Drone Theory & Design: Quadcopter Build v1.2 P a g e 1. Quadcopter Build Manual v1.2

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1 Drone Theory & Design: Quadcopter Build v1.2 P a g e 1 DroneCurriculum.net Quadcopter Build Manual v1.2 Basic Kit with KK2.1.5 Flight Controller and Turnigy 9X Transmitter/Receiver

2 Drone Theory & Design: Quadcopter Build v1.2 P a g e 2 READ THIS FIRST IMPORTANT SAFETY INFORMATION! READ ALL WARNINGS AND PRECAUTIONS ON THIS PAGE BEFORE ASSEMBLY OR OPERATION! Serious injury can be caused by rotating propellers. Always remove the propellers when working on the quadcopter. Secure long hair and loose clothing/jewelry when building, testing, and operating your quadcopter to avoid entanglement with motors. Always wear eye protection when assembling, soldering, operating, or repairing your quadcopter. When soldering, realize that the soldering iron is very hot and could cause serious burns. Be mindful of the tip at all times. Unplug it when not in use. Remove and return the soldering iron safely to its stand, being mindful of the power cord s potential to be accidentally pulled or tripped on. Realize that when the drone s battery is connected, there is a possibility of injury from the motors and propellers even when not in flight. Perform initial electronic speed controller (ESC) programming before installing the propeller blades. Remove propeller blades before reprogramming the ESCs. Bind the Transmitter and Receiver before installing the propeller blades. Follow the instructions carefully; incorrect assembly of your quadcopter could cause risk of catastrophic equipment failure, personal injury to you or others, and property damage. This quadcopter assembled and used as directed in this manual is an RC hobby aircraft. If you choose to modify your quadcopter to function as anything other than intended in this manual, you do so entirely at your own responsibility and risk. Make sure all parts of the quadcopter are in good condition. Replace any broken parts before attempting a flight. Only use the recommended battery pack, and always disconnect the battery when not in use. Before flight, check that the propellers are installed correctly and firmly tightened. ALWAYS FLY WITH A FOCUSED CONCENTRATION. Do not fly near people, buildings, trees, power lines, or other objects and only operate your quadcopter in an area with no children, unsecured pets, or livestock, which can be harmed by contact with rotating blades. Only operate your quadcopter outdoors and away from crowded areas. All observers should stand a safe distance behind the operator. Only operate your quadcopter in an environment where you can maintain unobstructed visual contact with it. Do not operate at night, or where there is fog, smoke, or dust that could limit visibility. Do not fly in high winds as even a light breeze can make flying difficult for beginners. Do not submerge your quadcopter or operate it in rainy or damp conditions. Beware of sprinklers and of landing in wet vegetation. Do not over load the quadcopter with payloads for which it wasn t designed. Inform yourself of and follow all current federal, state, and local laws regarding the use of RC hobby aircraft in the area where you plan to operate your quadcopter. Please respect the FAA s Know Before You Fly recommendations and the AMA s National Model Aircraft Safety Code Store your quadcopter and its radio controller out of reach of children, pets, and those who do not know how to use them safely.

3 Drone Theory & Design: Quadcopter Build v1.2 P a g e 3 DroneCurriculum.net Quadcopter Build Manual Basic Kit with KK2.1.5 Flight Controller and Turnigy 9X Transmitter/Receiver DISCLAIMER: Drone System Technologies, LLC is not responsible for any direct, indirect, special, or consequential damages and personal injuries, including that to life, and health, resulting from the customer's application and use of any third-party products. You, the customer, assume full and unlimited responsibility for all DRONE KIT applications and uses. Your purchase of any DRONE KIT constitutes your agreement to hereafter assume full and total responsibility for your subsequent utilization of the DRONE KIT and you agree to defend, protect, save harmless, and indemnify Drone System Technologies, LLC, its officers, and employees relative to your potential use and misuse of any product, in whole or in part. Should you disagree, please do not complete any DRONE KIT purchase. By purchasing any DRONE KIT (third party product), you agree to the above terms.

