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Connecting the receiver to your AeroQuad board

This page is a chapter in 'Setup and Calibration'

Note:
Generally, any radio system with a receiver that outputs 1000-2000usec PWM pulses or a PPM sum signal should work with the AeroQuad.
Your receiver can be powered from the "Throttle" pin (5V) on the AeroQuad shields or directly from the 5V output on the AeroQuad32 board.

Standard PWM Receiver

This is the most common receiver type which has one output for each channel. If you want to use 8 channels for example, you'll need to connect 8 cables from your receiver to the shield. PWM receivers are enabled by default in the software, means you don't have to change anything.


Connection pins for PWM receiver
AeroQuad32 v2 boardAeroQuad32 v1 board
v2.1 shieldv2.0 shield
v1.8/1.9 shieldv1.0 mini shield

PPM Receiver

Here all channels are sent via only one output. This means you have to connect one cable to the shield and you can use as many channels as you define in the code and your receiver supports via PPM. If you are using a v2.x shield, it's recommended to use the HWPPM option as described below.

To activate this either check the corresponding option in the AeroQuad Uploader or if you manually upload the software uncomment the following line in "UserConfiguration.h" and choose one of the three given PPM channel orders depending on your transmitter/receiver combination:

Code:
#define ReceiverPPM // Use a PPM receiver

// You need to select one of these channel order definitions for PPM receiver
#define SKETCH_SERIAL_SUM_PPM SERIAL_SUM_PPM_1 //For Graupner/Spektrum (DEFAULT)
//#define SKETCH_SERIAL_SUM_PPM SERIAL_SUM_PPM_2 //For Robe/Hitec/Futaba/Turnigy9X+Er9X
//#define SKETCH_SERIAL_SUM_PPM SERIAL_SUM_PPM_3 //For some Hitec/Sanwa/Others
Connection pins for PPM receiver
AeroQuad32 v2 boardAeroQuad32 v1 board
v1.8/1.9 shieldv1.0 mini shield

HW_PPM option

Note:
This is only to be enabled with an Arduino Mega. The AeroQuad32 board uses it's own PPM library (doesn't matter whether you choose PPM or HW_PPM) and needs no hardware modification.

The main advantage of this method is that you have nearly no jitter in your receiver channel values, but it needs a little hardware modification.

To activate this either check the corresponding option in the AeroQuad Uploader or if you manually upload the software uncomment the following line in "UserConfiguration.h" and choose one of the three given PPM channel orders depending on your transmitter/receiver:

Code:
#define ReceiverHWPPM // Use a PPM receiver with HW timer (less jitter on channel values than PPM), needs a HW modification (see wiki)

// You need to select one of these channel order definitions for PPM receiver
#define SKETCH_SERIAL_SUM_PPM SERIAL_SUM_PPM_1 //For Graupner/Spektrum (DEFAULT)
//#define SKETCH_SERIAL_SUM_PPM SERIAL_SUM_PPM_2 //For Robe/Hitec/Futaba/Turnigy9X+Er9X
//#define SKETCH_SERIAL_SUM_PPM SERIAL_SUM_PPM_3 //For some Hitec/Sanwa/Others
Connection pins for PPM receiver with HWPPM option together with needed hardware modification
v2.1 shieldv2.0 shield

Futaba S-BUS Receiver

Note:
Only available in flight software v3.2 or greater. This is only to be enabled with the AeroQuad32 board or an Arduino Mega and can only be used if you own a receiver which has a Futaba S-Bus port!

If you've got a receiver with a Futaba S-Bus port, you can use that too for your AeroQuad to receive jitter-free signals!

To activate this either check the corresponding option in the AeroQuad Uploader or if you manually upload the software just uncomment the following line in "UserConfiguration.h":

Code:
#define ReceiverSBUS  // Use a Futaba sBUS RX, connect sBUS data line via an inverter (see wiki) to Serial3 RX, supports up to 8 channels on v2 and STM32 boards
However, for the v2.0/v2.1 shield there is a slight hardware mod necessary as the S-BUS UART signal is inverted - for example you may use an SN74LS00N 2-input NAND. S-BUS data out goes to both inputs of one of the NAND gates, the output of that gate goes to Serial3. For further information or questions please visit this thread.

Needed hardware modification for S-BUS receiver on v2.x shield (click for higher resolution)

The AeroQuad32 board has already an inverter built in to Serial3 that is enabled automatically when compiling code with sBUS, so no hardware modification is needed. Just connect the sBUS signal cable from your receiver to the pin marked below and power the receiver from the 5V/GND pins next to the standard receiver pins.

Connection pins for sBus receiver
AeroQuad32 v2 boardAeroQuad32 v1 board

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