asctec X-3D-BL User manual

X-3D-BL User’s Manual
V2.1 incl. X-3D Mag

X-3D-BL User’s Manual
Inhaltsverzeichnis
1 Introduction 4
1.1 Systemoverview ........................................ 4
1.1.1 X-CSM......................................... 4
1.1.2 X-Base ......................................... 5
1.1.3 X-3D .......................................... 6
1.1.4 X-3D-FunPilot ..................................... 6
1.1.5 Motors ......................................... 6
1.1.6 X-BLDC brushless motor controllers . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.1.7 Optionally available: X-ACC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.1.8 Optionally available: X-3D Mag . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.2 Components required for the X-3D-BL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.2.1 Partlist ......................................... 8
1.2.2 Additionallyrequired.................................. 9
2 Assembly 10
2.1 Beforeyoustart......................................... 10
2.2 AssemblyoftheX-CSMframe................................. 10
2.2.1 Preparing the base of the X-CSM Core . . . . . . . . . . . . . . . . . . . . . . . . 10
2.2.2 Lateral frame parts of the X-CSM Core . . . . . . . . . . . . . . . . . . . . . . . . 10
2.2.3 Uppersideofthecore ................................. 11
2.2.4 Addingthebooms ................................... 11
2.2.5 LowersideoftheCore................................. 12
2.2.6 Mountingabattery................................... 13
2.3 MountingtheElectronics.................................... 13
2.3.1 PreparingtheX-Base.................................. 13
2.3.2 Preparing the X-BLDC motor controllers . . . . . . . . . . . . . . . . . . . . . . . 14
2.3.3 Positioning of the X-Base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.3.4 Mounting the X-BLDC motor controllers . . . . . . . . . . . . . . . . . . . . . . . 14
2.3.5 Mountingthemotors.................................. 15
2.3.6 Wiring ......................................... 15
2.3.7 Mounting the ACT-Receiver (35 or 40 MHz) . . . . . . . . . . . . . . . . . . . . . 16
2.3.8 Mounting a different receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.3.9 Mounting the X-3D or X-3D-FunPilot . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.4 Laststeps ............................................ 18
2.4.1 Mountingtheantenna ................................. 18
2.4.2 Preparation and mounting of the propellers . . . . . . . . . . . . . . . . . . . . . . 18
2.4.3 Markingthefront.................................... 19
2.5 Optional: Integrating the X-ACC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.6 Optional: Integration of the X-3D Mag . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
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X-3D-BL User’s Manual
3 Setup and configuration of the X-3D-BL 22
3.1 Updating the Onboard-Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.1.1 Software update of the X-3D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.1.2 Software update of the X-3D-FunPilot . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.1.3 Software update of the X-Base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.2 Configuration .......................................... 24
3.2.1 Setting up the X-BLDC brushless motor controllers . . . . . . . . . . . . . . . . . . 24
3.2.2 Teach-in of your remote control . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.2.3 X-3DParameters.................................... 25
3.2.4 X-3D-FunPilot Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.3 ConfigurationoftheX-ACC .................................. 26
3.3.1 Installing the X-ACC Firmware on X-3D and X-Base . . . . . . . . . . . . . . . . . 26
3.3.2 Uploading parameters for the X-ACC (only X-3D) . . . . . . . . . . . . . . . . . . 26
3.3.3 Calibration of the acceleration sensors . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.4 Calibration and setup of the X-3D Mag . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
4 Operation of the X-3D-BL 28
4.1 Important things to keep in mind . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
4.2 Hints for using the X-ACC mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.2.1 Trimmemoryfunction ................................. 29
4.3 Usage hints for the X-3D-FunPilot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.3.1 Optimisation of the pressure sensor . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.3.2 Control modes X-3D FunPilot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
4.3.3 Heightcontrol ..................................... 30
4.4 Firstflight............................................ 31
5 Contact Information 32
A Troubleshooting 33
A.1 The vehicle drifts significantly into a certain direction . . . . . . . . . . . . . . . . . . . . . 33
A.2 Badreceptionduringflight ................................... 33
A.3 No reaction on pitch and roll commands during a loop . . . . . . . . . . . . . . . . . . . . . 33
A.4 The red LED on the X-3D keeps blinking after the startup . . . . . . . . . . . . . . . . . . . 34
A.5 The X-3D-BL turns itself off during flight . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
A.6 Problems that might occur using the X-ACC mode . . . . . . . . . . . . . . . . . . . . . . 35
A.6.1 Slight tilt in pitch/roll with the pitch/roll stick in neutral position . . . . . . . . . . . 35
A.6.2 Considerable tilt in pitch or roll . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
B User-programmable startup melodies 36
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X-3D-BL User’s Manual
1 Introduction
Congratulations! You have just bought a powerful
high-end model aircraft kit!
