There are two primary ways to get Cleanflight onto a CC3D board. Single binary image mode - best mode if you don't want to use OpenPilot. OpenPilot Bootloader compatible image mode - best mode if you want to switch between OpenPilot and Cleanflight. Single binary image mode. The entire flash ram on the target processor is flashed with a single. These will power up the board, so the leds light up, but the host computer will not react to the device at all. You need a proper USB cable to connect your board to the Cleanflight Configurator. Platform Specific: Linux. Linux requires udev rules to allow write access to USB devices for users.

1. How To Install Cleanflight
2. Cleanflight Configurator App

• If you’re having problems getting cleanflight to recognise your Naze board and you’re on a Mac, do the following. The drivers are available for download directly from the.
• Cleanflight can be used on multirotor aircraft and fixed-wing aircraft, it supports a variety for shapes and motor counts, not limited to quadcopters, hexacopters, octocopters, tricopters and planes. Cleanflight is Open-Source flight controller software which is 32-bit version of the original 8-bit MultiWii code.

Arming

When armed, the aircraft is ready to fly and the motors will spin when throttle is applied. The motors willspin at a slow speed when armed (this feature may be disabled by setting MOTOR_STOP, but for safety reasons,that is not recommended).

By default, arming and disarming is done using stick positions. (NOTE: this feature is disabled when using aswitch to arm.)

Stick Positions

The three stick positions are:

The stick positions are combined to activate different functions:

Download a graphic cheat sheet with Tx stick commands (the latest version can always be foundhere).

Yaw control

While arming/disarming with sticks, your yaw stick will be moving to extreme values. In order to prevent your craftfrom trying to yaw during arming/disarming while on the ground, your yaw input will not cause the craft to yaw when thethrottle is LOW (i.e. below the min_check setting).

For tricopters, you may want to retain the ability to yaw while on the ground, so that you can verify that your tailservo is working correctly before takeoff. You can do this by setting tri_unarmed_servo to 1 on the CLI (this is thedefault). If you are having issues with your tail rotor contacting the ground during arm/disarm, you can set this to0 instead. Check this table to decide which setting will suit you:

Throttle settings and their interaction

min_command -With motor stop enabled this is the command sent to the esc's when the throttle is below min_check or disarmed. With motor stop disabled, this is the command sent only when the copter is disarmed. This must be set well below motors spinning for safety.

min_check - With switch arming mode is in use, lowering your throttle below min_check will result in motors spinning at min_throttle. When using the default stick arming, lowering your throttle below min_check will result in motors spinning at min_throttle and yaw being disabled so that you may arm/disarm. With motor stop enabled, lowering your throttle below min_check will also result in motors off and the esc's being sent min_command. Min_check must be set to a level that is 100% reliably met by the throttle throw. A setting too low may result in a dangerous condition where the copter can’t be disarmed. It is ok to set this below min_throttle because the FC will automaticly scale the output to the esc's

min_throttle -Typically set to just above reliable spin up of all motors. Sometimes this is set slightly higher for prop stall prevention during advanced maneuvers or sometimes considerably higher to produce a desired result. When armed with motor stop off, your motors will spin at this command so keep that in mind from a safety stand point.

max_check -Throttle positions above this level will send max_command to the esc's.

max_throttle -This is the max command to the esc's from the flight controller.

In depth videos explaining these terms are available from Joshua Bardwell here:

https://www.youtube.com/watch?v=WFU3VewGbbA

How To Install Cleanflight

https://www.youtube.com/watch?v=YNRl0OTKRGA

Deadband

If yaw, roll or pitch sticks do not reliably return to centre or the radio has a lot of jitter around the centrepoint, deadband can be applied. The whole deadband value is applied either side of the center point rather than half the value above and half the value below. The deadband value will have an effect on stick endpoint values as the axis value will be reduced by the amount of deadband applied.

deadband -Applied to roll, pitch.

yaw_deadbandOnly applied to yaw.

Some newer boards with full USB support must be flashed in USB DFU mode. This is a straightforward process in Configurator versions 0.67 and newer. The standard flashing procedure should work successfully with the caveat of some platform specific problems as noted below. The “No reboot sequence” checkbox has no effect as the device will automatically be detected when already in bootloader mode (a DFU device will appear in the connect dropdown if this is the case). The Full chip erase checkbox operates as normal. The baudrate checkbox is ignored as it has no relevance to USB.

Charging-Only Cables

If you see no signs of life on your host computer when you plug in your board, check your cable with your mobile phone or some other USB device - some charging cables have only the power pins connected. These will power up the board, so the leds light up, but the host computer will not react to the device at all. You need a proper USB cable to connect your board to the Cleanflight Configurator.

Platform Specific: Linux

Linux requires udev rules to allow write access to USB devices for users. An example shell command to acheive this on Ubuntu is shown here:(echo '# DFU (Internal bootloader for STM32 MCUs)' echo 'SUBSYSTEM'usb', ATTRS{idVendor}'0483', ATTRS{idProduct}'df11', MODE='0664', GROUP='plugdev') | sudo tee /etc/udev/rules.d/45-stdfu-permissions.rules > /dev/null

This assigns the device to the plugdev group(a standard group in Ubuntu). To check that your account is in the plugdev group type groups in the shell and ensure plugdev is listed. If not you can add yourself as shown (replacing <username> with your username):sudo usermod -a -G plugdev <username>

If you see your ttyUSB device disappear right after the board is connected, chances are that the ModemManager service (that handles network connectivity for you) thinks it is a GSM modem. If this happens, you can issue the following command to disable the service:sudo systemctl stop ModemManager.service

If your system lacks the systemctl command, use any equivalent command that works on your system to disable services. You can likely add your device ID to a blacklist configuration file to stop ModemManager from touching the device, if you need it for cellural networking, but that is beyond the scope of cleanflight documentation.

If you see the ttyUSB device appear and immediately disappear from the list in Cleanflight Configurator when you plug in your flight controller via USB, chances are that NetworkManager thinks your board is a GSM modem and hands it off to the ModemManager daemon as the flight controllers are not known to the blacklisted

Platform Specific: Windows

Cleanflight Configurator App

Chrome can have problems accessing USB devices on Windows. A driver should be automatically installed by Windows for the ST Device in DFU Mode but this doesn’t always allow access for Chrome. The solution is to replace the ST driver with a libusb driver. The easiest way to do that is to download Zadig. With the board connected and in bootloader mode (reset it by sending the character R via serial, or simply attempt to flash it with the correct serial port selected in Configurator): * Open Zadig* Choose Options > List All Devices* Select STM32 BOOTLOADER in the device list* Choose WinUSB (v6.x.x.x) in the right hand box* Click Replace Driver* Restart Chrome (make sure it is completely closed, logout and login if unsure)* Now the DFU device should be seen by Configurator