4 Drone Theory & Design: Quadcopter Build v1.2 P a g e 4 Airframe Arms Red (2 quantity) Airframe Arms White (2 quantity) Airframe Top Board (1 quantity) Airframe Bottom Board (1 quantity) Motors CW Spinner (2 quantity Brand may vary) Motors CCW Spinner (2 quantity Brand may vary) 10 Propellers (4 pairs = 8 total) Electronic Speed Controllers (ESC) (4 quantity Brand may vary) 3.5mm Bullet Connectors for ESCs (12 quantity 3 per ESC) Flight Controller (1 quantity Model may vary) Controller/Receiver Connecting Cables (5 quantity Brand and colors may vary)

5 LiPo Batteries (2 quantity Brand may vary) Drone Theory & Design: Quadcopter Build v1.2 P a g e 5 XT60 Battery Cable (1 quantity) LiPo Safety Charging Bag (1 quantity Brand may vary) Transmitter/Receiver w/bind Wire (1 quantity - Brand may vary) Round-head Screws (Larger screws included with airframe) (16 quantity - for attaching motors) Low-head Screws - (Smaller screws included with airframe) (24 quantity for attaching boards to frame) Hex Tool 2.0mm (1 quantity) Cable Ties (Assorted quantity) Double-sided Foam Squares (Assorted quantity) LiPo Battery Balancing Charger (1 quantity Brand may vary) Soldering Iron Kit w/solder (1 quantity Brand may vary) AA Batteries for the Transmitter (8 quantity Brand may vary)

6 Charging the Batteries Drone Theory & Design: Quadcopter Build v1.2 P a g e 6 You can charge the batteries at any time during this build, but PLEASE FOLLOW THE GUIDELINES FOR CHARGING LITHIUM POLYMER BATTERIES: The batteries are shipped with only about a 30% charge. You will need a fully-charged battery to continue with the Flight Controller and ESC setup. Using the supplied LiPo Battery Balancing Charger carefully charge each battery. It will take about minutes to charge each battery. CAUTION: LIPO BATTERIES MUST BE HANDLED WITH CARE TO AVOID FIRE OR EXPLOSION! DO NOT CHARGE ANY BATTERIES UNSUPERVISED. DO NOT LEAVE A BATTERY IN THE CHARGER OVERNIGHT. USE THE SUPPLIED SAFETY BAG WHEN CHARGING. DISCONNECT EACH BATTERY IMMEDIATELY FROM THE CHARGER WHEN A FULL CHARGE IS INDICATED!

7 Drone Theory & Design: Quadcopter Build v1.2 P a g e 7 Assembly - Step 1 Soldering the 3.5mm Bullet Connectors to the ESC wires (these connectors will plug into the motors). (NOTE: Some kits have the ESCs with Bullet Connectors already attached. If you have these, then skip to STEP 2). This first step in assembling your quadcopter involves soldering. Here are a few soldering guidelines. Safety googles or glasses are recommended whenever working in close proximity to your eyes. When soldering, realize that the soldering iron is very hot and could cause serious burns. Be mindful of the tip at all times. Unplug it when not in use. Make sure all parts are clean of dirt and grease. "Tin" or coat the tip of your soldering iron with a small amount of solder. This is especially important with new tips. Have a water-dampened sponge on hand and clean the tip of the hot soldering iron regularly. Then add a tiny amount of fresh solder to the cleansed tip. Do not move parts until the solder has cooled. Remove and return the iron safely to its stand, being mindful of the power cord s potential to be accidentally pulled or tripped on. You have three short black wires on each ESC that need the 3.5mm Bullet Connectors soldered to them. This can be a challenging task because the parts are small. BE VERY CAREFUL WHEN SOLDERING THESE PARTS THE BULLETS WILL BE EXTREMELY HOT FROM THE SOLDER. 1. Helping Hands clamps work best with this task but you can also use a pair of pliers. With this method, a partner is necessary. 2. Have your partner secure the first Bullet Connector with a pair of pliers so that the cup with the hole is up. 3. You then place the tip of the soldering iron into the hole to begin the heating process. Add solder to fill the cup. 4. Have your partner insert the first short black wire down into the cup and reheat if necessary. Hold the wire steady and remove the soldering iron so that a solid connection is made. Allow the connection to cool. 5. DO NOT TOUCH THE BULLET CONNECTOR YET! It s still extremely hot! 6. Repeat the process for each Connector/Wire (3 per ESC). 7. When cooled down, wrap a piece of electrical tape or shrink tubing around each brass connector so they don t short-out after connecting to the motor.