Please read this manual thoroughly until the end befo-
re you start assembling your X-3D-BL and stick with
the proposed chronological order. Warranty is void if
this manual is not strictly followed.
WARNING!
Assembling the X-3D-BL requires some experience
with building R/C models and soldering. If you do
not feel like you could do this on your own, please
make sure you get some help from a person with the
experience required. If cables are connected falsely
hardware can be destroyed. WARNING! Such cases
are not covered by warranty!
A motorized model aircraft is not a toy! It should only
be flown by adults. Improper assembly or operating
can lead to severe injuries and / or damages. Trouble
with your remote control due to interferences can
occur any time without prior notice. Sometimes, a
model aircraft can suddenly become uncontrolla-
ble due to a failure of any component, including
mechanical parts and electronics. In this case, the
model can rapidly move towards any direction. Make
sure you always keep a safe distance to people,
animals, obstacles or things of any kind, traffic roads,
etc.. There are country-specific laws regulating the
operation of model aircrafts that definitely have to
be obeyed. Furthermore, we strongly recommend to
effect a liability insurance for model aircrafts. The
manufacturer and your dealer of the X-3D-BL do
not have any influence on, nor can they monitor the
correct assembly and proper operation of your model
aircraft. Always be aware of the dangers mentioned
above and act accordingly. There is no liability of the
manufacturer nor the retailer at all, as far as legally
approved.
Our products are hobby-products and solely meant for
usage in non-commercial ways. It is not allowed to
use them for any commercial or military purposes.
Using any of our components for larger scale flying
objects is explicitly forbidden.
SUBJECT TO CHANGE WITHOUT NOTICE.
1.1 System overview
1.1.1 X-CSM
The X-CSM is the mechanical frame of the X-3D-
BL UFO. The booms, which are made of a rigid
carbon fiber-balsa wood sandwich material, can be
replaced individually. The central unit of the frame
called the ”X-CSM Core” is made of light weight
laser-cut magnesium parts. Being built out of these
state-of-the-art materials the X-CSM is a very robust
high-tech basis for your quadrotor aircraft.
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X-3D-BL User’s Manual
1.1.2 X-Base
The X-Base is the central control unit which is
connected to and communicates with all active
elements of the X-3D-BL. Next to the battery, the
motor controllers, the X-3D gyro and the receiver
you can also connect several LEDs to the X-Base to
give your X-3D-BL a unique fancy look.
An LED connected to the ”Front-LED” Pads on the
bottom side of the X-Base will always be on as long
as the X-3D-BL is turned on. Such an LED can be
mounted to the very front of your vehicle to make it
easier for the pilot to know where the front side is.
1 BL-controllers / brushed motors (+)
2 BL-controllers (-)
3 Brushed motors (-) Left/Right/Back/Front
4 PPM-Receiver Input (-) (+) Signal
(from lower to upper connector)
5 LEDs (-) Left/Right/Rear/Front
6 LEDs (+) 5V
7 Power connector, (+) and (-) marked on the
upper side of the board
The key below the power connector (7) turns the
X-3D-BL on and off. A short press is enough to turn
the vehicle on. To turn it off the key has to be pressed
for at least 200ms.
The ”brushed motors” connectors of the X-Base (3)
are not required as the brushless motors are driven by
independent controllers, and thus the connectors can
be used to drive peripherals like for instance a night-
flight kit. Connector ”L” is switched on and off by
R/C channel 5, connector ”R” by R/C channel 6. The
connectors can sink currents up to 5A if they’re ena-
bled. That means that the (-)-input of a peripheral has
to be connected to the ”L” or ”R” pad and the (+)-
input has to be connected to (+) (connector (1)). Be
aware that in this configuration your peripheral will
be supplied the whole battery voltage. If this not what
you need make sure you use a suitable voltage regu-
lator.
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X-3D-BL User’s Manual
1.1.3 X-3D
The X-3D is the sensor unit of the X-3D-BL. With
three piezo-gyros and highly optimized control
loops it does the actual flight/attitude control. All
parameters influencing the in-flight behavior can be
tuned by connecting the X-3D to a PC using the USB
adapter that came with your X-3D-BL. Once you are
on the field for flying you can select four different
parameter sets using two jumpers.
LED patterns shown by the X-3D
•red blinking: Initializing or at least one motor
not detected
•yellow+green: No reception or playing startup-
melody
•green: Ready to fly
1.1.4 X-3D-FunPilot
The X-3D-FunPilot is the new high performance
sensor unit of the X-3D BL UFO. Equipped with
three piezo gyroscopes, a pressure sensor and highly
optimized control algorithms, the X-3D-FunPilot
takes care of the flight control of the UFO. All
important parameters of the X-3D-FunPilot can be
set with the PC software and the X-USB module.
