ConfiguracionCleanflight

De Documentación colaborativa de Flone
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Puedes configurar flone con las placas Naze32 o Flip32 de la siguiente manera:

El Bluetooth debe estar conectado de esta manera, sino no nos va a funcionar: Bluetooth --> Flip32+ GND --> G VCC --> V TXD --> RC_CH4 RXD --> RC_CH3

    • El receptor no se va a encender hasta que no pongáis la batería, ya que la alimentación USB no sirve para toda la placa**

Primero de todo debemos descargarnos la aplicación de Cleanflight desde la tienda del explorador Chrome, que lo podéis encontrar en el siguiente enlace: https://chrome.google.com/webstore/detail/cleanflight-configurator/enacoimjcgeinfnnnpajinjgmkahmfgb Una vez descargada la aplicación, la abriremos y veremos esta pantalla: CF Pantalla principal.png

Iremos a la pestaña de "Firmware Flasher": CF Firmware Flasher.png

Des deplegable escogeremos la última versión para NAZE, en este caso: CF Version.png

Haremos clic en "Load Firmware": CF LoadFirmware.png

Una vez que cambie la pantalla le daremos a "Flash Firmware": CF Flash Firmware.png Y podemos ver como la barra verde de abajo se completa.

    • Importante seleccionar "Full chip erase" antes de flashear la placa!**

Lo primero que haremos será irnos a la pestaña de configuración, seleccionaremos "RX_MSP", de-seleccionamos "Failsafe" y le daremos a guardar abajo a la derecha. CF RX MSP.png

    • Si también queremos monitorear el voltaje de la bateria hay que activar "V_BAT", arriba a la derecha de la imagen.

Después nos iremos a la pestaña de "Ports", y activaremos el UART2, dejando todo lo demás como estaba: CF Ports.png

Acto seguido pasaremos a la pestaña de "Receiver", donde haremos clic encima de AETR1234 y lo cambiaremos por AERT1234, ya que en CleanFlight el orden de los canales ha sido modificado: CF Receiver.png

De esta manera al conectar la batería ya deberíamos poder ver como las barras de la pestaña se mueven.

En la pestaña "Modes" vamos ahora a hacer clic en ADD y moveremos las deslizaderas a estas posiciones aproximadamente: CF Modes.png

¡Aún no hemos terminado! nos queda la pestaña de "PID Tuning", dónde en vez de seleccionar "Multiwii" seleccionaremos "Luxfloat", le daremos a guardar y modificaremos los valores de ALT a los siguientes: P=4.9, I=0.032 D=3. CF PID Tuning.png

Listo, ya tenemos nuestra nueva controladora lista para volar!

Fichero de configuración:

Failsafe: Con teléfono encima (150~200gramos):

Sin teléfono encima:


Código para copiar y pegar en el CLI para un Ready To Go una vez flasheado el firmware:

  1. version
  2. Cleanflight/NAZE 1.10.0 Oct 2 2015 / 14:57:31 (9f95334)
  3. dump master
  1. mixer

mixer QUADX mmix reset smix reset


  1. feature

feature -RX_PPM feature -VBAT feature -INFLIGHT_ACC_CAL feature -RX_SERIAL feature -MOTOR_STOP feature -SERVO_TILT feature -SOFTSERIAL feature -GPS feature -FAILSAFE feature -SONAR feature -TELEMETRY feature -CURRENT_METER feature -3D feature -RX_PARALLEL_PWM feature -RX_MSP feature -RSSI_ADC feature -LED_STRIP feature -DISPLAY feature -ONESHOT125 feature -BLACKBOX feature -CHANNEL_FORWARDING feature MOTOR_STOP feature RX_MSP


