SpeedyBee F405 40A AIO 1-6S

ArduCopter
21

I installed the default firmware for SpeedyBee 405 AIO from here using STM32 Cube programmer. I have not made any changes to this firmware. As @aistaca pointed out, this FC needs to be mounted at 45 degrees. I noticed that if I use my motor 2 as the front of the FC(meaning if I execute roll/pitch/yaw using motor 2 as the front of the quad), then the horizon corresponds to the roll/pitch and yaw of the copter. The parameters below do not correct the board position.

AHRS_ORIENTATION = 3 (yaw 135)
AHRS_ORIENTATION = 4 (yaw 180).

What parameter needs to be changed to correct the board’s position for correcting the roll/pitch and yaw of my board please?

22

@aistaca , could you please advise what should be the ahrs_orientation parameter value should be to correct my board orientation. I just understood your response, sorry :pensive_face:

23

I may have made the wrong statement regarding ahrs_orientation parameter. I will check with my own board later when I get back home. Please standby.

Ardupilot default orientation is different than betaflight default set by speedybee (don’t use speedybee manual). I think we should update the wiki doc

Now, from the HWDEF like what @dkemxr stated:
IMU Invensensev3 SPI:imu1 ROTATION_ROLL_180_YAW_135

If my math is correct, the real imu orientation is suppose to face the usb side, mounted upside down.
(my math is bad)

but that should set the default orientation shown in this picture (default as in roll 0 yaw 0 in the parameter as the firmware should translate the imu datas). Again, I will cross-check with my board later as I only have saved parameters from beta-5 at the moment

image
image279×250 64 KB

try: ROLL 0 YAW 225 (AHRS_ORIENTATION = 5)
reboot, then do full accel calibration and reboot (power cycle)

if that doesn’t work try ROLL_180_YAW_0 (AHRS_ORIENTATION = 8)
reboot, then again do full accel calibration and reboot (power cycle)

check from the mission planner HUD if orientation is correct. Once we fix the orientation issue then we can continue with motor order.

edit: sorry I meant by your board is rotated 135 CCW, so it should be yaw 225

24

AHRS_ORIENTATION = 5 Worked! Thanks so much!! I have worked out the motor order. Thanks so much to offering your assistance to do so. I will be using @amilcarlucas Methodic configurator to configure this little beast :grinning_face:

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25

Nice! I think the expectation for Ardupilot is the USB connector is on the left side (180 yaw from how you have it).

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