This was an original 3DR quad-copter. After several crashes and handmade frames
I came to replace the motors and the frame. I also bought a new 4in1 ESC module for
the next project but I am using it now on the APM2.6. This blog covers all the walk through
connecting the Quatro 20Ax4 to APM2.X.
Start using Quatro 20Ax4 Esc
First, Esc Calibration
1. connect the 4x2 esc to the remote receiver trough the hub, on throttle output, usually on channel 3
2. connect the motors. No Props (otherwise you wont hear the beeps)
3. On remote put throttle UP MAX.
4. Power the module, Red to +, Black to - from a lipo 11.1V. (you should hear the 3S beeps, then wait a bit for another 2 beeps). If you don't get another 2 beeps in 6 seconds disconnect the battery, and connect it back.
4. move throttle down. (wait for 2 or more beeps for confirmation, in within 2..3 seconds) (if you get nothing repeat the procedure)
5. Push a bit the throttle up, see if al motors start at the same time.
6. Throttle down, and disconnect battery. Power off the remote.
Apm 2.6 compatibility
Put all ESCS in programming mode.
1. connect the 1in4 ESC to the remote receiver trough the hub, on throttle output, usually is the channel 3
2. connect the motors.(otherwise you wont hear the beeps). No Props
3. Remote, put throttle UP MAX.
4. Power the module and wait for 2 beeps, for ESC calibration, and wait another 5..7 seconds for another special tone td da di da di, program mode entered. From this point on you get the main menu entries as beeps.
I programmed all ESC at once trough the hub (the instructions says do it, one by one).
Be sure all beeps for sequence and confirmation from all motors beeps same code.
Break - OFF
Battery Type - LIPO
CutOff Mode - Soft
Cut off threshold - Med
Start Mode - Soft
Timing - Medium
or (b - stands for short beep, B- stands for long beep, TD - stand for throttle down, TU for up, )
(wait a second after each beep, so you catch all motors in the accepting state)
(after you've entered programming mode you can follow this sequence)
b TD b TU
bb TD b TU
bbb TD b TU
bbbb TD b bb TU
B TD b bb TU
Bb TD b bb TU
BB TD <exit>
you'll hear some beeps for confirmation
ESC to APM top view motors connection
to esc wiring (M#)
M ESC APM
S1 Red - PWM 1 3-(M4) 1-(M1)
S3 White - PWM 2 X
S4 Brown - PWM 3 2-(M3) 4-(M2)
S2 Orange - PWM 4
Apm 2.6 testing
1. Connect APM to MissionPlaner/GroudControl.
2. Go to Terminal, test mode.
3. Select test, motors.
4. Watch the motors rotation order, which is different from the APM motors order
The motors should rotate in CLOCKWISE order starting TOP-RIGHT, as (1-4-2-3, in APM notation)
- If the order is nor right, switch S cables into APM output until you get the right order.
- Pay attention to each motor while is tested. The short burst should be the same for all motors.
If one motor rotation burst is out of order, then the ESC programming failed for that motor.
Front motors should rotate rotate one opposite each other as they gather things inside from the front.
Rear motors should rotate rotate one opposite each other as they gather things inside from the back.
1. No props
2. Re - Recalibrate 4x1ESC
3. Re-calibrate ESC trough the APM
3.1 - Disconnect USB from computer
3.2 - Disconnect battery from APM.
3.3 Power remote, Throttle UP
3.4 Power APM, wait for the 2 beeps in within first 4 seconds. (does not happen, repeat)
3.5 Throttle Down, (3 beeps or so should confirm the calibration)
3.6 Throttle a bit up to see if the motors start. Throttle down.
4. Power off APM
5. Power Up APM (Remote should be ON)
6. Arm the APM (No props)
7. Pump the throttle 30%
7. Incline the APM on all sides +/- 45 degrees. Watch if the lower motors speeds up.
8. level the APM.
9, See if Yaw, pitch roll, affect the motors speed.
Differences from original 3DR APM
- Lighter frame. About 150 gr light.
- Increased responsiveness
- about 5 minutes more flight time