controller for the connection.

Connecting the Bluetooth module to OpenPilot devices

Connecting directly to the flight controller

For direct connection from the flight controller to the Bluetooth module, the wiring is exactly the same as
USB VCP Com Bridge wiring. The flight controller has to be configured to output telemetry data at the
correct baud rate.

Follow below steps:

1. Connect the wiring according to the diagram above.

2. Connect the USB to your flight controller.
3. Navigate to the Hardware tab on the Configuration page in the OpenPilot GCS.
4. Select Telemetry in the port where your Bluetooth module is connected (usually Main
port).
5. Select 57600 (or another speed that your Bluetooth module is configured to) as Speed.
6. Click Save and wait a few seconds for changes to apply.
7. Disconnect from the flight controller. You are now ready to test the link.

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Connecting to OPLink ground module

For completely wireless telemetry with OPLink and Bluetooth module, the wiring has to be connected
according to the diagram above. OPLink vehicle control is not necessary for Bluetooth operation,
but that is the most common use scenario. Completely wireless telemetry also works with CC/
CC3D/Atom, as long as the flight side OPLink wiring has been configured using the OPLM CC - CC3D
- Atom Hardware Setup instructions, and you have a successful bind. When you have done the wiring,
proceed with the following steps. The baud rate of the Bluetooth module has to be the same as the
OPLink radio baud rate. Remember to
power up the OPLink via Flexi or Main port, because powering it from USB port redirects Telemetry
temporarily to USB.

1. Connect your ground OPLink module to your PC with USB.

2. Navigate to the OPLink tab on the Configuration page in the OpenPilot GCS.
3. Select Telemetry in Main Port of the ground OPLink module.
4. Click Save, and wait a few seconds for the changes to apply.
5. Disconnect from the OPLink ground module. You are now ready to test the link.

Connecting to the flight controller via Bluetooth telemetry

Your Bluetooth telemetry link should now be ready to test.

Important

Power up all the related devices such as the flight controller and possible OPLink modules
using external power and not USB. This is important, because if any OpenPilot device is

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connected via USB, other Telemetry connections will be temporarily disabled until the USB is unplugged.

1. Connect to the Bluetooth module using your computer's Bluetooth utilities. Use a new Pin
if you changed it, or the usual default of 1234.
2. Launch the OpenPilot GCS and select a serial COM port from the connections drop-down
menu in the bottom bar. Then click Connect. You might have to try multiple ports to find the right one.
This is the COM port that your PC's internal Bluetooth chip automatically creates when connection
to your Bluetooth module is established.
3. Success! In the example screenshot above, the GCS is talking to an OpenPilot Revolution via OPLink
<-> Bluetooth connection that is available on Serial COM13 port. The COM port number will most likely
be different for you.

Connecting

The OpenPilot GCS will not automatically connect to Bluetooth devices. The connection has to be opened
manually by selecting a COM port, and clicking Connect.

Appendix

• Bootloader Update
or Introduction
o How to Check the Bootloader Version
o Downloads
o How to Upgrade the Bootloader and Erase Settings
o LED Behavior
or FAQs
• JST-SH Connectors
or Description
or use
o Datasheets

Bootloader Update

Introduction

The bootloader is a small piece of software resident on the flight controller which is started as soon as the
board is powered. It performs hardware checks and loads and executes the firmware. It also handles
the USB port to communicate with GCS to support bootloader and firmware updates.

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You can check the version of the bootloader installed on any OP board to make sure it is the most up-
to-date version and upgrade the bootloader software if required.

Warning

Upgrading the bootloader can be tricky. If something goes wrong, you may render the flight controller
inoperable. Happily, almost all bad mistakes can be rectified via the methods described on the
“How to” sub-pages given in the manual below.

How to Check the Bootloader Version

The bootloader version is shown when the flight controller is in boot mode. You can enter boot mode
by:

• using either the Halt option or,

• by using Rescue.

Either method will reveal the bootloader version on your board and both methods are explained
below.

Halt Option

Connect the flight controller to GCS via USB and open the Firmware page. On the Firmware
page,

click Halt.

Once the board is halted, the bootloader (BL) version of the board is shown.

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Click Boot to restart the flight controller once you have noted the bootloader version.

Rescue Method

Ensure that the flight controller is not connected to GCS via USB. Click Rescue and connect the flight
controller via USB when prompted.

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When the board is connected, its bootloader (BL) version is shown. Click Boot to restart the flight
controller once you have noted the bootloader version.

Downloads

Bootloader Versions

• Version 1 - First bootloader version which was loaded onto all CopterControl boards.
• Version 2 - Safe boot capabilities were added to prevent the user from being locked out
of the board due to a bad hardware configuration.
• Version 3 - Added different USB serial numbers for bootloader and firmware. This helps
Windows separate the two functions of the board by making it think there are two different
boards connected. Twitching servo movement during the board start has been
eliminated.
• Version 4 - Added support for internal settings erasure so that no more special firmware
is required; simply enter boot mode and click Erase Settings (CC/CC3D/Atom and OPLM)
• Version 5 - Added better F4 processor support (Revo and OSD)

The bootloaders for CopterControl (CC), CopterControl3D (CC3D), Atom, Revolution (Revo), OPLink
mini (OPLM) and On Screen Display (OSD) are available for download below.

