With your radio calibrated, you
can now set your flight modes.
Select the Flight Modes tab, then
move your channel 5 switch. If you
have a radio with a three-position
switch, then you will be able to
select one of three flight modes. If
you only have a two-position
switch, then only one of two can
be selected. As you change the
flight mode, you should see the
appropriate mode field highlighted.
On my three-position switch,
modes 1, 4, and 6 can be selected.
For them, I chose Stabilize, Alt
Hold, and Loiter as shown in
Figure 18. Save the modes once
you have them set the way you want.
You need to select the modes for your craft. Use
Table 2 as a basic guide for the three modes I just
mentioned. Refer to the ArduCopter documentation for
descriptions of all the modes.
This mode keeps the craft upright and somewhat steady. You
manually control altitude with the throttle.
Select the Hardware Options side tab. Make sure the
Compass is enabled. This section is where you can select
other hardware options to add further control of your craft.
The Sonar sensor adds more precise control of altitude
when you are close to the ground. The Airspeed sensor adds
a true air speed option to your telemetry. The Optical Flow
sensor allows your craft to track ground targets. Please be
advised, because I am not sure on the actual support of
these sensors. I'm pretty sure the Sonar sensor is working
with the current firmware.
Go back and select the ArduCopter Level side tab. Hit
the Calibrate Accel tab and follow the on-screen instructions.
It may be helpful to use a table or other large object to help
steady the craft as you move it from position to position.
While the APM instructions state that you can use the
stand-alone method (the one I used in Part 4), it does not
work. I found the following pass-through method works best
with the APM 2. 5. Note that your props should not be
Disconnect the USB and battery from your craft.
Turn on your transmitter. Once it is on, set the throttle
at its max.
This mode will attempt to use the GPS to hold the craft in one
position. How successful this is depends on the number of
satellites you are locked onto and how much interference the
GPS is getting.
you will see the main LED lights cycle through yellow,
red, and blue. The APM is telling you it is ready to place
the APM in pass-through mode.
With the throttle still set to full, remove the battery
from your craft and then reconnect it. The ESCs should
play a tune, pause, then do a single beep. When this
happens, lower your throttle all the way and the ESCs
should beep again. The ESCs are now calibrated.
Move the throttle up a little and make sure all the
motors start at the same point.
Ready for Flight
You have now done the minimum configuration
required to fly your APM 2. 5 KFE. Be sure to balance your
props, then mount the following props in the following
Motor 1 = Left hand prop
Motor 2 = Left hand prop
Motor 3 = Right hand prop
Motor 4 = Right hand prop
Connect the battery to your craft. After the APM boots,
For your first flight, make sure you have plenty of room.
Don't do it indoors.
SERVO 04.2013 43