Om sree sainathayanamaha
MY COPTER INSTRUCTION MANUAL
INTRODUCTION:Thank you for purchasing the my copter quad board version 5.0.
The my copter board is a completely integrated quad control board with a 6DOF
correction capability. The my copter board is equipped with a 3axis gyro scope and
accelerometer (MPU6050) with DMP enabled which gives an accurate correction upto 0.1
degrees .
The my copter board is capable of being outfitted with a zigbee module , DC motor
controller , LCD and buzzer for low battery monitor alarm.
The my copter board has an inbuilt kalman filter (1ST order predictive) and a
complementary filter. The board has a full 3 cycle PID loop which gives it the capability to
react fast and with extreme precision.
SETUP AND WIRING:RECEIVER CHANNEL ASSIGNMENT:1) CH1 -> CHANNEL 1 OF RECEIVER (AIL CHANNEL)
2) CH2 -> CHANNEL 2 OF RECEIVER (ELE CHANNEL)
3) CH3 -> CHANNEL 3 OF RECEIVER (THR CHANNEL)
4) CH4 -> CHANNEL 4 OF RECEIVER (RUD CHANNEL)
5) The motor and esc wires have to fitted in the slots provided such that the WHITE /
ORANGE WIRE of the esc corresponds to the S column of -+SS printed on the board
Please refer to the diagram below:-
Om sree sainathayanamaha
MOTOR CHANNEL ASSIGNMENT:1) M1 :- MOTOR 1 (CW)
2) M2 :- MOTOR 2 (CCW)
3) M3 :- MOTOR 3 (CW)
4) M4 :- MOTOR 4 (CCW)
PLEASE REFER TO THE DIAGRAM BELOW TO UNDESTAND IT AND MOTOR DIRECTION:-
Om sree sainathayanamaha
GAINS TUNING:The gains of the my copter board can be tuned by adjusting the three potentiometers , the
BLUE LED seen beside the potentiometers shows the Kp gains adjusted on the specific
potentiometer for ROLL , PITCH and YAW. Please refer to the picture below to better
understand the tuning , also you can visit our resource centre on
http://www.muav.in/?page_id=23380 REFER TO mycopter gains tuning video to better
understand the gains tuning .
TUNING THE ROLL KP GAIN:Turn the pot(potentiometer) number 1 (ROLL POT) by 3 turns to enable the pot tuning on
the board . this is indicated by the blinking of the BLUE LED (LED L1 REFER TO SCHEMATIC
ON FIRST PAGE) . Count the number of blinks in one cycle of the blinking of the
INDICATIVE LED , the number of times the led blinks indicates the natural number of the
Kp gain of the ROLL axis of the quad rotor board.
Om sree sainathayanamaha
EXAMPLE OF LED BLINK SEQUENCE :EG1:BLINK…BLINK…BLINK…DELAY FOR 4 SECONDS.(ie; 3 blinks of led)
ROLL gain(Kp) : 3 division
The above shows three blinks then FOLLOWED BY a delay of 4 seconds.
This indicates the gains set on the ROLL axis is 3.
EG2:BLINK…BLINK…BLINK…BLINK…BLINK..DELAY FOR 4 SECONDS. (ie; 5 blinks of led)
ROLL gain(Kp) : 5 division
The above shows five blinks FOLLOWED BY a delay of 4 seconds.
This indicates the gains set on the ROLL axis is 5.
EG3:4 BLINKS OF LED MEANS GAIN = 4.
5 BLINKS OF LED MEANS GAIN = 5.
6 BLINKS OF LED MEANS GAIN = 6.
----------------------------------------------------------------------------------------------------------------MIN VALUE OF GAIN = 1 DIV
MAX VALUE OF GAIN= 10 DIV
TUNING THE PITCH KP GAIN:Turn the pot(potentiometer) number 2(PITCH POT) by 3 turns to enable the pot tuning on
the board . this is indicated by the blinking of the BLUE LED(LED L1 REFER TO SCHEMATIC
ON FIRST PAGE) . Count the number of blinks in one cycle of the blinking of the
INDICATIVE LED , the number of times the led blinks indicates the natural number of the
Kp gain of the ROLL axis of the quad rotor board.
EXAMPLE OF LED BLINK SEQUENCE :EG1:BLINK…BLINK…BLINK…DELAY FOR 4 SECONDS.(ie; 3 blinks of the led)
PITCH gain(Kp) : 3
The above shows three blinks FOLLOWED BY a delay of 4 seconds.
This indicates the gains set on the PITCH axis is 3.