8 Drone Theory & Design: Quadcopter Build v1.2 P a g e 8 Assembly Step2 Soldering the ESC Power Cables and XT60 Battery Cable to the Airframe Bottom Board Review the soldering guidelines above. Make sure the Airframe Bottom Board is firmly secured from movement. Solder each ESC to the power pads on the bottom board as shown in the illustration below. Observe the correct polarity of each connection: the red wire is positive and the black wire is negative. Make sure that the solder is firmly attached on the power pads and that there is no possibility for a short circuit. As you work on each connection, heat each power pad on the Board with the iron for under a second or so and add a drop of solder. Bring the wire up to the terminal, and re-heat to form an adequate joint. It only takes two or three seconds at most to solder each connection. While soldering each wire, angle them toward the center, between the pads so that your wires don t get in the way of the screw connections. Next, solder the main XT60 Battery Cable to the Airframe Bottom Board using the same care in observing wire polarity. NOTE: Your bottom board may or may not contain a white arrow. If it doesn t have an arrow, simply replicate the alignment as shown above.

9 Drone Theory & Design: Quadcopter Build v1.2 P a g e 9 Assembly - Step 3 Attaching the Airframe Top and Bottom Boards to the Airframe Arms You have four Airframe Arms two red and two white. The red arms will be used for the front of your quadcopter, and the white ones will be used for the back. This is intentional so that you can recognize the direction of the drone when flying. Attach the Airframe Bottom Board to the Airframe Arms. The Bottom Board requires two screws for each Arm. Using the 2.0mm Hex Tool, install the screws by appropriate force to prevent breaking the threads. Use two of the smaller low-head screws that came with the airframe for each arm. The soldered side goes on the inside of the frame body. Be sure to guide the ESC wires in the direction of the motors and through the Arm attachment poles before screwing down so that the ESCs can be properly attached later. Attach the RED Arms to the front as shown. The WHITE Arms are attached to the back of the Bottom Board. Next, attach all arms to the Top Board using four low-head screws for each Arm. Install the screws by appropriate force to prevent breaking the threads. If this is a permanent assembly, you can use screw glue while installing the screws.

10 Drone Theory & Design: Quadcopter Build v1.2 P a g e 10 Assembly - Step 4 Mounting the Motors to the Airframe Arms You have four Motors two that are designated as CLOCKWISE (CW) spinners in flight, and two that are designated as COUNTER-CLOCKWISE (CCW) spinners in flight. Certain brands of motors come with different-colored caps to help identify direction (e.g. Emax 2213 motors use BLACK CAPS to designate CW while RED CAPS designate CCW motors). The threads of the caps (nuts) are engineered so that the propeller torque resistance will help keep them tightened while in flight. If the motors are wired to spin in the opposite direction of the one specified, the torque resistance may cause the prop nut to loosen and come off, resulting in loss of the propeller and subsequent flight failure. NOTE: It very important that you tighten the propellers using proper tools prior to each flight but do not over-tighten. More about wiring the motor rotations later. For now, we simply want to securely mount the Motors. Each motor comes with a set of mounting screws, but we suggest using the screws that came with your Airframe since they are intended for proper assembly. Use four of the larger round-head screws for each motor. Using screws that are too long or too large may damage the motor. Note: Using the 2.0mm Hex Tool, install the screws by appropriate force to prevent breaking the threads. If this is a permanent assembly, you can use screw glue while installing the screws. Attach the motors so that the CW motor is on the left front red arm and the right rear white arm. The CCW motors will be on the right front red arm and the left rear white arm (see illustration).

11 Drone Theory & Design: Quadcopter Build v1.2 P a g e 11 Note: The Red Arms 1 & 2 point to the front of quadcopter and White Arms 3 & 4 point to the rear of quadcopter. Seen from the top, motors on Arms 1 & 3 rotate CW and motors on Arms 2 & 4 rotate CCW. DO NOT ATTACH THE PROPS YET! Assembly - Step 5 Attaching the ESCs to the Airframe Arms and Motors Run the ESC cables toward the motors on each arm and plug the three black cables into the motors. It doesn t matter which cable plugs into which because you will be able to switch the position of any two cables that are connecting the motor to the ESC to change the rotation direction if needed. Secure the ESC to the arm with a cable tie (you might want to twist the cables before securing to keep a clean build). Run the 3-wire cable (yellow, orange, brown) back into the board assembly. You will eventually attach these wires to the Flight Controller. Do not secure the three motor wires with a cable tie yet because you might need to change the plugs for proper rotation. Assembly - Step 6 Attaching the Flight Controller to the Airframe Top Board and Plugging in the ESC cables Your Drone Kit comes with the newest KK2.1.5 Flight Controller. It utilizes a custom rubbery foam surrounding. The encasement will protect the Flight Controller from vibration and help protect damage in case of a crash. As shown below, use Double-sided Foam Squares to attach the Flight Controller to the Airframe Top Board. Make sure the Flight Controller is squarely on the board, with the four keyboards pointing to the rear of the board. It is important to attach this in the proper direction so that the calibrations will be correct for flight.

