PixHack NANO Flight Control

Introduction

Pixhack nano is composed of cuav through computer and micro (multi rotor
fixed wing UAV helicopter) built a new UAV control system shell aviation
Aluminum Alloy CNC integrated molding technology, the size of only
34x57mm, in a small space to achieve high performance IMU damping
system with 6 PWM output, support 2 2 mavlink devices, GPS positioning
system, I2C equipment, can equipment, IV, voltage and current sensor,
debug debug interface built in cm-20608 (six axis sensor) hmc5983l (three
axis Compass) ms5611 (high precision digital barometer) new high
performance IMU standard fmu4 equipment, fully compatible with ardupilot
and Px4
code
 Powerful processor

Main control based on stm32f427 (180mhz)

Redundancy design

 built in 2 groups of IMU redundancy design (including 2 group 2 group 2

accelerometers, gyroscope, compass group, 1 groups of digital
barometers)

 The sensor data fusion mechanism and failover mechanism to build

software, will likely crash caused by the flight control is greatly reduced.

Rich expansion

Extensible 1 group electronic compass, 1 intelligent battery, 2 group of

NMEA or Ubx standard GPS, can bus equipment (ESC), 2 I2C (intelligent
battery equipment, lights, optical smart camera, laser sensor, ultrasonic
sensor etc.)

The built-in damping system

Sensor and motherboard separation design, built-in high-performance shock

absorber system, a variety of harsh machine environment, more adaptive

Technical specification:

Hardware parameters

Processor STM32F427

Senor
Hardware parameters

Accelerometer MPU9250/ICM-20608

Gyro ICM-20608

Compass HMC5983

Barometer MS5611

Interface

Mavlink UART 2（Hardware flow control）

GPS UART 2

DEBUG UART 1

Remote control signal input

PPM/SBUS/DSM/DSM2
protocol

RSSI PWM or 3.3 analog voltage

I2C 1

CAN Standard Bus 1

ADC input 6.6V X1

PWM output Stander 6 PWM IO

Hardware parameters

supported models

Fixed wing /3-6 helicopter rotor / /vtol / VTOL UAV / unmanned ship

Working environment and

physical parameters

PM working voltage; 4.5 ~ 5.5 V

USB voltage 5.0 V +- 0.25v

Servo voltage 4.8~5.4V

working temperature -20 ~ 60°c

size

wight 40g

About NANO
1：state LED
2: POWER PM module
3: D-BUS Data extension interface
4：GPS2+DEBUG interface
5：radio Data transmission interface
6：GPS+compass interface
7：Open LED
8：micro USB
9：TFmemory card

Interface definition
Installing ground station (mission
Planner)

Mission planner is a free open source ground station, only the Windows
version, mature and stable a ground station. The ground station to download
the latest version from here

Download the latest Mission Planner installer from here

Open the installer file, and double-click to run the installer

When installing the ground station, will automatically install the driver.
(win10 has a built-in driver, will be considered to be a standard Microsoft
device, can be used normally)
In our country because of a lot of clone ghost system (reduced
incomplete system) reasons, causes the driver failed to install (that the
system cannot find the specified file). This problem, we recommend
that you re install win10, better compatibility.

Always point to next, next, install by default

If prompted the installation error caused by DirectX, you can download the
corresponding version of DirectX, install the DirectX first to successfully
install the ground station, if prompted to install the driver, choose to install
the driver
Mission planner usually installed in the c: (x86) program files APM planner
folder

Program files or c: APM in the planner folder. You can also log file folder in
the installation directory.

Open Task Scheduler

When the installation is complete, open the mission planner. by clicking its

icon

Update task scheduler

When mission planner started the new version will automatically detect
(when it is connected to Internet). Please always update the running the
latest version of mission planner

The introduction and use of ground

station (mainly introduces 2 common
ground station)
Window version：Mission Planner
MP is a apm/pix standard ground station, after years of development and
optimization, has been very stable and mature, please try to use the latest
version of the ground station, because the ground station will follow the flight
control firmware to optimize and change. The ground station to download the
latest version from here

Download the latest Mission Planner installer from here

Android hfight cuav version: cuav hfight is

composed of two cuav secondary development
of Android earth station, the main optimization
of digital video stream, the High German map,
the increase of pw-link and hacklink to support
the download address: [Link]
system requirements: Android 4.4 or
above

