Setting Manual for FlyCam NaviBoard

The FlyCam Naviboard is equipped to work with both FlyCam Multi-copter and kkmulticopter, adding more features and functions for those boards.
The NaviBoard is easily connected to the FlyCam Red board, Blue board and Black board.
It is also possible to connect it to the kkmulti-copter Board through its’ receiver port.

A need for FlyCam NaviBoard

FlyCam's Multicopter Boards are equipped with 3-axis gyros that enable a pilot to maintain stabilized flight, and they are excellent at doing that.
The board by itself can not be autonomous, and thus requires a pilot at all times.
The extended board “NaviBoard” is equipped with 3-axis gyros, 3-axis accelerometer, barometer, and GPS.
With these sensors, the extended board is capable of sensing its attitude in the air in regard to the horizon.
The sensor enabled stability allows for a stabilized fixed heading, position hold, GPS return home and altitude hold.

Fig 1.


Connecting with FlyCam Multicopter (kkMultiCopter)

If connected, remove the RX and mount PCB supports as shown below.

Fig 2.

Insert the extended "NaviBoard" on to the PCB supports.
Connect the GPS module to the NaviBoard as shown. The example below shows a Blue Board mated to the extender board.

Fig 3.

FlyCam Naviboard mounted on to a FlyCam Multi-copter board. (Fig 4.)

Fig 4.

Flycam's red, blue and black boards are easily mounted without the use of signal cables; however If other kkmulticopter boards are used, it will be necessary to connect the two boards using the signal cables via the appropriate ports.
We recommend firmware XXcontroller KR v2.1 or later for the Blue Board and FlyCam v2.1 or later for the Black Board.
Firmware V2.1 or later, supports stick centering of the TX, as well as calibrating the NaviBoard board at the same time.


Connection the Rx

Add PCB supports 4pcs on to the NaviBoard board and insert the GPS plate, the plate can be secured by further screwing supports or nuts, and it’s now ready for connection to the RX.


Fig 5.

The NaviBoard supports a maximum of 9 channels.
The supplied cables will be different to the normal cables, in that the black and red cables are used as signal cables along with the white cable.
Connect the normal end of the cable on to the NaviBoards’ signal rail; match the corresponding single end to the appropriate signal channel of your RX.
Power to the NaviBoard is via the RX power rail from one channel. Your RX may be different but the principle is the same; a power cable can be made up by removing the white signal wire. Please check the polarity when inserting in to the NaviBoard positive and negative rail as shown below.


Fig 6.

1'st channel : Aileron Pay attention to picture above (Fig 6) and note the positive and negative from the RX has been plugged in to
                    the aileron port; for illustration, however, the power can be plugged into any port.
2'nd channel : Elevator
3'rd channel : Throttle
4'th channel : Rudder
5'th channel : Maintain altitude ( 2 position switch on,off )
6'th channel : Autopilot by GPS ( 3 position switch,(0) Free Flight,(1'st) Position Hold,(2'nd) Coming Home )
7'th channel : Tilt servo
8'th channel : Roll servo
9'th channel: To enable carefree, should be assigned to 3'rd position switch of 9th channel
1'st position(Off) is the free-flight mode (Carefree Off)
2'nd position(Middle) is carefree On mode
3'rd position(On) is waypoint or follow me mode
If this mode is not enabled, will be the function that the heading always toward to home during carefree.

A minimum of 6 channels is required to operate the NaviBoard. We recommend the use of an RX with 9 or more channels.
When you plug in the power, the following beeping alarm will sound. If any flight mode switch is in its’ active position,

the alarms are as follows:

 - In the case of the throttle stick being up ( Red LED light's )
 - In the case of channel 5 being active or forgotten in "maintain altitude" position. (Green LED light's up)
 - In the case of channel 6 being active or forgotten in "Position hold" or "Coming Home" (Blue LED light's up)
 - In the case of channel 9 being active or forgotten in "turn heading" (Red LED light's up)

If you need to reverse the switch for altitude and GPS, please reverse a applicable channel in the Tx.