Four different settings can be stored onboard and can
be selected by the RC on the flight field
LED patterns of the X-3D-FunPilot
•red: Initialisation
•red/yellow blinking: X-Base or X-BL motors
not detected
•red/yellow and green blinking: No RC recepti-
on and ne setting selected
•yellow and green blinking: No setting selected
•yellow blinking/green: Ready for flight
•yellow blinking: X-Base is in setup mode
•yellow/red: trim reset
•gelb: trim saved
1.1.5 Motors
The X-BL-52s motors by HACKER Motors Germa-
ny are custom-built for the X-3D-BL. The motors are
perfectly suited for the application in this vehicle.
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X-3D-BL User’s Manual
1.1.6 X-BLDC brushless motor
controllers
Every motor is controlled by an independent X-
BLDC brushless motor controller. The controllers are
highly optimized for the X-BL-52s motors and thus
ensure the highest efficiency possible. Please note that
for this reason the controllers might not work with a
different motor type.
1.1.7 Optionally available: X-ACC
The X-ACC is a tiny add-on module, which gives the
X-3D-BL a totally different behavior. For using the
pressure height control with the X-3D-FunPilot, the
X-ACC module is neccessary.
Without the X-ACC the X-3D-BL is flying in the so
called Heading-Hold mode. The vehicle always tries
to keep its current orientation if there is no control
command. If you push a stick on your remote the
vehicle will turn in the associated axis. The further
you push the stick, the faster the X-3D-BL turns.
The X-ACC is a triaxial accelerometer. Using the ac-
celeration data the X-3D can compute the absolute
orientation of the vehicle in pitch and roll. As a conse-
quence, the helicopter is able to come back to a hori-
zontal orientation on its own. In the X-ACC mode you
command an absolute angle. The further you push the
pitch or roll stick, the bigger the tilt-angle of the X-
3D-BL. If you leave the stick centered the helicopter
will come back to horizontal. In this mode you are
not able to do loops or flips, however, hovering and
all 2D-maneuvers are much easier to do. The X-ACC
is also a great help for beginners! You can switch bet-
ween the Heading-Hold and the X-ACC mode during
flight using a switch on your (>4 channels) remote
control.
1.1.8 Optionally available: X-3D Mag
The X-3D Mag is used for stabilysing the yaw axis to
hold an absolute angle. By using a tilt compensation
algorithm the X-3D BL Ufo holds it’s desired heading
in the X-ACC and X-ACC-height mode at any time.
This makes it also easier for beginners to get in touch
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X-3D-BL User’s Manual
with the flying platform as two funtions (height and
yaw) are now controlled by the onboard electronics.
1.2 Components required for
the X-3D-BL
1.2.1 Part list
X-CSM
* 1 sheet of magnesium with pre-cut parts
to quarry out
* 4 CF/balsa wood sandwich material booms
* 4 CF panels (1 big, 3 small ones)
* 10 plastic screws incl. nuts
* 1 GFK antenna stick
* 4 O-rings
* 4 rubber bushings
* 1 silicon tube
X-Base
* 1 X-Base
* 1 ACT receiver incl. cable
* 4 spacers (6 mm)
* 4 tapping screws
X-3D and X-3D-FunPilot
* 1 X-3D
* 3 spacers
* 6 M2-screws
* 2 jumpers (only X-3D)
BL-Kit
* 4 X-BLDC motor controllers
* 4 X-BL-52s motors
* 4 I2C cables
* 8 spacers
* 8 tapping screws
* 2 propellers (clockwise rotation)
* 2 propellers (counter clockwise rotation)
* 4 nuts
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X-3D-BL User’s Manual
* 16 plastic screws (short)
Optional: X-ACC
* X-ACC circuit-board
* 1 spacer
* 2 M2-screws
* Product code
Optional: X-3D Mag
* X-3D Mag PCB
* CF-panel for integration into the X-CSM frame
* 2 M2-screws
* 2 M2-nuts
* 2 distance holders
* connection cable
1.2.2 Additionally required
Material
* Foam to protect the battery
* Optionally 4 cable ties 2,5 x 100 mm
Adhesion
* Super Glue
* Double sided tape
Tools
* Screwdrivers (+ and -)
* Soldering iron
* Lighter or hot-air-gun
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X-3D-BL User’s Manual
2 Assembly
2.1 Before you start
Familiarize yourself with the kit and check if all parts
are included. All parts are subject to quality assurance
during production and packaging. We hope that you
are contented with the quality of all components. If a
part should not be totally o.k. we are willing to amend
or exchange the affected part.
2.2 Assembly of the X-CSM
frame
The whole assembly process of the X-CSM is des-
cribed below. Every important step is depicted in a
photograph. Please read the whole section before you
start assembling your frame in the recommended or-
der.
2.2.1 Preparing the base of the
X-CSM Core
Press the rubber bushings in the respective holes and
glue in the brazen bushings using for example Super
Glue.
.
2.2.2 Lateral frame parts of the
X-CSM Core
Plug the lateral magnesium parts into the planned
slots. Turn them until they engage.
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