Iris

Manual

PDF

• https://www.dronesusermanuals.com/3d-robotics-3dr/

• https://www.manualpdf.com.br/3dr/iris/manual?p=17

• https://www.manualslib.com/download/855670/3dr-IrisPlus.html

Online

• http://www.arducopter.co.uk/iris-quadcopter-uav.html
  • http://www.arducopter.co.uk/iris-manual.html
    • http://www.arducopter.co.uk/iris-introduction.html
    • http://www.arducopter.co.uk/before-you-fly.html
    • http://www.arducopter.co.uk/flying.html
    • http://www.arducopter.co.uk/advanced.html
    • http://www.arducopter.co.uk/support.html

IRIS+ Specifications

Read more at: https://www.dronesusermanuals.com/3d-robotics-3dr/review-of-3d-robotics-iris/

• Diagonal size - of 550 mm
• Height - 100 mm
• Weight with battery - 1282 g
• The maximum additional weight of 400 g
• The propellers are - 9.5 x 4.5 mm
• Motors - 950 kV
• GPS - uBlox GPS with built-in magnetometer
• Power source - Lithium-polymer battery 3S 5100mAh in capacity
• Flight time - 16-22 minutes, depending on the load

Hardware

• https://docs.px4.io/main/en/assembly/quick_start_pixhawk.html
• 3DR Pixhawk (Pixhawk1?) https://docs.px4.io/main/en/flight_controller/pixhawk.html
• 3DR Pixhwak pinout (Pixhawk1?) https://docs.px4.io/main/en/flight_controller/pixhawk.html#pinouts
• Pixhawk Connector Removal (DF13): https://youtu.be/M8KGVD608GQ
• Pixhawk.org https://pixhawk.org/products/
• Pixhawk Standard https://github.com/pixhawk/Pixhawk-Standards

Schematics

• FMU v2 https://raw.githubusercontent.com/PX4/Hardware/master/FMUv2/PX4FMUv2.4.5.pdf
• FMU v3 https://raw.githubusercontent.com/pixhawk/Hardware/master/FMUv3_REV_D/Schematic%20Print/Schematic%20Prints.PDF

Software Navegação

• https://www.arducopter.co.uk/advanced.html

• https://ardupilot.org/

• https://ardupilot.org/copter/docs/common-install-gcs.html

• Mission Planner:
  • https://ardupilot.org/planner/index.html
  • Download: https://firmware.ardupilot.org/Tools/MissionPlanner/
  • Se o MissionPlanner iniciar com o idioma "Português", siga os passos para alterar o idioma da interface gráfica para "English (united States)":
    • Config/Ajuste > Planner > Idioma da UI > English (united States).
    • Config > planner > UI Language > English (united States).
  • Após a mudança será necessário reiniciar o MissionPlanner (sair e abrir novamente o software)

• APM Planner 2:
  • https://ardupilot.org/planner2/index.html
  • Download: https://firmware.ardupilot.org/Tools/APMPlanner/

Software Calcular Caminhos

• DroneMagneticMapGeneratorPy (Hector/Rezeck):
  • https://github.com/rezeck/DroneMagneticMapGeneratorPy

Firmware

Informações sobre a escolha do firmware para o IRIS+:

• Plataform: fmuv2
• Caminho exemplo: (...)/Copter/stable/fmuv2/arducopter.apj
• Nomes com final BL ou WITH_BL, significa que já tem o bootloader imbutido no firmware, dar preferencia para esses!

• Download:
  • https://firmware.ardupilot.org/

Aba Data > Messages:

IRIS+ #2, firmware antigo para 4.1.5
21/03/2023 12:10:17 : Frame: QUAD/x 21/03/2023 12:10:17 : RCOut: PWM:1-12 21/03/2023 12:10:17 : fmuv2 0035002D 32334715 38393836 21/03/2023 12:10:17 : ChibiOS: 45395b6a 21/03/2023 12:10:17 : ArduCopter V4.1.5 (1002fd6e)

IRIS+ #1, após firmware upgrade para 4.3.5
31/03/2023 11:06:51 : Frame: QUAD/X 31/03/2023 11:06:51 : IMU0: fast sampling enabled 8.0kHz/1.0kHz 31/03/2023 11:06:51 : RCOut: PWM:1-14 31/03/2023 11:06:51 : fmuv2 0035002D 32334715 38393836 31/03/2023 11:06:51 : ChibiOS: 66e5de0d 31/03/2023 11:06:51 : ArduCopter V4.3.5 (02ff7ea3)

Calibração

Tela inicial "DATA" pode solicitar que seja feita calibração de um ou mais sensores para armar o quadrirotor.

• Accel Calibration: Algumas versões de firmware apresentam problemas ao pressionar o botão "Calibrate Accel", não apresentando as instruções de calibração. A versão 4.1.5 foi testada e está funcionando corretamente.

• Compass Calibration: Campo magnético do laboratório atrapalha calibração. Afastar o drone da sala para realizar calibração.

• Battery Monitor: Caso esteja fornecendo informações erradas de tensão, modificar o "Sensor" para "0: Other" e inserir manualmente a tensão medida com multímetro.
  • link info Bateria

Tutorial/Review

• 3DRobotics IRIS+ review: A drone that can fly itself
  • https://www.youtube.com/watch?v=HuhflhMVsoE

• 3DR IRIS+ Quadcopter | A Complete Beginners Guide (Part 1)
  • https://www.youtube.com/watch?v=is1kGt8hJN4

• Learning to Fly the Iris+ Drone from 3D Robotics
  • https://www.youtube.com/watch?v=pVwg-5NoFvk

• RFTC: 3D Robotics Iris Plus FPV Quadcopter Unboxing, Setup and Flight Testing
  • https://www.youtube.com/watch?v=OOWTFrNxoo8

• https://www.dronesusermanuals.com/3d-robotics-3dr/review-of-3d-robotics-iris/

• PixHawk/Mission Planner/ArduCopter Build for Beginners: Intro to Mission Planning
  • https://www.youtube.com/watch?v=z_sZUOrnfY8

• Dev Conf 2022 Michael Oborne Mission Planner Customization
  • https://www.youtube.com/watch?v=UEVgGTPAhws

• PixHawk Video Series
  • (1/5) Simple initial setup, config and calibration: https://www.youtube.com/watch?v=uH2iCRA9G7k
  • (2/5) Power, installation, final checks and first hover: https://www.youtube.com/watch?v=CfQ-9MIHKkU

Solução de Problemas

• https://discuss.ardupilot.org/t/firmware-upgrade-problem-error-firmware-image-is-too-large-for-this-board/67979/5
• https://ardupilot.org/copter/docs/common-bootloader-update.html
• https://firmware.ardupilot.org/Tools/MissionPlanner/upgrade/ChangeLog.txt
• https://ardupilot.org/copter/docs/common-loading-firmware-onto-pixhawk.html#common-loading-firmware-onto-pixhawk
• UPGRADE FIRMWARE : https://youtu.be/oxThS6CGd6I
• https://firmware.ardupilot.org/Tools/Bootloaders/
• https://diydrones.com/forum/topics/pixhawk-1mb-flash-limit , https://youtu.be/BNgClHf9nIo
• DESLIGAR GPS https://www.flyrobo.in/blog/fix-error-prearm-need-3d-fix-mission-planner-with-pixhawk-and-apm-2.8and-2.x-flight-controller.