The Tx set with Air Plane mode and should be clear all mixing.
The travel range of all channel set with +- 100,also D/R setting is just the same.
If it decrease the travel of Tx, can't enter to each setting mode.

1. Stick Centering
2. Initialization of GPS and Compass. (Calibrate GPS & Compass)
3. Arming
4. Disarming
5. Initialization of Gyro and Accelerometer. (Calibrate Gyro & Acceleration)
6. Setting potentiometer
7. Tilt servo delay setting
8. Roll servo delay setting
9. Disabling the extended board
10. Intializing back to factory set up

1. Stick Centering (Fig 7.)

Lower the TX elevator stick to the bottom and hold it there for three seconds; the sounder will beep followed by the LED lighting.
Center the elevator stick and wait for two seconds; the sounder will beep now the stick center has been learnt, and the setting is now finished.
The above operation calibrates both the multi-copter board and the NaviBoard.
If the LED blinks on the NaviBoard, the multi-copter board has not calibrated. Lower the throttle trim and try again.
If this operation has not been successful, then on taking-off the multi-copter will lean, and will require a lot of trim in the TX to remain stabilized in the air.
Please refer to the stick position figure above for your chosen mode. (Fig 7.)

2-1. Tilt it 90 degrees though its pitch axes (tilting front to back) and roll axes. (tilting left to right)
Repeat this step until the sounder will beeb once, twice and three times.

2-2. A beep will sound indicating it has been successful.
During the above procedure, be sure to avoid any metal objects such as a car, or high-tension electrical cables; these distort the magnetic field around them etc.

Please refer to the stick position figure above for your chosen mode. (Fig 7.)

VR1 : Altitude control,sonar gain pot
Channel 5, is a 2 position switch which activates sonar altitude control. Initially as a starting point, turn VR1 to its’ maximum (CW) then back off 5 degrees and work from there. If the sonar pot gain is set too low, the copter will climb on activation of channel 5.
In altitude hold, if the copter is oscillating up and down without stopping, decrease the gain pot by small increments.
If the copter is slow, to attain altitude hold, increase the gain pot by small increments; keep doing this to find the sweet spot for altitude hold. Hold the copter in a steady hover first, then activate the sonar to maintain sonar altitude blow 6.5m.
Please refer to. (Fig 1.)

VR2 : GPS gain
Channel 6, is a 3 positions switch which in its 2‘nd position activates position hold ,and the 3’rd position switches coming home.
During position hold and coming home operation,
If the copter is fast decrease the gain pot, and if the copter is slow increase the gain pot. Please refer to. (Fig 1.)

VR3 :Tilt servo setting
This sets the servo tilt for the camera gimbal's stabilization during flight, or when in a hover.
The servo will react to compensate for any tilt in the pitch axes to maintain the camera's level.
If the servo is connected directly to the gimbal, then center the gain pot.
If reduction gears are being used, then set the gain pot to compensate for an increase or decrease in resolution.
In the event that the servo needs to be reversed or the servo is jittering, use servo tilt delay as needed.
Please refer to. (Fig 1.)

VR4 :Roll servo setting
This sets the servo roll for the camera gimbal's stabilization, during flight, or when in a hover.
The servo will react to compensate for any tilt in the pitch axes to maintain the camera's level.
If the servo is connected directly to the gimbal, then center the gain pot.
If reduction gears are being used, then set the gain pot to compensate for an increase or decrease in resolution.
In the event that the servo needs to be reversed or the servo is jittering, use servo tilt delay as needed.
Please refer to. (Fig 1.)