12 Drone Theory & Design: Quadcopter Build v1.2 P a g e 12 Thread the four ESC cables (they will be either yellow, orange, brown or red, white, black) between the Top and Bottom Boards and pull the cables up through the opening in the Top Board so that they appear to the right of the Flight Controller. Next, carefully trace each cable and plug them into the Flight Controller in the correct order Motors 1, 2,3, and 4 starting from the top. NOTE: The plugs should be inserted so that the brown or black wire is on the outside. The Flight Controller came with a low battery warning buzzer. Be sure to observe the polarity when plugging it in the black wire (negative) is on the left. You should then attach the buzzer with a cable tie so it doesn t interfere with the propeller.

13 Drone Theory & Design: Quadcopter Build v1.2 P a g e 13 Assembly - Step 7 Attaching the Receiver to the Flight Controller On the left side of the Flight Controller, attach the five Connecting Cables to the 9X Receiver. CH1 on the Receiver (the bottom plug) should be plugged into the top plug (Channel 1) on the Flight Controller. Continue plugging in the channels in order as shown. Secure the 9X8C Receiver to Arm 4 using a cable tie or see the alternative mounting below. You will also need to secure the receiver s antenna so that it doesn t make contact with the propeller once installed. NOTE: The plugs should be inserted so that the brown or black wire is on the bottom of the receiver and on the outside of the Flight Controller (see illustration). NOTE: Some receivers being shipped are a different model. Simply follow the same directions being sure to plug into the correct channels. If you have the high landing gear, attach them to the frame (you will have to remove the bottom plate screws and use the longer landing gear screws). Here is an alternate way to mount the receiver on the bottom plate in the back using a Foam Square:

14 Drone Theory & Design: Quadcopter Build v1.2 P a g e 14 Assembly - Step 8 Charging the Batteries (if not already done) The batteries are shipped with only about a 30% charge. You will need a fully-charged battery to continue with the Flight Controller and ESC setup. Using the supplied LiPo Battery Balancing Charger carefully charge each battery. It will take about minutes to charge each battery. CAUTION: LIPO BATTERIES MUST BE HANDLED WITH CARE TO AVOID FIRE OR EXPLOSION! DO NOT CHARGE ANY BATTERIES UNSUPERVISED. DO NOT LEAVE A BATTERY IN THE CHARGER OVERNIGHT. USE THE SUPPLIED SAFETY BAG WHEN CHARGING. DISCONNECT EACH BATTERY FROM THE CHARGER WHEN A FULL CHARGE IS INDICATED! In the meantime, you can program the Turnigy 9X Transmitter so that it will recognize your quadcopter. Assembly - Step 9 Transmitter Basics CHANNELS, MODES, and TRIM These terms apply specifically to the drone s transmitter. CHANNELS The term Channels refers to the number of directional controls that the Transmitter has. Quadcopters need four channels of control Pitch, Roll, Throttle, and Yaw. These movements are controlled by your left and right hand using two joysticks. 1. Roll (Aileron) controls the tilting movement to the left or right. 2. Pitch (Elevator) controls the tilting movement of forward or backward. 3. Throttle controls ascending or descending movement. 4. Yaw (Rudder) controls the rotating clockwise or counter clockwise movement. MODES The biggest variation between different controllers is how the joysticks are configured to control the movements. These changes can be up to 4 combinations that are known as Modes. The two most commonly used modes for quadcopter transmitters are Mode 1 and Mode 2. The difference between joystick control for Modes 1 and 2 are shown below.

