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hobbies:quadrocopter:controllers [2013/09/22 13:10] fishy created |
hobbies:quadrocopter:controllers [2013/09/22 15:37] (current) fishy [i86 / Eagle N9] |
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| Accelerometer: | 3-axis STM LIS3L02AS4 | | | Accelerometer: | 3-axis STM LIS3L02AS4 | | ||
| Barometric sensor: | MPX4115 (optional) | | | Barometric sensor: | MPX4115 (optional) | | ||
- | | Magnetometer: | None, needs additional board (MK3Mag) | | + | | Magnetometer: | None, may use additional board (MK3Mag) | |
- | | GPS: | None, needs additional boards (NaviControl + MKGPS) | | + | | GPS: | None, may use additional boards (NaviControl + MKGPS) | |
+ | | Additional sensors | Input voltage monitoring built-in | | ||
| ESC control type: | I2C, using Mikrokopter BC-CTRL 1.x | | | ESC control type: | I2C, using Mikrokopter BC-CTRL 1.x | | ||
| Voltage control: | Linear LM7805 or Recom LDO | | | Voltage control: | Linear LM7805 or Recom LDO | | ||
Line 26: | Line 27: | ||
| Accelerometer: | 3-axis STM LIS344ALH | | | Accelerometer: | 3-axis STM LIS344ALH | | ||
| Barometric sensor: | MPX4115A | | | Barometric sensor: | MPX4115A | | ||
- | | Magnetometer: | None, needs additional board (MK3Mag) | | + | | Magnetometer: | None, may use additional board (MK3Mag) | |
- | | GPS: | None, needs additional boards (NaviControl + MKGPS) | | + | | GPS: | None, may use additional boards (NaviControl + MKGPS) | |
+ | | Additional sensors | Input voltage monitoring built-in | | ||
| ESC control type: | I2C, using Mikrokopter BC-CTRL 1.x | | | ESC control type: | I2C, using Mikrokopter BC-CTRL 1.x | | ||
| Voltage control: | Recom uA7805 LDO (optional 2x uA7805, separate LDO for servos) | | | Voltage control: | Recom uA7805 LDO (optional 2x uA7805, separate LDO for servos) | | ||
Line 44: | Line 46: | ||
| Accelerometer: | 3-axis MEMSIC R9500M | | | Accelerometer: | 3-axis MEMSIC R9500M | | ||
| Barometric sensor: | MPX4115A | | | Barometric sensor: | MPX4115A | | ||
- | | Magnetometer: | None, needs additional board (MK3Mag) | | + | | Magnetometer: | None, may use additional board (MK3Mag) | |
- | | GPS: | None, needs additional boards (NaviControl + MKGPS) | | + | | GPS: | None, may use additional boards (NaviControl + MKGPS) | |
+ | | Additional sensors | Input voltage monitoring built-in | | ||
| ESC control type: | I2C, using Mikrokopter BC-CTRL 1.x | | | ESC control type: | I2C, using Mikrokopter BC-CTRL 1.x | | ||
| Voltage control: | Recom uA7805 LDO (optional 2x uA7805, separate LDO for servos) | | | Voltage control: | Recom uA7805 LDO (optional 2x uA7805, separate LDO for servos) | | ||
Line 61: | Line 64: | ||
==== Mikrokopter FC2.1 + NaviCtrl 2.0 + MKGPS 2.1 ==== | ==== 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 | | + | | CPU: | ATMEGA1284P @ 20MHz for AHRS and direct flight, STR911FAM44X6 (@96MHz?) ARM9 for all Navigation related tasks | |
| Gyro: | 3x Analog Devices ADRXRS610 MEMS gyros | | | Gyro: | 3x Analog Devices ADRXRS610 MEMS gyros | | ||
| Accelerometer: | 3-axis MEMSIC R9500M | | | Accelerometer: | 3-axis MEMSIC R9500M | | ||
| Barometric sensor: | MPX4115A | | | Barometric sensor: | MPX4115A | | ||
| Magnetometer: | HMC5843 or LSM303 | | | Magnetometer: | HMC5843 or LSM303 | | ||
- | | GPS: | u-blox LEA6S with data retention battery, 5Hz update rate | | + | | GPS: | u-blox LEA6S with data retention battery, 5Hz update rate | |
+ | | Additional sensors | Input voltage monitoring built-in | | ||
| ESC control type: | I2C, using Mikrokopter BC-CTRL 1.x | | | ESC control type: | I2C, using Mikrokopter BC-CTRL 1.x | | ||
- | | Voltage control: | Recom uA7805 LDO (optional 2x uA7805, separate LDO for servos) | | + | | 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) | | | Control input: | CPPM, Skeptrum Sattelite, Jeti, HoTT, S.Bus, plus control input over SPI (slave for NaviCtrl) | | ||