7. Tilt Servo Delay Setting

It's highly recommended that a servo is connected while setting this up to enable visual confirmation of this process; also you will have to pass through the first "normal" mode process to enter the "reverse" mode process.
Move and hold the aileron stick to the left for 3 seconds until the sounder gives a short beep. This will be followed by a 2nd short beep with the red LED lighting up; it's now ready for configuration.
Keep holding the stick in place, the sounder will make 2 short beeps.
If you release the stick after these 2 short beeps the "servo will be in normal direction and no delay",
If you keep the stick held you will hear 3 short beeps as you enter servo delay selection; this is now followed by 4 short beeps
"For short delay, release the stick during these 4 beeps"; this is followed by 5 short beeps for long delay.
For long delay release the stick during these 5 beeps". If you keep holding the stick after the 5 short beeps, you will enter servo reverse.
After the 5 short beeps at the end of normal direction selection, you will hear a short beep followed by 2 long beeps. "The servo is now reversed and no delay". This is followed by 3 long beeps as you enter servo delay selection. Please follow the steps above to complete servo delay. If the servo jitters, increase the servo delay by one beep.
Confirm the above by tilting the copter in its pitch axes.

8. Roll Servo Delay Setting

It's highly recommended that a servo is connected while setting up to enable visual confirmation of this process; also you will have to pass through the first "normal" mode process to enter the "reverse" mode process.
Move and hold the aileron stick to the right for 3 seconds until the sounder gives a short beep, followed by a 2nd' short beep with the red LED lighting up; it's now ready for configuration
Keep holding the stick in place, the sounder will make 2 short beeps.
If you release the stick after these 2 short beeps, the "servo will be in normal direction and no delay",
If you keep the stick held, you will hear 3 short beeps as you enter servo delay selection; this is now followed by 4 short beeps.
For short delay release the stick during these 4 beeps"; this is followed by 5 short beeps for long delay.
"For long delay release the stick during these 5 beeps". If you keep holding the stick after the 5 short beeps, you will enter servo reverse.
After the 5 short beeps at the end of normal direction selection, you will hear a short beep followed by 2 long beeps; "The servo is now reversed and no delay".
This is followed by 3 long beeps as you enter servo delay selection.. Please follow the steps above to complete servo delay. If the servo jitters, increase the servo delay by one beep.  
Confirm the above by tilting the copter in its Roll axes.

9. Disable the NaviBoard

Move the elevator stick to the left for 3 seconds; a beep will sound and all the LED will turn off.
Only the multi-copter board will be active now. You can now fly acrobatics, but the board will remain disabled until the power is cycled.
Please refer to the stick position figure above for your chosen mode. (Fig 7.)

10. Intialization of factory

Turn VR1, VR2, VR3, VR4 CCW and plug in the power and this will initialize the factory stored setting of the NaviBoard.


Installation of Sonar

Connect the sonar cable to the pot of the NaviBoard; please check the direction of the cable.
It is possible to hold low altitude up to 6.5m only.
The sonar module has to face down and has to be mounted as far as possible from the ESC.


Fig 8.


The method used to reduce interference to compass

We recommended using the Power board for octo with the NaviBoard. (Fig 10.)


Fig 10.

To minimize interference when the NaviBoard has been installed, we recommend 4 or 5 floor stacking of the boards above the distribution boars in (Fig 9.) using PCB support pins (Fig 11.).

Fig 11.


Barometer protection

The barometer is sensitive to temperature changes and moving air around it. Place a small piece of sponge over the barometer to work as an air flow buffer, and to keep the air temperature stable around it. Do not tape it in place with double sided tape over the small hole of the barometer.





Please must be used a BEC on the FlyCam NaviBoard.
Getting ready to fly

Plug in the power and wait for the GPS status before arming, the Blue LED will be flashing - please wait.

If the blue LED is blinking, never fly.

Wait until you hear the beep sound and the blue LED lights up solid.

Before arming, please check the GPS LED on the NaviBoard again; if it’s solidly lit then it’s good.

The minimum number of satellites has been acquired for the home position.

Check the blue LED light is solid you are ready to fly.

Remember the arming position will be the home location to navigate back to.

When armed, please check the red LED light.

If the red LED is blinking, GPS navigation cannot be performed, and there will be a repeated beep warning.