QGroundControl
The official website [Link] qgroundcontrol is a cross
platform ground station software, including Windows version, Android

version, apple version and so on

Windows download link：

[Link]
[Link]

Misson Planner Ground station Quick

Start Guide

What is Misson Planner：

Misson planner, referred to as MP, is an exclusive ground station for apm/pix

running on the windows platform. It is also a fully open source ground station

 Its main functions include:

 Burning firmware for apm/pix

 • the best tool for installing, configuring, and optimizing

parameters

 Planning for navigation tasks, you can use the Google map

or other map

 Download and analyze flight logs

 - the use of special PC flight simulation software interface,

hardware simulation

Connect a telemetry digital transmission, and you can also:

real-time monitoring of vehicle state

 o Log a real time telemetry log

o The o view and analysis of remote log

o operating unmanned aerial vehicles in FPV (first

person view)

Main window function: (detailed function,

please see below
column)

1. software version will be displayed simultaneously the flight control

software version number after connecting flight
2. Main function option area
3. connection mode selection and connection disconnection control
4. aircraft dashboard, including attitude, higher, GPS status, flight mode
5. state and other auxiliary control function areas
6. The GPS map, after connected to flight control and GPS, will displays a
real-time position and flight path
7. GPS coordinate and precision display

Install missio planner ground station

Install Mission Planner
Install mission planner mission planner is an open source free ground station.

This page knows how you install mission planner.

Download from here

Download the latest Mission Planner installer from here.

Run the installation utility

Open the Microsoft installer file (.msi) and select Run to run the installation
utility.

Follow the instructions to complete the setup process. The installation utility
will automatically install any necessary software drivers. If you receive a
DirectX installation error, please update your DirectX plug-in from the
DirectX Download Center.

If you receive the warning pictured here, select Install this driver software
anyway to continue.
 _Mission Planner is normally installed in the C:\Program Files (x86)\APM
Planner folder or the C:\Program Files\APM Planner older. That is where
your log files folder is located.

An icon to open the Mission Planner is created according to your instructions

during the installation.

Open Mission Planner

Once installation is complete, open Mission Planner by clicking on its system
icon.

Then you can either:

 Connect Mission Planner to AutoPilotin order to receive telemetry and control the
vehicle, or
 Load Firmware

Updating Mission Planner

_Mission Planner automatically notifies you about available updates (when it
is connected to the Internet).

Please always run the most current version of Mission Planner.

 Mission Planner Advanced InstallationNext Previous

Connection flight control using mission
planner

Summarize

This chapter mainly introduces the connection mode and how to connect the

ground station mp

Support connection way:

Mission Planner Support the following connection mode:

1. USB direct connection flight control (can do adjustment and firmware

burning); ground station select flight control COM port, baud rate
select 115200 (default)
2. digital transmission connection; common common data transmission,
the actual is through the USB connection, the general number of
ground end are built-in USB to serial port chip; ground station select a
specific port number, baud rate is generally 57600
3. TCP connections; some network equipment using TCP serial cuav
TCP serial device; no
4. UDPConnection mode; pw-link and hacklink is used in this
communication mode

Introduction and use of flight data

summarize :
The flight data is the default main interface of MP ground station, it can show
you the state of UAV, including very intuitive attitude, speed, height, distance
from home, GPS location information and so on it can be divided into 3 major
functional areas:
 1. flight HUD window (left upper)

2. state display and control options bar (left lower)

plane map and real-time location information (right)

The detail of each area function

Main interface presentation view:

State display and flight control bar:

Quick display
bar

 The main display 6 parameters: the height, speed, flight distance, yaw
angle (angle), lifting speed, disttomav (UAV the distance from home)

 Action control
This function is the main bar, can do mode switching, real-time of UAV
mission control, height, speed control
The original sensor: you can view the original sensor data, do some
performance or fault analysis: you can set the USB joystick handle mapping
a remote control channel, to control the aircraft (not recommended, the
traditional data transmission loss may lead to control flow)

Check - off
function

Can help the novice to check and determine whether the aircraft can meet
the flight conditions such as GPS satellite number that does not meet the
voltage tips display red, green can also through the Edit button, edit options
and threshold related tips