  1. map

map AERT1234


  1. serial

serial 0 1 115200 57600 0 115200 serial 1 1 115200 57600 0 115200


  1. led

led 0 15,15:ES:IA:0 led 1 15,8:E:WF:0 led 2 15,7:E:WF:0 led 3 15,0:NE:IA:0 led 4 8,0:N:F:0 led 5 7,0:N:F:0 led 6 0,0:NW:IA:0 led 7 0,7:W:WF:0 led 8 0,8:W:WF:0 led 9 0,15:SW:IA:0 led 10 7,15:S:WF:0 led 11 8,15:S:WF:0 led 12 7,7:U:WF:0 led 13 8,7:U:WF:0 led 14 7,8:D:WF:0 led 15 8,8:D:WF:0 led 16 8,9::R:3 led 17 9,10::R:3 led 18 10,11::R:3 led 19 10,12::R:3 led 20 9,13::R:3 led 21 8,14::R:3 led 22 7,14::R:3 led 23 6,13::R:3 led 24 5,12::R:3 led 25 5,11::R:3 led 26 6,10::R:3 led 27 7,9::R:3 led 28 0,0:::0 led 29 0,0:::0 led 30 0,0:::0 led 31 0,0:::0


  1. color

color 0 0,0,0 color 1 0,255,255 color 2 0,0,255 color 3 30,0,255 color 4 60,0,255 color 5 90,0,255 color 6 120,0,255 color 7 150,0,255 color 8 180,0,255 color 9 210,0,255 color 10 240,0,255 color 11 270,0,255 color 12 300,0,255 color 13 330,0,255 color 14 0,0,0 color 15 0,0,0

set looptime = 3500 set emf_avoidance = 0 set mid_rc = 1500 set min_check = 1100 set max_check = 1900 set rssi_channel = 0 set rssi_scale = 30 set rssi_ppm_invert = 0 set rc_smoothing = 1 set input_filtering_mode = 0 set min_throttle = 1050 set max_throttle = 1950 set min_command = 1001 set servo_center_pulse = 1500 set 3d_deadband_low = 1406 set 3d_deadband_high = 1514 set 3d_neutral = 1460 set 3d_deadband_throttle = 50 set motor_pwm_rate = 400 set servo_pwm_rate = 50 set retarded_arm = 0 set disarm_kill_switch = 1 set auto_disarm_delay = 20 set small_angle = 25 set fixedwing_althold_dir = 1 set reboot_character = 82 set gps_provider = 0 set gps_sbas_mode = 0 set gps_auto_config = 1 set gps_auto_baud = 0 set serialrx_provider = 0 set spektrum_sat_bind = 0 set telemetry_switch = 0 set telemetry_inversion = 0 set frsky_default_lattitude = 0.000 set frsky_default_longitude = 0.000 set frsky_coordinates_format = 0 set frsky_unit = 0 set frsky_vfas_precision = 0 set hott_alarm_sound_interval = 5 set battery_capacity = 0 set vbat_scale = 110 set vbat_max_cell_voltage = 43 set vbat_min_cell_voltage = 33 set vbat_warning_cell_voltage = 35 set current_meter_scale = 400 set current_meter_offset = 0 set multiwii_current_meter_output = 0 set current_meter_type = 1 set align_gyro = 0 set align_acc = 0 set align_mag = 0 set align_board_roll = 0 set align_board_pitch = 0 set align_board_yaw = -90 set max_angle_inclination = 500 set gyro_lpf = 42 set moron_threshold = 32 set gyro_cmpf_factor = 600 set gyro_cmpfm_factor = 250 set yaw_control_direction = 1 set pid_at_min_throttle = 1 set yaw_motor_direction = 1 set yaw_jump_prevention_limit = 200 set tri_unarmed_servo = 1 set servo_lowpass_freq = 400 set servo_lowpass_enable = 0 set failsafe_delay = 10 set failsafe_off_delay = 200 set failsafe_throttle = 1000 set failsafe_kill_switch = 0 set failsafe_throttle_low_delay = 100 set rx_min_usec = 885 set rx_max_usec = 2115 set acc_hardware = 0 set baro_hardware = 0 set mag_hardware = 0 set blackbox_rate_num = 1 set blackbox_rate_denom = 1 set blackbox_device = 0 set magzero_x = 0 set magzero_y = 0 set magzero_z = 0

  1. rxfail

rxfail 0 a rxfail 1 a rxfail 2 a rxfail 3 a rxfail 4 h rxfail 5 h rxfail 6 h rxfail 7 h rxfail 8 h rxfail 9 h rxfail 10 h rxfail 11 h rxfail 12 h rxfail 13 h rxfail 14 h rxfail 15 h rxfail 16 h rxfail 17 h