Caution

All OP boards are different and require the appropriate bootloader to be installed, please ensure
you download and use the correct version listed below.

Also note that you should have the appropriate GCS installed (in most cases, the latest version)
on your PC when you flash the new bootloader so that the followup Auto Update you perform will
automatically install the correct version of firmware that is embedded in the version of the GCS on
your PC.

The PCB for CC or CC3D boards should have “CopterControl” or “CC3D” printed clearly on the
board. This indicates which bootloader needs to be flashed to the board.

Version 3 bootloaders can only be used with GCS versions 12.10.2 or older. Version 4
bootloaders can only be used with GCS versions 13.06.01 and newer.

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Bootloader Updater Files

B.L.
board Version Bootloader Updater note
n

bu_coptercontrol- For use with GCS 12.10.2

DC 3
20120630_5a1efef3.opfw and lower

bu_CC3D- For use with GCS 12.10.2

CC3D 3
20120620_f44b9d3.opfw and lower

For use with GCS

DC 4 CC V4 bu_cc.opfw
13.06.01 and higher

CC3D/Ato For use with GCS

4 CC3D V4 bu_cc3d.opfw
m 13.06.01 and higher

For use with GCS

Revolution 5 Revo V5 bu_revolution.opfw
13.06.01 and higher

Revo
Revolution 6 For use with LibrePilot
V6 bu_revolution_6.opfw

Revolution Revolution Nano

6 For use with LibrePilot
Elder brother V6 bu_revonano.opfw

OPLink For use with GCS

OPLMini 4
Mini bu_oplinkmini.opfw 13.06.01 and higher

For use with GCS

OSD 5 OSD bu_osd.opfw
13.06.01 and higher

How to Upgrade the Bootloader and Erase Settings

If it is necessary to upload the bootloader, strictly follow these instructions:

• Download the appropriate bootloader (ie CC3D - BL4 or Revo - BL5) and save it to your hard drive
where you can find it again
• Using the Firmware workspace in GCS, and with the board disconnected from USB,
click Rescue and follow the onscreen instruction to connect the board

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• After the board is detected, click Open and select the BootloaderUpdater (BU) file from where you
saved it on your hard drive
• Click Flash to flash it to your board
• After the flashing is complete, press Boot and wait until the blue LED is on, then flashes,
and finally goes off (normally ±15 seconds).
• Wait 10 seconds more.
• Disconnect the board from USB.
• Click Rescue, connect the board, click Erase Settings and wait for the erasure to
complete.
• Disconnect the board from USB.
• Click Upgrade and follow the onscreen instruction to connect the board to automatically
install firmware.

LED Behavior

• A slowly blinking blue LED indicates that the board is booted and running the firmware;
This is the normal operating mode.
• Bootloader mode. A slow fading in and out of the blue LED with the green LED on indicated
that the board is in bootloader mode.
• A rapidly blinking blue LED during a bootloader update indicates an error state. An invalid bootloader
image was likely detected and the update has not been performed.

FAQs

What's the difference between firmware, bootloader (BL) and bootloader updater
(BU)?

The firmware (FW) is the application to be loaded by the bootloader after the board has been
powered up and initialized. The firmware is regularly updated and newer firmware
typically include new features and bug fixes. The firmware and GCS version must match in order to
be able to configure the board.

The bootloader (BL) is a small piece of software which is started as soon as the board is powered
up. Every board ships with a bootloader preloaded and is not normally required to be upgraded by the
user.

The bootloader updater (BU) is a special firmware which is loaded by the current bootloader
and replaces the old bootloader with the new bootloader which it contains. This approach is required
because the bootloader can't erase and overwrite itself.

The bootloader version isn't updated after the update.

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There is a built in check that prevents the user from updating the bootloader with an incompatible
version. If the blue LED blinks rapidly and continuously during the upgrade process, the updater is
in an error state. Reboot the board and repeat the process using the correct bootloader updater.

JST-SH Connectors

Description

JST-SH is a 1.0 mm pitch/disconnectable crimp style connector used on several of the OpenPilot
boards. It is used for its small size and reliable connection. Do not confuse it with JST-ZH or JST-XH
that are different connectors and not used in the OpenPilot project.

uses

The Revolution is using the JST-SH 4-pin for telemetry, GPS, UART and other IO ports.

CopterControl is using the JST-SH 4-pin for telemetry and the FlexiPort. It also uses a JST-SH 8-pin on
the ReceiverPort for PWM or PPM input, and optionally for PPM input and servo output.

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