SunFounder 6D-Box User manual

Preface
About SunFounder
SunFounder is a technology company focused on Raspberry Pi and Arduino open source
community development. Committed to the promotion of open source culture, we strive to
bring the fun of electronics making to people all around the world and enable everyone to
be a maker. ur products include learning kits, development boards, robots, sensor
modules and development tools. In addition to high quality products, SunFounder also offers
video tutorials to help you build your own project. If you have interest in open source or
making something cool, welcome to join us! Visit www.sunfounder.com for more!
About Quadcopter Learning Starter Kit for MWC
This learning kit is a basic but functional study tutorial for quadcopters based on the open
source platform MWC. Different from other toy aircrafts on the market, 6D-Box quadcopter
is not only a toy – through its application, you can not only learn much basic knowledge
about quadcopter and remote control, but also, which is more important, assemble your
own copter. It can the stepping stone on your path towards more advanced command of
flying and copters. The assembly of this quadcopter is quite simple and we provide thorough
hardware and software materials. This starter kit is a best choice for you if you are interested
in quadcopter and want to start learning.
As for the name 6D-Box: we call it 6D because it adopts a 6 degrees of freedom (D F)
attitude sensor, and the box comes from its shape after assembled, which is very vivid. An
ATMega328P microprocessor is used for its flight control. The related sketch is compiled in
Arduino IDE with Arduino Pro Mini as the board model and applies the software MultiWii V2.2
after our modification. The quadcopter uses a 720 coreless DC motor and its frame diagonal
is only 11cm long, making it ultra-small in size and flexible in flight with premium lightweight
propellers.

otes:
 The figures of 3D model are included in this manual, so there may be difference between
the model and physical product in color and shape.
 Please note that the remote control we provide is with the throttle on the LEFT. You may be
clear of that before applying the product.
 PLEASE follow instructions in this manual in case of parts damage.
 Some parts may be comparatively fragile. Please DO OT try any operations that may harm
the components.
 We provide free technical support, excluding any man-made damages.
 When you fly the quadcopter for the first time, please go to an open environment and avoid
crashing into hard objects in case of quadcopter especially propeller damages.
If you have any questions, suggestions or ideas, please contact us:
Send an email to [e-mail]
r visit www.sunfounder.com and click Contact us on the page.
Copyright otice
All contents including but not limited to texts, images, and code in this manual are owned
by the SunFounder Company. You should only use it for personal study, investigation,
enjoyment, or other non-commercial or nonprofit purposes, under the related regulations
and copyrights laws, without infringing the legal rights of the author and relevant right
holders. For any individual or organization that uses these for commercial profit without
permission, the Company reserves the right to take legal action.

Contents
1. Introduction .................................................................................................................................... 1
1.1 verview ........................................................................................................................... 1
1.2 Specifications.................................................................................................................... 2
2. Components List ............................................................................................................................ 3
3. Software Debugging ..................................................................................................................... 9
3.1 Preparations ...................................................................................................................... 9
3.2 Battery & Charger ............................................................................................................ 9
3.3 Flight Control Board ....................................................................................................... 10
3.4 LED Board ........................................................................................................................ 11
3.5 Program ........................................................................................................................... 11
3.6 Configure Flight Parameters in GUI.............................................................................. 15
4. Remote Control ........................................................................................................................... 17
4.1 Remote Control .............................................................................................................. 17
4.2 Remote Control + Receiver .......................................................................................... 19
4.3 Gyroscope and Accelerator Calibration ................................................................... 20
4.4 Copter Lock & Unlock by Remote Control ................................................................. 21
5. Assembly ....................................................................................................................................... 24
6. Try Flying ........................................................................................................................................ 33
6.1 Fine Tuning....................................................................................................................... 33
6.2 Precautions During Flight ............................................................................................... 35
6.3 First Fly! ............................................................................................................................. 35
6.4 Reducing the Weight of Your Craft ............................................................................. 35
7. Stunt Flying .................................................................................................................................... 37
8. Troubleshooting............................................................................................................................ 38
9. Precautions ................................................................................................................................... 38

