Project YMFC-32 autonomous Return To Home update

On this page you can find more information about the YMFC-32 return to home and fail safe update software. It's highly recommended to test the quadcopter with the original software first before you upgrade.

If you encounter any problems during the build or setup please check the Q&A page first. Most questions are already answered in detail.

The only change that is necessary to get the new software to run is to setup channel 5 correctly. In the following table the various flight modes and channel settings are displayed.

Also don't forget to check out the YMFC-32 autonomous tutorial videos:

The YMFC-32 autonomous tutorial videos

Table of contents

The YMFC-32 autonomous holds the following features:

• Auto level
• Altitude hold
• GPS hold + position control
• Return To Home (RTH)
• Fail safe & RTH
• Auto land and take off
• Course lock
• Telemetry

With my own quadcopters I get a flight time between 15 till 20 minutes with a 3800mAh 3 cell lipo. You can find more information about my testquads on the background infromation (bain) page here.

The YMFC-32 autonomous needs standardized receiver pulses as described in the table below.

Use the table below for the flight modes 1 till 4 and the head lock functions. Check the various functions with the telemetry system.

Always check the flight modes with the telemetry system after finishing the transmitter setup.

If you use the FlySky T6 transmitter as I do you can do a simple internal modification. This modification will give you access to the 4 flight modes of the YMFC-32 autonomous. More information can be found in this video:

Modifying the FLYSKY T6 for Ardupilot (one channel, 2 switches, 4 flight modes!)

Unlike the YMFC-AL , not every transmitter can be used for the YMFC-32. This is because I'm trying to keep the code as simple and understandable as possible.

The transmitter must have adjustable endpoints and subtrims and a PPM output. So make sure to check the manual of the transmitter for these specific functions. The transmitter that I use myself is this:

Flysky FS-T6 6-CH TX Transmitter

The Flysky T6 has no PPM output. For this I made a PWM to PPM converter that will work with the R6B receiver. You can find more information on this PWM to PPM background information page.

A transmitter with PPM output that works right outof the box is this :

Flysky FS-i6X transmitter with IA6B Receiver

If you use the FlySky i6S you can find detailed setup instructions in the section below.

Set the center positions and the end points with the YMFC-32 setup program. All channels must have a 1000 till 2000us travel. The first 4 cahnnels must have a 1500us center position. Use the [End points] and [Subtrim] menus for this.

In the [Aux. channels] menu select the following channels and switches.

In the [Mix] menu activate the first mixer end set it up as shown below.

Now the switches on your transmitter will have the following functions.

If you activate the following settings in the [failsafe] menu the YMFC-32 will automatically return to home on signal lost when there are enough satellites in use.

During startup and flight the status LEDs provide valuable information as shown in the picture below:

Normal startup LED procedure

Calibration delay (5 seconds)

Calibrating gyro (8 seconds)

Flight mode 1 (auto level)

Flight mode 2 (altitude hold)

Flight mode 3 (altitude and GPS hold)

GPS LED on the STM32 board (PC13)

No valid GPS signal

GPS signal available (5Hz)

GPS lock (25Hz)

Errors during startup

1. MPU-6050 does not respond

2. HMC5883L does not respond

3. MS5611 does not respond

4. No receiver detected

Errors after startup

1. Battery low

2. Program loop time exceeded

3. ACC calibration angle limit

4. GPS watchdog time exceeded

5. manual_takeoff_throttle not in range

6. No take-off detected

7. Take-off throttle out of range

8. Receiver lost connection (fail safe)

A more detailed explaination of the errors can be found on the Q&A page (question 13).