• status: detailed flight data

display
Here you can show all flight control data, including sensor data, channel
input and output data, etc., can be used for flight and debugging, display
values are relatively simple and clear, content is too much, no longer
introduce

servo channel
control

Steering - although the name for the actual steering, not necessarily for
steering control is a PWM channel output control in multi rotor, then the
power transfer channel is unable to control the real-time control of a free
channel PWM output value
Telemetry
log

For loading and playing ground station log

Flash log
data

Download flash log by mavlink: can USB or digital download flight

control internal records flight log log review: open flash log can do a
detailed analysis of the automatic analysis: use the program to
automatically analyze the function of automatic analysis of flash log,
direct the analysis result can be very clear view of aircraft vibration
value, whether the compass data health standards. Create KML GPX
[Link] turn [Link]
Creating matlab files

 Script

Load control script

News

Display the pre-arm information sent by the aircraft

Flight planning / Mission Planning

Summarize：
The flight plan is one of the most important functions of MP inside: general
game player can be used for planning the most simple missions, including
height control for each waypoint, stay time, camera trigger conditions, trigger,
trigger channel, even automatic take-off and landing planning industry users
can also do the mapping
planning.

The main task described here is the task planning function of the MP ground
station, but the planning concept of the other ground stations is very similar

Waypoint commands and events

This page describes generic waypoint setup for all types of vehicles.

Setting the Home Position

For Copter the home position is set as the location where the copter was
armed. This means if you execute an RTL in Copter, it will return to the
location where it was armed, so arm your copter in the location you want it to
return to.

For Plane the home position is the location of the plane where the GPS was
locked. This means if you execute an RTL in Plane, it will return to the
location where it first acquired the GPS lock, so only power up your plane in
the location you intend it to return to when performing an RTL.

Video: Produce and save a Multi-way

point Mission

Video: Load an already saved Multi-way

point Mission

Instructions
In the screenshot below, a Copter mission starts with an auto takeoff to 20
meters attitude; then goes to WP 2 rising to 100 meters altitude on the way,
then waits 10 seconds; then the craft will proceed to WP 3 (descending to 50
meters altitude on the way), then returns to launch. Since the default altitude
is 100 meters, the return to launch will be at 100 meters. After reaching the
launch position, the craft will land. The mission assumes that the launch
position is set at the home position.
Copter: Mission Planning Example

You can enter waypoints and other commands (see the Mission commands
section below for more information). In the dropdown menus on each row,
select the command you want. The column heading will change to show you
what data that command requires. Lat and Lon can be entered by clicking on
the map. Altitude is relative to your launch altitude/home position, so if you
set 100m, for example, it will fly 100m above you.

Default Altis the default altitude when entering new waypoints. It’s also the
altitude RTL (return to launch) mode will fly at if you have Hold Default AL
Tchecked; if you don’t have that checked, your aircraft will try to maintain the
altitude it was at when you switched on RTL.

Verify height means that the Mission Planner will use Google Earth
topology data to adjust your desired altitude at each waypoint to reflect the
height of the ground beneath. So if your waypoint is on a hill, if this option is
selected the_Mission Planner_will increase your ALT setting by the height of
the hill. This is a good way to make sure you don’t crash into mountains!

Once you are done with your mission, select Writeand it will be sent to APM
and saved in EEPROM. You can confirm that it’s as you wanted by selecting
Read.
 You can save multiple mission files to your local hard drive by selecting Save
WP Fileor read in files with Load WP Filein the right-click menu:

Tips
 Prefetch: You can cache map data so you don’t need Internet access at the field. Click
the Prefetch button, and hold down Alt to draw a box to download the selected
imagery of a location.
 Grid: This allows you to draw a polygon (right click) and automatically create waypoints
over the selected area. Note that it does not do “island detection”, which means if you
have a big polygon and a little one inside of that, the little one will not be excluded from
the big one (see this for more). Also, in the case of any polygon that partialy doubles
backs on itself (like the letter U), the open area in the center will be included as part of
the flyover.
 Setting your home location to the current location is easy, just click Home
Location above where you enter your home location, and it will set your home location
to the current coordinates.
 You can measure the distance between waypoints by right-clicking at one end and
selecting Measure Distance. Then right-click on the other end and select Measure
Distance again. A dialog box will open with the distance between the two points.
Auto grid
You can also have the_Mission Planner_create a mission for you, which is
useful for function like mapping missions, where the aircraft should just go
back and forth in a “lawnmower” pattern over an area to collect photographs.