1
1. Introduction
1.1 Overview
－ MWC
SunFounder 6D-Box is a mini quadcopter based on MWC.
Multiwii Copter, or MWC, is an open source firmware aiming to provide the brain of a RC
controlled multi rotor flying platform. It was developed by French Alexander Dubus, a model
airplane hobbyist, to control his DIY tricopter. Having been improved by many hobbyists
around the world, Multiwii now can not only support multicopters like tricopter, quadcopter,
and hexacopter, but also model aircrafts like fixed wing plane and helicopter. It is powerful
but easy to use at the same time. It supports various types of sensor and a wide range of
external devices and flight modes, which makes it one type of the most popular firmware in
the world these years.
However, for a beginner along the road, the mass information and the huge size of its code
stops quite a lot of hobbyists from getting their feet wet. To help solve this issue, we
developed this 6D-Box quadcopter based on MWC for Arduino. Though small, it contains
most of the knowledges about MWC. By learning this aircraft, you can try making your own
aircraft with the knowledge gained about multicopter as well as operation skills, using it as
a quick start!
－ 6D-Box
The 6D-Box quadcopter is
ultra-small and lightweight
– only weighing 45.8g (no
protective bumpers), with
a distance of 11.8cm
between diagonal motors.
The battery supports a non-
stop flight of up to 8min.
With a frame made of 3mm
carbon fiber, the plane
features light weight, high
strength and strong anti-
bump capability.

2
As for flight control, SunFounder Pro Mini board (compatible with Arduino Pro Mini) is used
as the core processor, with MPU6050, an attitude sensor that incorporates accelerometer
and gyroscope.
Four 720 coreless DC motors can realize the highest efficiency together with proper
propellers. With the LED board underneath, the quadcopter can have "eyes" at night and
also show fascinating effects.
As to communication, a 4-channel RadioLink remote control and receiver are used. They
can also be applied in other aircrafts - when you get enough knowledge about airplane
model and are sufficiently familiar with the operations, you may even make your own plane
using them for control! That'll save you a lot of money and you'll not need to adapt to
another control again.
To fit our 6D-Box better, some adjustments are made to the original MWC code. With the
altered code, new hands may skip the difficulties in the PID adjustment and start learning
MWC more easily. Besides, since it is lightweight and portable, and also quite safe to fly, our
6D-Box boasts itself the best choice for you to enter the model aircraft field!
1.2 Specifications
 Size: 4.6'' (distance between diagonal motors)
 Weight (without bumpers): 1.6oz (45g); (with bumpers) 1.75oz (49.6g)
 Motor model: 720 coreless motor; working voltage: 3.7V
 Blade/Propeller: 55mm long, high efficient
 Receiver: RadioLink; Remote Control: T4EU
 Battery: 3.7V, 380mAh, sizing 38x20x8 mm

3
2. Components List
2.1 Structural Fasteners
Parts Name Qty.
M1.2*10
Self-tapping Screw
6
M2*5
Nylon Screw 6
M2*20
Nylon Screw 6
M2*8 Nylon
Standoff 6
M2*15 Nylon
Standoff 6
2.2 Mechanical Components
Parts Name Qty.
Frame 1

4
6D-B X Cover
2
6D-B X
LED Board 1
Motor Protective
Seat
2 (Black)
2 (Red)
Propeller Bumper
2 (Red)
2 (Black)

5
Red Propeller
Reverse (clockwise)
2
Red Propeller
Positive
(counterclockwise)
2
Black Propeller
Reverse (clockwise)
2
Black Propeller
Positive
(counterclockwise)
2
2.3 Electronic Components
Parts Name Qty.
Flight Control
Board 1

6
Li-Po Battery
(3.7V, 380mAH) 1
Mini USB Cable (1m)
1
3.7V USB Charger
for Li-Po Battery 1
720CW Motor (red
& black wire)
(M1, M2)
2
720CCW Motor
(black & white wire)
(M3, M4)
2
USB To Serial
for 6D-B X 1
2-Pin Connector
Cable (1.27mm pin
space, 3cm)
1

7
6-Pin Connector
Cable (1.27mm pin
space, 10cm)
1
4mm Heat-shrink
Tubing (8cm) 1
Remote Control
Receiver
(4-Channel)
1
Remote Control 1