  1. dump profile
  1. profile

profile 0

  1. aux

aux 0 0 0 1750 2100 aux 1 1 1 900 1275 aux 2 3 1 1300 1700 aux 3 0 0 900 900 aux 4 0 0 900 900 aux 5 0 0 900 900 aux 6 0 0 900 900 aux 7 0 0 900 900 aux 8 0 0 900 900 aux 9 0 0 900 900 aux 10 0 0 900 900 aux 11 0 0 900 900 aux 12 0 0 900 900 aux 13 0 0 900 900 aux 14 0 0 900 900 aux 15 0 0 900 900 aux 16 0 0 900 900 aux 17 0 0 900 900 aux 18 0 0 900 900 aux 19 0 0 900 900

  1. adjrange

adjrange 0 0 0 900 900 0 0 adjrange 1 0 0 900 900 0 0 adjrange 2 0 0 900 900 0 0 adjrange 3 0 0 900 900 0 0 adjrange 4 0 0 900 900 0 0 adjrange 5 0 0 900 900 0 0 adjrange 6 0 0 900 900 0 0 adjrange 7 0 0 900 900 0 0 adjrange 8 0 0 900 900 0 0 adjrange 9 0 0 900 900 0 0 adjrange 10 0 0 900 900 0 0 adjrange 11 0 0 900 900 0 0

  1. rxrange

rxrange 0 1000 2000 rxrange 1 1000 2000 rxrange 2 1000 2000 rxrange 3 1000 2000

  1. servo

servo 0 1000 2000 1500 90 90 100 -1 servo 1 1000 2000 1500 90 90 100 -1 servo 2 1000 2000 1500 90 90 100 -1 servo 3 1000 2000 1500 90 90 100 -1 servo 4 1000 2000 1500 90 90 100 -1 servo 5 1000 2000 1500 90 90 100 -1 servo 6 1000 2000 1500 90 90 100 -1 servo 7 1000 2000 1500 90 90 100 -1

set gps_pos_p = 15 set gps_pos_i = 0 set gps_pos_d = 0 set gps_posr_p = 34 set gps_posr_i = 14 set gps_posr_d = 53 set gps_nav_p = 25 set gps_nav_i = 33 set gps_nav_d = 83 set gps_wp_radius = 200 set nav_controls_heading = 1 set nav_speed_min = 100 set nav_speed_max = 300 set nav_slew_rate = 30 set alt_hold_deadband = 40 set alt_hold_fast_change = 1 set deadband = 0 set yaw_deadband = 0 set throttle_correction_value = 0 set throttle_correction_angle = 800 set default_rate_profile = 0 set gimbal_mode = 0 set acc_lpf_factor = 4 set accxy_deadband = 40 set accz_deadband = 40 set accz_lpf_cutoff = 5.000 set acc_unarmedcal = 1 set acc_trim_pitch = 0 set acc_trim_roll = 0 set baro_tab_size = 21 set baro_noise_lpf = 0.600 set baro_cf_vel = 0.985 set baro_cf_alt = 0.965 set mag_declination = 0 set pid_controller = 2 set p_pitch = 40 set i_pitch = 30 set d_pitch = 23 set p_roll = 40 set i_roll = 30 set d_roll = 23 set p_yaw = 85 set i_yaw = 45 set d_yaw = 0 set p_pitchf = 1.500 set i_pitchf = 0.400 set d_pitchf = 0.030 set p_rollf = 1.500 set i_rollf = 0.400 set d_rollf = 0.030 set p_yawf = 2.500 set i_yawf = 1.000 set d_yawf = 0.000 set level_horizon = 3.000 set level_angle = 5.000 set sensitivity_horizon = 75 set p_alt = 49 set i_alt = 32 set d_alt = 2 set p_level = 90 set i_level = 10 set d_level = 100 set p_vel = 120 set i_vel = 45 set d_vel = 1 set yaw_p_limit = 500 set dterm_cut_hz = 0 set pterm_cut_hz = 0 set gyro_cut_hz = 0

  1. dump rates
  1. rateprofile

rateprofile 0

set rc_rate = 90 set rc_expo = 65 set rc_yaw_expo = 0 set thr_mid = 50 set thr_expo = 0 set roll_rate = 0 set pitch_rate = 0 set yaw_rate = 0 set tpa_rate = 0 set tpa_breakpoint = 1500