Bye bye Naze, we will not miss you that much

I have a news for all INAV pilots using Naze32, Flip32 and other boards compatible with NAZE target. You might call it a bad news, but reality is that it is not that bad and was long anticipated. It is official: INAV 1.7.2 was the last INAV release with NAZE target. That means the following: INAV 1.8 will not be available for Naze32, Flip32 and other boards compatible with that target.

You might was "why?". Quite simple: not enought flash memory, no way for new features to fit in. There was even not enought flash memory for bugfixes. And to be honest, I do not remember last time when NAZE users really got a new feature. Almost all new things were disabled for them. For more than a year, compiling NAZE target after adding something new was quite a challenge.

Does that mean that you can not use Nazes any more? Absolutely not. They are good boards and INAV 1.7.2 works on them just fine. You only will not be able to upgrade to INAV 1.8. And trust me, it is really worth it to invest in something better like F3 board. They are not that expensive after all…

By the way, CC3D is the next thing to be removed. Not yet, it still fits flash. Barely, but fits…

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INAV 1.1 for Naze32 with working telemetry

As long as Naze32 / Flip32 are decent flight controllers for those who does not demand too much, they share very big flaw: low flash memory size. While even a year ago 128kB of flash was enough, times changed, and limited flash makes a problem for advanced flight controller software like INAV. Starting from INAV 1.1, STM32F1 flight controllers started to pay a penalty of disabled features. That time it was "only" telemetry providers other than LTM. Next time it might / will be more.

During last few weeks I've received few request to compile INAV 1.1 with enabled FrSky and/or SmartPort telemetry on Naze32 target. While I have nothing against doing that on request, I've decided it would be better to just prepare special version of INAV 1.1 for Naze32 users with all telemetry providers enabled. Link to ZIP file is at the bottom of this post.

  • This version has LTM, FrSky, SmartPort and HOTT telemetry enabled
  • To fit telemetry in limited flash memory, following features has been disabled:
    • OLED display support
    • DJI NAZA GPS module support

INAV 1.1 for Naze32 with telemetry enabed

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RedCruiser – DIY Depron airplane for FPV

Few months ago I’ve wrote about my first handmade Depron airplane. It was cool design. Super simple, with KFm-2 airfoil, durable and easy to fly. But it had few serious flaws:

  • motor mounted in front of fuselage is great for flight characteristics, but propellers breaks all the time. Even with prop savers,
  • big fuselage is not the same as fuselage with a lot of space inside.

Depron KFm-2 airplane with pusher propeller

That’s why, I have build a second Depron airplane. This time with pusher propeller mounted on a tower behind wing. Wing is almost the same design as in my first airplane. It is still an KFm-2 (Kline-Folgeman, modified) airfoil, 150mm chord, 12mm thick. But is a little shorter: 1200mm instead of 1250mm. The main difference is inside wing. Instead of carbon fiber spars I’ve used two carbon fiber 6mm pipes. That gives plenty of stiffness. Wing almost does not bend in flight, even during hard maneuvers. And generates more than enough lift to give nice, slow flying experience without danger of heavy stall. You really have to want to stall it. And event when it stalls, it recovers nicely: drops a nose, dives for a second or two, and you have lift again. No need to work with rudder, just let it dive and gain speed and then level.  Continue reading “RedCruiser – DIY Depron airplane for FPV” »

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How to add external compass to Flip32

In my last post I’ve showed how to disable internal MHC5883L compass on Flip32+ (10DOF) flight controller board. Now it’s time to fix what we’ve broken last time, and connect external MHC5883L compass with I2C bus.

u-blox NEO-6M with HMC5883L compass

In my case I used very popular setup: u-blox NEO-6M GPS module with integrated MHC5883L compass. So you have both GPS and magnetometer in one case. Pretty nice. I’ve described how to connect NEO-6M GPS few weeks ago, so that part should be covered. The only new thing is compass itself. And hardware setup for it is very simple. In addition to GND and +5V lines you only have to connect SDA and SCL lines to bottom line of connectors right to USB port on Flip32. SDA to SDA, SCL to SCL. In case of I2C we do not have swap lines or do any other kinds of voodoo. Continue reading “How to add external compass to Flip32” »

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How to disable compass on Flip32+

Build in HMC5883L compass/magnetometer is very nice feature of Flip32+ flight controller. Too bad it’s not always working like expected and there is a time, when one have to replace it by external device, positioned as far away from power cables as possible.

I’ve encountered that specific problem two weeks ago when I’ve discovered the reason (or at least I think I discovered) why Position Hold and Return To Home GPS assisted flight modes on my Flip32 and Cleanflight were not working. Or rather were working only sometimes, usually when quadcopter was positioned to the north, north east. On any other case, huge overshoots, going in totally different direction than expected. GPS was more less useless. Finally, during one one flight I kept attention to compass heading displayed on OSD. On the ground, heading was correct. After take off, it was drifting to east. Always east. With that data I’ve concluded: Flip32+ built in compass is too close to power cables and when motors are running magnetic field makes compass readings unreliable. Solution: move compass further away from power cables. But with compass already on PCB it was rather impossible. So the only real solution is: disable internal compass and use external HMC5883L connected over I2C bus.