15 Drone Theory & Design: Quadcopter Build v1.2 P a g e 15 Mode 1 has the throttle located on the right transmitter stick while Mode 2 has the throttle stock on the left. Australian and European pilots predominantly fly Mode 1 while in the US, it is predominantly Mode 2. TRIM When you are flying your quadcopter, you will notice that it has a tendency to constantly drift in a particular direction. This can happen due to two reasons. 1. The wind If it is a slightly windy day, the quadcopter will be pushed in the direction that the wind is blowing. You will have to counteract the wind s effect by flying the drone slightly slanted into the wind. 2. The gyro sensor if the gyroscope on the flight controller is not calibrated properly to a true level position, the drone will drift. This can be solved by using the Trim buttons on the quadcopter s transmitter. There are usually 4 buttons, one each for Throttle, Yaw, Pitch, and Roll. Make sure that the surface you are using for calibrating the sensors is a true level. Assembly - Step 10 Programming the Turnigy 9X Transmitter You will need up to eight AA batteries for the transmitter. Carefully open the back of the transmitter and insert them into the battery holder.

16 Drone Theory & Design: Quadcopter Build v1.2 P a g e 16 Follow the steps below to program your transmitter. Have patience it s a bit confusing at first but if you follow the steps exactly you will have success! 1. Make sure all switches are in the off position (either switched up or back ) and put the left joystick in the down position. If you hear error beeps, check the switches and try again. 2. Turn on the Transmitter. When successful, you will see the TURNIGY Power Systems LED screen appear. 3. Between the LED startup screen you have a 4-sectioned round button on the left side and two main buttons on the right side. The + and - buttons are for changing values while the UP and DN buttons are used for scrolling. The MENU button on the right is used to select values and the EXIT button is used to go back to the previous screen. Also, notice the location of the GEAR switch on the top right of the transmitter.

17 Drone Theory & Design: Quadcopter Build v1.2 P a g e 17 Technique When configuring the Transmitter, you will use two types of button presses: A Long-press (about 2 seconds) and a Quick-press (a simple click). Also, due to screen limitations, the transmitter uses the word MODE in many situations when it really means MODEL so don t get confused about that. PROGRAMMING THE TRANSMITTER 1. When you first Long-press the MENU button, you will see two options: SYSTEM and SETTING. You can toggle between the two choices using the UP and DOWN buttons. 2. Highlight the SYSTEM icon and Quick-press the MENU button. It takes you to the main system menu which contains 6 pages, each page having a specific set of options: 3. Quick-press the MENU button on MODE SELE (MODEL SELECT). A model is a file you create on your transmitter that has all the settings for your aircraft. 4. You can scroll up or down the list of models using the UP or DOWN buttons. Choose the top model, and Quick-press the MENU button to select it. This takes you back one page to the main system menu.

18 Drone Theory & Design: Quadcopter Build v1.2 P a g e Scroll down and Quick-press the MENU button when MODE NAME (MODEL NAME) is highlighted. This takes you to the keyboard screen. This screen is a little tricky to use at first, but you ll soon get the hang of it. 6. The NAME window is at the top between the brackets [ ] (I named this example QUADCPTR). Use the + and - buttons to move through the alphabet/numeric keyboard. Once a letter or number has been selected, Long-press the MENU button to apply it to that space in the name. Use the UP or DOWN buttons to move to the next space in the name, and then repeat the above process to rename your aircraft. 7. Once you are done with the name, Quick-press the MENU button to go back one page to the main system menu. 8. Scroll down to TYPE SELE (TYPE SELECT) and Quick-press the MENU button. 9. Quick-press the MENU button to select HELI. It will then take you to the next screen: 10. Quick-press the MENU button on HELI1 which takes you back to the previous screen. Quickpress the EXIT button to go back one page to the main system menu.

19 Drone Theory & Design: Quadcopter Build v1.2 P a g e Scroll down to MODEUAT and Quick-press the MENU button. From there select PPM and Quickpress the MENU button to go back one page to the main system menu. 12. Scroll down to STICK SET and Quick-press the MENU button. Scroll to MODE2 and Quick-press the MENU button. You will then see THRO REVERSE Simply Quick-press the EXIT button to go back one page to the main system menu. 13. Quick-press the EXIT button to go back to the starting options of SYSTEM and SETTING. 14. Use the UP and DOWN buttons to change icons. Quick-press the MENU button when SETTING is highlighted. 15. Use the UP and DOWN buttons to scroll to AUX-CH.

