Defcon Kaklkaklkekl (Wiki)

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====== Quadrocopter/Multi-rotor flight controllers ====== ===== Mikrokopter ===== ==== Mikrokopter FC1.3 ==== | CPU: | ATMEGA644p @ 20MHz | | Gyro: | 3x Murata ENBC-03JA Piezo gyros | | Accelerometer: | 3-axis STM LIS3L02AS4 | | Barometric sensor: | MPX4115 (optional) | | Magnetometer: | None, needs additional board (MK3Mag) | | GPS: | None, needs additional boards (NaviControl + MKGPS) | | ESC control type: | I2C, using Mikrokopter BC-CTRL 1.x | | Voltage control: | Linear LM7805 or Recom LDO | | Data storage/Log: | None | | Control input: | CPPM only, plus control input over SPI (slave for NaviCtrl) | | Flight modes: | Stabilised Level, Altitude Limit (Alt hold), Altitude Hold (Vario Alt hold) | | Note: | Discontinued, replaced by FC2.x | ==== Mikrokopter FC2.1 ==== | CPU: | ATMEGA1284P @ 20MHz | | Gyro: | 3x Analog Devices ADRXRS610 MEMS gyros | | Accelerometer: | 3-axis STM LIS344ALH | | Barometric sensor: | MPX4115A | | Magnetometer: | None, needs additional board (MK3Mag) | | GPS: | None, needs additional boards (NaviControl + MKGPS) | | ESC control type: | I2C, using Mikrokopter BC-CTRL 1.x | | Voltage control: | Recom uA7805 LDO (optional 2x uA7805, separate LDO for servos) | | Control input: | CPPM, Skeptrum Sattelite, Jeti, HoTT, S.Bus, plus control input over SPI (slave for NaviCtrl) | | Data storage/Log: | None | | Flight modes: | Stabilised Level, Altitude Limit (Alt hold), Altitude Hold (Vario Alt hold) | A direct successor to MK FC1.x. Moves from piezo gyros to MEMS gyros, removing sensor drift and makes the gyro part less sensitive to vibrations. The Recom LDO provide cleaner more stable VCC. All connetion pads are larger and more conveniently placed. Adds Flash and RAM capacity using the MEGA1284P, allowing for better filtering of sensors in realtime. ==== Mikrokopter FC2.2 (FC2.1 plus ACC-Upgrade) ==== | CPU: | ATMEGA1284P @ 20MHz | | Gyro: | 3x Analog Devices ADRXRS610 MEMS gyros | | Accelerometer: | 3-axis MEMSIC R9500M | | Barometric sensor: | MPX4115A | | Magnetometer: | None, needs additional board (MK3Mag) | | GPS: | None, needs additional boards (NaviControl + MKGPS) | | ESC control type: | I2C, using Mikrokopter BC-CTRL 1.x | | Voltage control: | Recom uA7805 LDO (optional 2x uA7805, separate LDO for servos) | | Control input: | CPPM, Skeptrum Sattelite, Jeti, HoTT, S.Bus, plus control input over SPI (slave for NaviCtrl) | | Data storage/Log: | None | | Flight modes: | Stabilised Level, Altitude Limit (Alt hold), Altitude Hold (Vario Alt hold) | | Note: | FC2.2 is when writing not a board, but an upgrade of the FC2.1 with a new accelerometer. | The change of accelerometer results in a more direct and precise altitude control. The new accelerometer (ACC) sensor operates with a thermal principle, instead of Micromechanics. Thus, the sensor is almost immune against the typical vibrations in the copter. In the ACC sensor FC2.1 the offset of the Z value of the acceleration sensor drifts under vibrations. This only affects the vertical z-value. The two axes for nick and roll work great with the original sensor even with vibration. ==== Mikrokopter FC2.1 + NaviCtrl 2.0 + MKGPS 2.1 ==== | CPU: | ATMEGA1284P @ 20MHz for AHRS and direct flight, STR911FAM44X6 (@96MHz?) ARM9 for all Navigation related tasks | | Gyro: | 3x Analog Devices ADRXRS610 MEMS gyros | | Accelerometer: | 3-axis MEMSIC R9500M | | Barometric sensor: | MPX4115A | | Magnetometer: | HMC5843 or LSM303 | | GPS: | u-blox LEA6S with data retention battery, 5Hz update rate | | ESC control type: | I2C, using Mikrokopter BC-CTRL 1.x | | Voltage control: | Recom uA7805 LDO (optional 2x uA7805, separate LDO for servos) | | Control input: | CPPM, Skeptrum Sattelite, Jeti, HoTT, S.Bus, plus control input over SPI (slave for NaviCtrl) | | Data storage/Log: | MicroSD card slot | | Flight modes: | Stabilised Level, Altitude Limit, Altitude Hold, Position Hold, Return to Launch, Carefree, Waypoint flight, POI Waypoint flight, FollowMe | The precision and complexity of the AHRS operations on the Mikrokopter FlightCtrl boards means there is not much CPU time left on the FC CPU to do much other than attitude and system control. The developers of the Mikrokopter platform realised this and decided to develop an additional board to add GPS-related functions to the platform, giving them the option of adding a powerful ARM CPU to handle those tasks, while leaving the FC CPU free to do AHRS/stabilization. The NaviCtrl adds full navigation capability to the Mikrokopter platform, and has been leading innovation in features, being first to add CareFree mode (a mode where operator controls are free from the copter orientation), POI navigation (where the copter will always face a designated point of interrest) and FollowMe (a mode where an external GPS signal is used as both POI and target waypoint).