MMC5883L on Flip32+

Continue reading “How to disable compass on Flip32+” »

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Fix buzzer on Flip32

Buying cheap from China is like a lottery. Sometimes everything is fine, sometimes is not. For example, I will never again buy super motors and pellers. This just does not work. With electronics it is slightly better. Usually it works. But sometimes, well, it does not. And this might be a case for Flip32+ multirotor flight controllers from around June 2015 (give or take few weeks) v2.3_OEM RTF. In those FC, buzzer is not working when connected to designated pins.

Reason? Instead of 100Ohm SMD resistor in buzzer circuit, there is a capacitor. Solution is quite simple: replace capacitor with a resistor and fix manufacturing error.

What you will need, is a 0603 size 100R (100Ohm) SMD resistor and a (good) soldering iron. Position of faulty element is shown on a picture below.

Not working buzzer on Flip32

Today I’ve fixed two of mine Flip32 flight controllers and succeeded on both. 0603 size SMD are small, but big enough to do it at home. If your soldering iron has temperature setting, set it to 280-300C. If not, use one with about 20-25W. And sharp, good soldering tip of course. To remove old SMD element just heat it up about 1 second and push away with a tip of soldering iron. Apply some new solder to pads. Place new element on pads, push it carefully with a needle when needed. Heat it for a second and that is all. New SMD element should be soldered to pads and buzzer should be working like expected.


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Let’s build class 250 quadcopter: frame assembly

Yesterday I finaly had some time to work on my 250 class quadcopter based on ZMR250 carbon fiber frame. There was a plan to finish it before weekend, but looks like plan will have to be changed. I’m missing motor screws. They were not with frame nor motors. Too bad…

ZMR250 quadcopter frame assembly

ZMR250 with Flip32


After one evening of work I’ve been able to assemble bottom plate with motor arms and attach Flip32+ flight controller to it. As you can see, Flip32 is rotated 90 degrees clockwise. USB port points left, not back. This allows much simpler access to USB port. On the other hand, it requires additional configuration entry that allows fllight controller software to compensate for that. But all in time.

One last remark: the frame, even without top plate is super stiff. Very good since it will take serious beating in next weeks. I’m finally learning to fly in Rate mode without auto-leveling. Boy, it’s hard. After two 20 minutes sessions I’m able to make a turn…

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Adding GPS to Flip32+ and Cleanflight

Flip32 and Flip32+ (10 DOF version of Flip32 with built-in barometer and magnetometer) are nice little flight controllers. And cheap. Some call them clones of Naze32, but this is not completely true. Yes, they are very similar, share the same hardware, but they are not identical. I would say they are better than Naze32 since have more features and are easier to extend. But that is not the topic.

One of coolest features of every drone is GPS support. This allows for both Position Hold and even navigation support. I will not explain how to configure Position Hold and navigation on Flip32+ and Cleanfligh today. The reason is simple: I’m still trying to fully understand PID controllers used in those modes: Pos, PosR and NavR. And it is not going very well I must say. Position Hold in low wind is OK, but navigation and PH in wind conditions is unreliable and I’m still unable to configure it to work well. But GPS even without Position Hold has some use. For example, Home marker on OSD when flying FPV.


Ublox Neo-6M GPS moduleIn this tutorial I will use Ublox Neo-6M GPS module, Flip32+ 10DOF and Cleanflight 1.9.0.

Continue reading “Adding GPS to Flip32+ and Cleanflight” »

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Adding Bluetooth telemetry to Flip32+ and Cleanflight

When few weeks I wrote how to solve a problem of broken USB port in Flip32+ flight controller, I suggested that one of the solutions is adding a serial Bluetooth module to provide wireless connection with a bord. And telemetry. Excellent news is: this is pretty simple and cheap.

HC-06 Bluetooth Flip32

What we will need:

  • Flip32 (or Naze32) with soldered UART pins,
  • HC-06 serial Bluetooth module, costs below $5 when imported from China,
  • USB-to-serial module, for example FTDI FT232RL. This is needed to configure HC-06 to use 115200 port speed,
  • 4 wire female-to-female golpin cable.

Continue reading “Adding Bluetooth telemetry to Flip32+ and Cleanflight” »

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Flips: rule number one

Rule number one when doing flips with multirotor (quadcopter) drone is to watch your altitude. Specially with bigger machines without big thrust to weight ratio. If you will not control altitude, it might end like that:

Quadcopter (built on Raptile 500 frame and Flip32+ FC) survived without a scratch. Camera (RunCam HD) survived as well. It “only” detached for quadcopter and traveled few meters by itself until landed in grass.

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