20 Drone Theory & Design: Quadcopter Build v1.2 P a g e Quick-press the MENU button to see the AUXILIARY CHANNEL assignments. Scroll to Channel 5. Use the + and - buttons to select GEAR as the option. (NOTE: The GEAR switch is used to turn the Self-Level feature on and off. You will want to have Self-level on while flying). Quickpress the MENU button which takes you back to the SETTING screen. 17. Use the UP and DOWN buttons to scroll to REVERSE and Quick-press the MENU button. 18. Use the UP and DOWN buttons to scroll through the different channels on the right. Use the + and - buttons to change between NOR (NORMAL) and REV (REVERSE). Scroll through the list and make any directional changes. Quick-press the MENU button as you accept each channel direction. Your completed screen should look like the one below. AIL = NOR (Roll / Left and Right) ELE = NOR (Pitch / Forward and Back) THR = NOR (Throttle / Altitude) RUD = NOR (Yaw) GEA = NOR (Will enable self-level) 1. If any of the joysticks on your controller do not seem to react correctly, you can come back to this screen and change any of the channels to REV (REVERSE). Simply Quick-press the EXIT button TWICE to go back to the transmitter s startup screen. 2. You are done setting up the transmitter, so you can turn it off. NOTE: If you ever need to RESET the Transmitter: Turn the power off, press and hold the EXIT button, and turn the power back on.

21 Drone Theory & Design: Quadcopter Build v1.2 P a g e 21 Assembly - Step 11 Binding the Transmitter to the Receiver 1. Plug the BIND WIRE into the Receiver s BIND plug. Depending on the Receiver, it s at the top or the bottom (marked with a BIND or B ). or 2. Make sure the propellers are NOT ATTACHED. Plug the battery into the yellow XT60 plug from the quadcopter. You will see a blinking RED LIGHT in the Receiver indicating that it is not bound to the Transmitter. 3. Next, hold the button in on the back module of the Transmitter and turn the front Transmitter power button on. 4. The RED LIGHT on the Receiver will turn SOLID, confirming that the Transmitter and Receiver have been successfully BOUND. 5. Unplug the battery from the drone, turn the Transmitter off, and remove the BIND WIRE from the Receiver. Assembly - Step 12 Calibrating the ESCs (Electronic Speed Controllers) 1. On the Transmitter, adjust the left joystick (Throttle) all the way up. 2. Turn the Transmitter on. 3. On the Flight Controller, HOLD DOWN buttons 1 and 4 while plugging the battery in (you might need assistance with this). Keep holding the buttons down during the entire process. 4. Depending on the ESCs, you may hear a short beeping. 5. Slowly lower the Throttle to its bottom position and listen for more potential beep codes from the ESCs. 6. Following this step, it means the ESCs have calibrated with your setup. 7. You can now release the buttons, and test the motors by slowly increasing the throttle WITH NO PROPS ATTACHED!! 8. If they don t appear to be starting at the same time or rate, recalibrate again starting with Step Unplug the battery. 10. Turn off the Transmitter.

22 Drone Theory & Design: Quadcopter Build v1.2 P a g e 22 Assembly - Step 13 Setting up the KK2.1.5 Flight Controller (these are preliminary settings that can be changed as needed). 1. Make sure the propellers are NOT ATTACHED. Plug the battery into the yellow XT60 plug from the quadcopter. You will hear a short confirmation beep code that the battery has been connected. (With Transmitter off, you will likely see this information. No worries as we focus on the settings. You won t ever see a Battery Level unless the proper wire is connected which we won t worry about for this build.) Click the MENU button. 2. With PI Editor selected, click the ENTER button. 3. Using the PREV, NEXT, and CHANGE buttons, enter the following values: Axis: Roll (Aileron) P Gain: 50 P Limit: 50 I Gain: 40 I Limit: 20 Axis: Pitch (Elevator) P Gain: 50 P Limit: 50 I Gain: 40 I Limit: 20 Axis: Yaw (Rudder) P Gain: 50 P Limit: 20 I Gain: 30 I Limit: 10

23 Drone Theory & Design: Quadcopter Build v1.2 P a g e Click the BACK button. Using the DOWN button, skip Receiver Test for now and scroll down to Mode Settings. Hit ENTER. 5. Using the PREV, NEXT, and CHANGE buttons, enter the following values: 6. Click the BACK button. Using the DOWN button, scroll down to Stick Scaling. Hit ENTER. 7. Using the PREV, NEXT, and CHANGE buttons, enter the following values: Stick Scaling Roll (Ail): 20 Pitch (Ele): 20 Yaw (Rud): 40 Throttle: 90