Waypoint

The way of the registering in PC
  You can register the waypoint with mouse click and drag through google map in running FlyCam Ground Station v1.1.
  If the copter goes into the radius of the check point, is regarded to be passing the check point.
  If set the radius to 0m, set automatically the radius to 5 ~ 10m based on the status of the GPS.
  "wait" after the copter goes into the radius, set wait time with seconds.
  "heading" when the copter is heading for the check point, turn heading to check point or not.
  If you check heading, is always heading for the check point.
  In this case, you can turn heading by rudder stick but if the stick release, the heading change automatically for the check point.
  To transfer from the register waypoint to the navi board, press " Write Waypoint".
  To display a storage waypoint in the naviboard, press " Read Waypoint".
  Futher instructions refer to link video.

The way of stopping the waypoint flight in Tx
  1. Free flying mode
  2. Change 9'th channel to the 1 position switch. 
  
 A storage waypoint remains until the deleting or unplugging.
 The waypoint flight is completed and  run again the waypoint, start again from the beginning.

 In the waypoint flight mode, if the position hold, become the hovering.
 And change the free flight mode, the waypoint flight, which had been momentarily stopped, run again.

 9'th channel should be the 3 position switch.

 It is able to run the postion hold, comming home and free flight  during waypoint flight.

 We recommend the waypoint flight the copter which is completed fully the position hold.
 It need to practice through image traning for the register,delete,run in Tx.
 Regarding GPS function ,a beep sound indicating or not. if sound, the magnetometer isn't being in good condition.
 In this case, repeat initializing the compass.

The GPS gain have to be a different setting based on length, motor, propeller, battery, weight and etc.
The main cause among them is the length of frame and the size of the propeller.
Please refer to as shown below table.
Set the GPS Roll, Pitch gain by the standards of the distance of the edge of the propeller and the center of the copter.
In case of the asymmetric structures, the roll axis and pitch axis is different distance.
Can set the gain with the measurement of the each distance.

Added or changed in Naviboard firmware v2.1 are as follows.

Added the feature

1. In GPS position hold, when the multicopter move by the transmitter stick, the location of the multicopter was changed to hold it in place.
It can be moved to the desired by the stick location after position hold.
All trim except of throttle trim should be located in the center.
If you have a lot of trim, should be maintained horizontally through the stick centering or initialization of accelerometer.

2. Carefree has been added.(2'nd position of 9channel, middle position)
the information about carefree explain in more detail below

3. During carefree the heading always toward to home has been added. (3'rd position of 9channel, On)
This feature is only possible if it has not been set waypoint or follow me function.
In addition, itis only active if more than 20m away based on the location of the home, it is the same as the general carefree within 20m.
When this function operates,the aileron stick decide the direction of rotation and the elevator stick decide the distance to the home.
Therefore, if the camera is mounted, the multicopter is always looking at home and can get to rotate images.
the rudder can be controlled manually while using of this function,but the multicopter look at home again when the rudder stick to the center.


4. It has been stabilized the attitude control when take off.
Yaw control that was operated before take off is controlled after take off.
If the yaw control is started after take off, a buzzer will be sound one beep.
To control stable, had better get into the hovering mode more than 1m take off as soon as possible.

5. Arming is turned off automatically after landing.
During the flight, Arming do not turned off, even if the throttle stick move to bottom. please be assured.

6. It can be used the altitude hold feature before take off.
If turn on the altitude hold after arming and take off, will be started the altitude control
The buzzer will be sound when turn on the altitude hold function before arming.
If the altitude control is started after take off, a buzzer will be sound one beep.
To control stable, had better get into the hovering mode more than 1m take off as soon as possible.

7. During the altitude hold, the width of the height change along the height by moving of the throttle stick.
The throttle reflects largely at high altitude and the throttle is reflected smallat low altitude.

Deleted the feature
1. When coming home the ability to maintain heading, delete the Home.


Introduce newly added carefree features.
First of all,user who haven't read the post below, please read that

Introduction to general carefree
https://kkmulticopter.kr/index.html?modea=carefree

Introduction to GPS carefree
https://kkmulticopter.kr/index.html?modea=gps_carefree

To enable carefree, should be assigned to 3'rd position switch of 9th channel
1'st position(Off) is the free-flight mode (Carefree Off)
2'nd position(Middle) is carefree On mode
3'rd position(On) is waypoint or follow me mode
If this mode is not enabled, will be the function that the heading always toward to home during carefree.

