Let’s examine a quadcopter chart of the type described above so we can discuss the Mixer Editor programming in more concrete terms. Now we are on to the final step in the process of programming the KK2.1’s Mixer Editor we just need to input the sine values we calculated. Third, we calculated the sine of each of these angles. Second, on our chart we determined the angles between the pitch- and roll-axis and each of the quadcopter’s four arms. We then marked the location of the KK2.1 and the locations of each of the four motors. On a piece of paper we made two orthogonal axes kind of like x- and y-axis, but we call them the roll- and pitch- axes in the context of multirotors. Let’s quickly recap the work we’ve done so far:įirst we made a little empirical chart of our quadcopter. Programming Your KK2.1 Flight Controller’s Mixer Editor These sine values are are numbers we will input into the KK2.1 Mixer Editor. So break out your favorite scientific calculator, or your phone, and find the sine of each of the angles. We just need to find the sine of each of the angles we just measured. Using a protractor, measure the angles from each of the axes to each of the arm lines. We are not trying to find the angles of the arms with respect to the quadcopter body. The goal here is to find the angles from each motor to the center of the flight controller. Note that the quadcopter frame itself will not necessarily be centered on the axes. Now place the quadcopter onto the drawing area so that the center of the flight control board is positioned at the intersection of our x- and y-axis lines. These lines will be the x and y axes for our diagram. Once you have your drawing area set up, use a straightedge to make one horizontal and one vertical tine in the middle of the area like crosshairs. I bought a roll of plain brown wrapping paper (which feels like the material paper grocery bags are made from) and then taped it down securely to a table. Some people draw directly on their workbenches, others use large dry-erase boards, still others use plywood sheets you can use any surface as long as it is easy to write on and it is larger than the quadcopter. There are, of course, any number of surfaces you can use, so feel free to find the one that works best for you. First, we will need a nice big surface to write on. Since it would be quite difficult and unreliable to try to measure the arm angles directly on the quadcopter, so we will start by creating a diagram of the craft which will make taking measurements much, much easier and more accurate. These sine values are then numbers we put into the KK2.1 Mixer Editor which tells the flight controller the geometry of the quadcopter. Soon we will start doing a bunch of trigonometry, the ultimate goal of which will be go come up with the sine of the angles between the roll and pitch axes and the quadcopter’s four arms. Let’s start with the end goal in mind, although it might not make too much sense right now, it at least gives us a finish line for which to aim. This page covers how to program the HobbyKing KK2.1 flight controller with the locations of the motors since this is the flight controller used for the tutorials on this site. Now, different flight control systems are programmed in different ways. Using this information, the flight controller can calculate how to adjust the lift produced by each motor and move the craft. By knowing these positions, flight controllers can calculate the leverage each arm has over the orientation of the quadcopter. In order to calculate the lift required by each motor correctly, a flight controller must know the exact position of each of the multirotor’s motors relative to itself. In order to make the multirotor change its position and/or orientation, the flight controller adjusts the rotational speed of the motors, which in turn adjusts the lift and torque produced by the motors. As discussed in the previous guide, a multirotor flight controller is able to ascertain the position and orientation of the craft based on data from its onboard sensors.
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