To do this, in the right-click menu select Polygon and draw a box around the
area you want to map. Then select Auto WP, Grid. Follow the dialog box
process to select altitude and spacing. The_Mission Planner_will then
generate a mission that looks something like this:

Mission Planner auto-generated grid

Mission commands
_Mission Planner_provides a filtered list of the commands appropriate for
the current vehicle type, and adds column headings for the parameters that
need user-supplied values. These include navigation commands to travel to
waypoints and loiter in the vicinity, DO commands to execute specific actions
(for example taking pictures), and condition commands that can control
when DO commands are able to run.
Example: LOITER_TURNS command withheadings for number of turns,
direction, and location to loiteraround.

The full set of mission commands supported by all ArduPilot platforms are
listed inMAVLink Mission Command Messages (MAV_CMD). This includes
the full name of each command (as defined in the protocol definition),
information about which parameters are supported, and also the
corresponding_Mission Planner_column headings.

Note

Mission Planner uses a cut-down version of the full command name. For
example, commands like MAV_CMD_NAV_WAYPOINT,
MAV_CMD_CONDITION_DISTANCE, MAV_CMD_DO_SET_SERVO are
listed in MP as WAYPOINT, CONDITION_DISTANCE and
DO_SET_SERVO respectively.

How to prefetch a stored Mission Map

Occasionally You will see some really big

Numbers
Next

Previous

CUAV Hflight

Summarize
CUAV Hflight is a Android ground station developed by cuav for the two time.
It is an optimized version of tower to support USB, Bluetooth, WiFi
connectivity, and supports the full range of cuav family digital products,
including

ONE BOX Bluetooth data transmission

HACKLINK： High definition digital link

PW-LINK： WIFI link

CUAV RADIO：SIK Point to point transmission, optional 433915 band, power

100mw, 250mw、500mw

CUAV XB RADIO：250mw Point to point pass, built-in digi S3b import module

CUAV XTEND RADIO:1W Point to point pass, built-in digi xtend 1W

module

[Link]

Burning aircraft firmware online through

ground station (four axis as an example)

USB will fly into the computer, should be able to see a Px4 FMU port on the
device manager (port number for each computer are not the same, you may
be COM3 or other, this Never mind. As long as the ground station can
choose the correct
port)
Open the MP- select the port baud rate does not need to change. Note
that not connected. Do not need to be connected (or not burn)

Select the initial settings - installing firmware options

The ground station will be networked to detect the latest

version

Get to the version number, in each model below, with a version number,
such as apm:copter v3.4.5 quad. if it is none or stable directly display
apm:copter (get is not successful, can not connect to the server) is to get the
failure, is unable to burn the firmware, can re open the option to try.

Please try the local upload firmware.

Tip: Unplug the OK control board, and re insert

After the completion of the burning, and so on for a period of time, about 20
seconds, flight control will have a piece of music, waiting for the completion
of the music broadcast, click ok. to complete the

burning!

Is the preliminary test normal?

When the firmware is finished, the status lamp should flash yellow or blue (if
it is always bright red, please see the hardware removal guide)
You can connect the ground station, no accident, should be connected,

swing flight control board, the attitude should also follow inclined window

Through the web page to download the

firmware for specific firmware

Firmware download address [Link]

Downloading firmware through a web page is usually to download the

latest test firmware, and some of the ground stations can't get version
information, and you can also use this method to burn firmware
Small car：Rover
fixed wing：Arduplane
Four rotor：QUAD (cross shaped and X shaped models are the
same type of firmware)
Six rotor：Hexa
Up and down four shafts (eight rotors)：Octa
helicopter：Heli
triaxial：Tri
Y6 Up and down three shafts (six rotors)：Y6
8 rotor wing：Octa

Take the four axis stable version as an example:

After entering the selection

Px4-octa (four axis)

Arducopter-v2.px4 (V2 pixhack V3 version, hardware

selection is V2)

After download, open ground station - select the port number, setting the
initial flight control, installation of firmware - load custom firmware

Choose to download the file download directory, then open just download
firmware can follow the prompts to complete the
programming