In 2'nd position of 9th channel at v2.0 (Middle), the function that turn heading to home when coming home.
But, In v2.1, this feature deleted and replaced by carefree.

Within a radius of 20m based on home, carefree on
It must be enabled the function of carefree in the rear of the hovering.
It is operated general carefree within a radius of 20m.

Outside a radius of 20m based on home, carefree on
It can enable to do carefree function regardless of the position of multicopter and heading direction.
It is operated GPS carefree outside a radius of 20m.
A pilot have to control always thinking that the multicopter is being a rear of hovering even if heading is changed.
GPS Carefree function should be operated the GPS to work properly.
Carefree is enabled in a rear of hovering when GPS does not work and it is operated on general carefree mode.

In case deviate a radius of 20m


If outside a radius of 20m in using carefree within a radius of 20m, it is operated GPS carefree mode.
In general, deviate from a radius of 20m by using the elevator stick of the transmitter.

In case enter a radius of 20m


If enter a radius of 20m in using GPS carefree outside a radius of 20m, it is operated general carefree mode.
It is used the elevator stick of the transmitter to enter into a radius of 20m.

Caution detail in case deviate a radius of 20m


If outside a radius of 20m in using carefree within a radius of 20m, it is operated GPS carefree mode.
In general, deviate from a radius of 20m by using the elevator stick of the transmitter but must be caution to deviate deviate from a radius of 20m by using aileron.
This is because change the movement of multicopter by the movement of the stick at the moment when deviate from a radius of 20m.
When the buzzer rings, multicopter is being in a radius of range 15 ~ 20m radius from home in carefree function.

To summarize again,
1. within a radius of 20m
2. in using carefree
3. by using aileron
4. move out a radius of 20m

If are satisfied with four conditions above,please notice.
It has nothing to do the case move by the elevator.

Range of the buzzer ringing


When the buzzer rings, multicopter is being in a radius of range 15 ~ 20m radius from home in carefree function.
In this range, it is operated general carefree and the buzzer will be not sound the case that move out a radius of 20m or enter into a radius of 15m.

Do not operate rudder by force in carefree mode.
For example, it is not able to control the situation that the multicopter is spinning by rudder control.


Firmware upgrade for the NaviBoard

Please download and install as below.
https://kkmulticopter.kr/NaviBoard/upgrade/um0462.zip
Run Flash_Loader_Demonstrator_v2.4.0_Setup.exe and install as below.













Installation finished.
Connect the FlyCam USB to Serial to USB port.
If the device unknown, download the driver from the link below.

Driver: https://kkmulticopter.kr/multicopter/firmware/ISP/PL2303_Prolific_DriverInstaller_v130.zip

Install and try again.
If using AVR ISP Programmer, it will assign a COM Port.If it does not work disconnect the USB Port and try again,
other wise assign a new COM port and try again.
Select “My computer” and Right click on it, go to “Properties” and select “Device Manager” plug the USB serial adaptor and the screen will refresh, look down the list of devices and find “Ports COM PLT” Left click on the tab to reveal the computer assigned Port.



To upgrade the firmware, please change the switch to upgrade mode.
If you upgrade with battery power plugged in, it can be dangerous.



Connect USB to Serial cable.


Plug the Flycam USB serial adapter to the NaviBoard then plug it in to your computer first before loading the flash loader demonstrator, the computer will assign a COM port.
Run flash loader and select the computer assigned COM port from the drop down menu as shown below.
You can also reassign a port of your choice.
Run flash loader and set the com port.



If you can not enter, please check com port assignment.
Reconnect FlyCam USB to Serial Cable.





Select all.



Select download file.



Select latest *.hex.
Latest firmware filename is FlyCamNavi_v?.?
Download from link below.

https://kkmulticopter.kr/index.html?modea=navi_firmware









If you get an error, reconnect FlyCam USB to Serial Cable and Repeat the above step.
If successful, change the switch to the flying mode..




Separate the buzzer (FlyCam NaviBoard v1.5 less)