24 Drone Theory & Design: Quadcopter Build v1.2 P a g e Click the BACK button. Using the DOWN button, scroll down to Self-Level Settings. Hit ENTER. 9. Using the PREV, NEXT, and CHANGE buttons, enter the following values: Self-Level Settings P Gain: 75 P Limit: 40 ACC Trim Roll: 0 ACC Trim Pitch: Click the BACK button. Using the DOWN button, scroll down to Load Motor Layout. Hit ENTER. 11. Using the UP, DOWN, and ENTER buttons, select Quadcopter x mode: 12. After confirming with YES, the following screen will show the Quadcopter x mode along with the motor directions. If you click NEXT, the following screens will confirm assignment and each motor rotation. Click BACK when finished with this setting.

25 Drone Theory & Design: Quadcopter Build v1.2 P a g e Using the UP button, scroll UP to Receiver Test. Hit ENTER. 14. Power on the Transmitter. You will see the channels in the Receiver Test window. Using the TRIM buttons on the Transmitter, adjust each channel to 0. Move the joysticks to observe the value changes. Make sure all are working correctly using the Transmitter programming you set for Mode 2 flying: Left Joystick: The THROTTLE movement should show a value change from low to high. The RUDDER (YAW) movement should show LEFT/RIGHT correctly. Right Joystick: The ELEVATOR (Pitch) movement should show FOREWARD/BACKWARD correctly. The AILERON (Roll) should show LEFT/RIGHT correctly.

26 Drone Theory & Design: Quadcopter Build v1.2 P a g e Click the BACK button. Using the DOWN button, scroll DOWN to ACC Calibration. Hit ENTER. 16. Place your quadcopter on a level surface for this important calibration. Hit CONTINUE. 17. You will see the following sequence: 18. Your values might be slightly different. Hit CONTINUE. 19. Hit CONTINUE. Hit the BACK button TWICE to get to the SAFE screen. Unplug the battery.

27 Assembly - Step 14 Testing the Motor Rotations Drone Theory & Design: Quadcopter Build v1.2 P a g e Make sure the propellers are OFF! 2. Turn on the Transmitter, and then plug in the battery to power the drone. 3. You will hear confirmation beeps and the Flight Controller screen will show SAFE. 4. Using the left joystick, ARM the Flight Controller by moving the Throttle to minimum and Yaw to the RIGHT for a few seconds. You can DISARM the Flight Controller by moving the Throttle to minimum and Yaw to the LEFT for a few seconds. 5. Slowly raise the Throttle until your motors begin to spin. 6. Check the rotation of the motors to make sure they are spinning in the correct direction for a Quadcopter X model: 7. If any motor is not spinning in the correct direction, switch the position of any two cables that are connecting the motor to the ESC to change the rotation direction.

28 Assembly - Step 15 Install the Propellers Drone Theory & Design: Quadcopter Build v1.2 P a g e Install the propellers and TIGHTEN THE NUTS! 2. There are two different propellers: a. CLOCKWISE (CW) or PUSHER propeller with the number 1045 R. b. COUNTER-CLOCKWISE or REGULAR propeller with the number You want the leading edge of the propeller s pitch (the higher edge) to grab the air. Make sure the leading edge is up and in the direction of the propeller spin. When looking down on the drone with propellers mounted above the motors, use the diagram below to attach props: 4. Securely tighten the propeller nuts but do not strip the threads. Remember that in some engineered motors, a CLOCKWISE motor s threads turn CCW while a COUNTER-CLOCKWISE motor s threads turn CW. 5. It s best to use a socket or wrench (12mm) on the nut while holding the motor with your hand. You want to make sure the nut will not spin off during flight but do not over-tighten. Assembly - Step 16 Secure the Battery to the Airframe. 1. Using cable ties or Velcro strips, secure the battery to the airframe. If you have the high landing gear, it s best to attach the battery to the bottom of the airframe for best balance. If you are not using the high landing gear, then secure the battery inside the frame between the top and bottom plates.