EG2:BLINK…BLINK…BLINK…BLINK…BLINK..DELAY FOR 4 SECONDS(ie; 5 blinks of the led)
PITCH gain(Kp) : 5
The above shows five blinks FOLLOWED BY a delay of 4 seconds.
This indicates the gains set on the PITCH axis is 5.
Om sree sainathayanamaha
EG3:4 BLINKS OF LED MEANS GAIN = 4.
5 BLINKS OF LED MEANS GAIN = 5.
6 BLINKS OF LED MEANS GAIN = 6.
MIN VALUE OF GAIN = 1 DIV
MAX VALUE OF GAIN= 10 DIV
TUNING THE YAW KP GAIN:Turn the pot(potentiometer) number 3 (YAW POT) by 3 turns to enable the pot tuning on
the board . this is indicated by the blinking of the BLUE LED(LED L1 REFER TO SCHEMATIC
ON FIRST PAGE) . Count the number of blinks in one cycle of the blinking of the LED , the
number of times the led blinks indicates the( Kp gain of the YAW axis/40 of the quad rotor
board.
CALCULATION OF GAIN KP FOR YAW AXIS= 40*NO_OF_BLINKS_OF_LED
EXAMPLE OF LED BLINK SEQUENCE :EG1:BLINK…BLINK…BLINK…DELAY FOR 4 SECONDS.(ie; 3 blinks of the led)
NO_OF_BLINKS_OF_LED = 3 (substitute in above equation)
Kp gain yaw axis:- 40*3 = 120
KP GAINS: 160
The above shows three blinks FOLLOWED BY a delay of 4 seconds
EG2:BLINK…BLINK…BLINK…BLINK…BLINK..DELAY FOR 4 SECONDS(ie; 5 blinks of the led)
NO_OF_BLINKS_OF_LED = 5 (substitute in above equation)
Kp gain yaw axis:- 40*5 = 200
KP GAINS: 200
The above shows five blinks FOLLOWED BY a delay of 4 seconds.
MIN VALUE OF GAIN = 100 DIV
MAX VALUE OF GAIN = 400 DIV
Om sree sainathayanamaha
MOUNTING THE BOARD :
Please refer to the diagram below :THE BOARD SHOULD BE FITTED ON A PROPER DAMPNER FOR PERFECT FLIGHT
WITHOUT OSCILLATIONS .
ARMING , TESTING AND FIRST FLIGHT:Arming the quad rotor:On start up the GREEN (LED : L2 REFER TO SCHEMATIC) colour led on the A&B Mini will
blink for 1 second after which the BLUE LED (LED : L1 REFER TO SCHEMATIC) will blink for
one second.
After a few seconds the GREEN colour led (LED : L2) on the A&B Mini will start blinking at
a frequency of 1Hz , THIS MEANS THE STARTUP ROUTINES ARE COMPLETED AND THE
BOARD IS READY TO USE.
Next arm the board by keeping all the controls on the transmitter in the center position
and keeping the throttle stick in the lowest position, move the rudder to the right side
(extreme ) the GREEN colour led (LED : L2) on the A&B Mini will start blinking at 3Hz
frequency this means the board has been armed.
Note:- after landing the quadrotor , the board will automatically disarm and the GREEN
colour led (LED : L2) on the A&B Mini will reduce to a blink frequency of 1Hz .
NOTE:- NONE OF THE CHANNELS ON THE TRANSMITTER SHOULD BE REVERSE
(FOR HITEC , FUTABA AND JR)
Please refer to picture below:-
Om sree sainathayanamaha
Testing the quad rotor and flying:Arm the quad rotor and take it in your hand , give half throttle and tilt the quad rotor
about X axis(roll) and Y axis (pitch) the board should give a control so as to oppose this
movement , if the control is there but is too less then increase the gain .
Now fly the quad rotor if the quad oscillates with large amplitudes then increase the
gain , if the oscillations are of small amplitudes or deviation but high frequency , like
its vibrating then the gain is too high , reduce the gain .
Om sree sainathayanamaha
TUTORIAL:FOR FURTHER CLARIFICATION WITH REGARDS TO THE FITMENT , USAGE AND
OPERATION OF THE BOARD PLEASE REFER TO THE DETAIL VIDEO TUTORIAL POSTED BY
VENKATESH SAI ON RESOURCE CENTER IN www.muav.in also a direct link is given :
www.muav.in/resourcecenter . IT HAS ASSEMBLY OF FRAME, WIRING , FIRST TIME
STARTUP,TUNING , FLYING AND TROUBLESHOOTING .
DISCLAIMER:This manual is associated with Atoms and Bytes (A&B). A&B has the full right of
changing this manual for suiting more advance releases of the same class of product
and cannot be penalised for doing so .