disarm the system.
The online instructions indicate that a stick
pattern is used to arm the flight controller —
much like the original OpenPilot system.
However, I believe that is a relic of past
firmware as it did not arm the current system.
As far as flight modes go, I elected to
operate in angle + mag mode by default. This is
similar to the stabilized mode of the Parallax
ELEV- 8 — an easy-to-fly configuration. I used a
magnetic heading mode as one, which should
hold the craft in a constant magnetic heading
(unless acted upon by the yaw control) and land.
I did really like that you could see the
position of each switch on the controller via
the color changing boxes. This made it easy for
me to confirm which mode would be active
with which switch position. Note that when
settings are changed, the outline of the box
turns orange, indicating that the settings have
not been written to the flight controller. Make
sure you save and write these settings!
Before flying, we also need to calibrate the
accelerometer and magnetometer in the
Quadrino. This is done with buttons on the
Flight Deck panel (Figure 28). When the
Calibrate ACC button is pressed, you must
leave the craft stationary for about 30 seconds
while the axes are read and compensation is
applied for any errors introduced through the
orientation of the flight controller on the
When calibrating the magnetometer, you
are prompted to rotate the craft slowly around
all three principal axes. This allows the
magnetometer to calculate its hard/soft iron
corrections and offsets to maximize its accuracy.
Flying with the Quadrino
Now that everything is calibrated and
properly set up, you should see a flight deck
display that shows the orientation and heading
of your craft accurately, and moves appropriately
if you tilt or rotate the craft. (A common point of
confusion is the artificial horizon. Remember, the
brown represents the ground. So, in a right
bank, the right side of the indicator will rise.)
I powered up the quad, armed the fight
controller, and gently eased the throttle up. I did
get off the ground, but noted that I was drifting
around quite a bit. After some trim adjustments
on the controller, I was able to achieve stable
flight and maneuver around nicely. I flew a short
circuit around the field, and then brought the
quad to a hover about two meters off the
42 SERVO 10.2017
Figure 29: Luckily, after a strange crash in which a single motor quit, the only
damage was a bent propeller. A quick prop change and it was back to flying!
Figure 28: The Flight Deck tab shows the traditional cockpit instruments and
provides options to calibrate the IMU sensors.
Figure 27: The RC Control Settings tab shows the active switch positions and flight
modes in a matrix of colored chicklet indicators. I’ve experimented with many of
these modes, but found angle coupled with mag to be a nice configuration.