29 Assembly - Step 17 Ready for a Test Flight Drone Theory & Design: Quadcopter Build v1.2 P a g e Go slowly. This quadcopter build DOES NOT HAVE GPS CAPABILITY which means that you will have to MAINTAIN FOCUSED CONTROL of it the entire time. NEVER TAKE YOUR FINGERS OR THUMBS OFF THE JOYSTICKS WHILE FLYING. If you have issues with the following steps, try resetting the ACC Calibration and/or the ESCs. 2. Make sure the propellers are placed on the right motors for the direction that they are turning and that no wires are in the way of propeller spin. 3. Remember to turn your transmitter on first and turn it off last. 4. Turn your transmitter on. 5. Plug in the battery of your quadcopter. 6. The buzzer will sound and the Flight Controller LED will light: 7. Make sure Self-level is ON. Otherwise, your quadcopter will not self-correct to a level position after making any control moves. 8. Place the Quadcopter on your take-off surface (grass is bad it should be a solid surface) and reset the ACC Calibration as shown in previous steps (hit MENU and scroll down). 9. Step away at least 15 feet, and make sure you are not within 25 feet of obstacles (buildings, trees, etc.) or people. 10. Using the left joystick, ARM the Flight Controller by moving the Throttle to minimum and Yaw to the RIGHT for a few seconds. You can DISARM the Flight Controller by moving the Throttle to minimum and Yaw to the LEFT for a few seconds. 11. You will hear confirmation beeping when ARMED. (The Flight Controller will automatically DISARM itself with 30 seconds of no activity). 12. Gently lift the throttle. Get a feel for the controls by staying low to the ground at first. Accurately piloting a quadcopter with NO GPS takes time and patience. You will get better the more time you devote to learning how to fly it. 13. After flying, turn off the Quadcopter. 14. Then turn off your transmitter. CONGRATULATIONS ON YOUR SUCCESSFUL BUILD! HAVE FUN WITH YOUR DRONE!!

30 Drone Theory & Design: Quadcopter Build v1.2 P a g e 30 Appendix: Re-Calibrating the ESCs WARNING!! Before calibrating ESCs, make sure that your multicopter has NO PROPS on it and the LiPo battery is disconnected. This is VERY IMPORTANT because your motors may begin spinning, often unexpectedly, at a certain point in the process. Below is an example of how to calibrate the ESCs with the All-at- Once method using a KK2.1.5 flight controller and a Turnigy 9X transmitter. 1. On the Transmitter, adjust the left joystick (Throttle) all the way up. 2. Turn the Transmitter on. 3. On the Flight Controller, HOLD DOWN buttons 1 and 4 while plugging the battery in (you might need assistance with this). Keep holding the buttons down during the entire process. 4. For some ESCs, you will hear a beeping code. 5. Slowly lower the Throttle to its bottom position and listen for more potential beep codes from the ESCs. 6. After this sequence, it means the ESCs have calibrated with your setup. 7. You can now release the buttons, and test the motors by slowly increasing the throttle WITH NO PROPS ATTACHED!! 8. If they don t appear to be starting at the same time or rate, recalibrate again starting with Step Unplug the battery. 10. Turn off the Transmitter. 11. Go back to STEP 15 above to re-calibrate the ACC again before flying. Below is a common procedure for calibrating your ESCs using the Manual ESC-by-ESC method. With this method, you are bypassing the flight controller and connecting directly to the receiver. REMOVE THE PROPS!! 1. Determine which channel on your receiver is your throttle channel (usually channel 3). 2. Remove the throttle control cable from your receiver. Remove one of the ESC control cables from the flight controller, and plug it directly into the throttle channel on your receiver. 3. Turn on your transmitter, and move the throttle stick to 100% (full throttle). 4. Connect the battery. 5. As soon as the battery is connected, a light on your receiver should turn on. If the light doesn't turn on, or starts blinking, you need to ensure that your receiver is being powered and that it's bound to your transmitter. 6. Shortly after the battery is connected, some ESCs make a start-up tone. NOTE: If you hear a series of short beeps, make adjustments to the throttle s trim button until they stop then proceed. You may hear a long beep, then return the throttle stick on your transmitter to zero. 7. Some ESCs make a confirmation beep. Your ESC is now calibrated. You can test the motor by slowly increasing the throttle WITH NO PROPS ATTACHED!! If the motor responds, unplug the battery, and plug the ESC s control wire back into its previous location on the flight controller. 8. Repeat steps 3-8 for each ESC until all are calibrated. 9. Plug your receiver s throttle control wire back in from the flight controller. 10. Go back to STEP 15 above to re-calibrate the ACC again before flying.