- | | Data storage/Log: | MicroSD card slot | | + | | 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 | | + | | 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 | The precision and complexity of the AHRS operations on the Mikrokopter FlightCtrl boards means there is not much CPU time left | ||
Line 81: | Line 85: | ||
of interrest) and FollowMe (a mode where an external GPS signal is used as both POI and target waypoint). | of interrest) and FollowMe (a mode where an external GPS signal is used as both POI and target waypoint). | ||
+ | ===== ArduPilotMega ===== | ||
+ | |||
+ | ==== APM ==== | ||
+ | |||
+ | | CPU: | ATMega1280 @ 16MHz (later upgraded to '2560)| | ||
+ | | Gyro: | 2x Invensense XY-axis gyros IDG500, 1x Invensense Z-axis gyro ISZ500SMD | | ||
+ | | Accelerometer: | 3-axis Analog Devices ADX330 | | ||
+ | | Barometric sensor: | Bosch BMP085 Pressure and temperature sensor | | ||
+ | | Magnetometer: | None, may use external compass | | ||
+ | | GPS: | None, may use external compass | | ||
+ | | Additional sensors | Analog Devices ADS7844 AD Converter. Optional: Voltage, Current, Sonar | | ||
+ | | ESC control type: | 490Hz PWM | | ||
+ | | Voltage control: | No 5V regulator, relies on external voltage regulator. 3V3 regulators on main and IMU boards | | ||
+ | | Control input: | Standard PWM, CPPM | | ||
+ | | Data storage/Log: | 16Mbit datalogging EEPROM/Flash (dep. on revision) | | ||
+ | | Flight modes: | Gyro rate control, Stabilised Level, Altitude Hold. With GPS/compass, Position Hold (Loiter), Return to Launch, Waypoint flight | | ||
+ | | Note: | Discontinued, replaced by APM2 generation | | ||
+ | |||
+ | The first generation APM was a two-board, ArduinoMega based design, with a main APM board containing only CPU, PWM/PPM input and supporting circuits, | ||
+ | and a separate "IMU Shield" containing all sensors. The APM was an upgrade of the ArduCopter platform, moving from an ATMega328 based standard Arduino, | ||
+ | to ATMega1280+ type microcontrollers on dedicated board layouts for both CPU and IMU boards. | ||
+ | |||
+ | ==== APM2.0 ==== | ||
+ | |||
+ | | CPU: | ATMega2560 @ 16MHz | | ||
+ | | Gyro: | MPU-6000 MEMS| | ||
+ | | Accelerometer: | MPU-6000 | | ||
+ | | Barometric sensor: | Measurement Specialities MS5611 | | ||
+ | | Magnetometer: | Honeywell HMC5883L | | ||
+ | | GPS: | Mediatek MT3329 10Hz | | ||
+ | | Additional sensors | Optional: Voltage, Current, Sonar, Optical Flow | | ||
+ | | ESC control type: | 490Hz PWM for ESC, 50Hz PWM for servos available | | ||
+ | | Voltage control: | No 5V regulator, relies on external voltage regulator. | | ||
+ | | Control input: | Standard PWM, CPPM | | ||
+ | | Data storage/Log: | MicroSD card slot with 4Mbyte dataflash card | | ||
+ | | Flight modes: | Gyro rate control, Stabilised Level, Altitude Hold, Position Hold (Loiter), Return to Launch, Waypoint flight, CareFree mode | | ||
+ | |||
+ | The APM2 fuses the two-board design of the APM1 into a single-board design, and replaces most analog sensors with the MPU-6000 SPI+I2C enabled | ||
+ | integrated MEMS chip from Invensense. Like the APM1, the controller is a multi-purpose AHRS+IMU system that can be used for fixed-wing, ground rover, | ||
+ | boat and multi-rotor operations. With the addition of Sonar and Optical Flow sensors, very precise positional navigation can be achieved. The integrated | ||
+ | GPS and compass sensors can be disabled to allow use of external (remote located) sensors. | ||
+ | |||
+ | ==== APM2.5 ==== | ||
+ | |||
+ | | CPU: | ATMega2560 @ 16MHz | | ||
+ | | Gyro: | MPU-6000 MEMS| | ||
+ | | Accelerometer: | MPU-6000 | | ||
+ | | Barometric sensor: | Measurement Specialities MS5611-01BA03 | | ||
+ | | Magnetometer: | Honeywell HMC5883L | | ||
+ | | GPS: | Optional external GPS, Mediatek or u-Blox 10Hz | | ||
+ | | Additional sensors | Optional: Voltage, Current, Sonar, Optical Flow | | ||
+ | | ESC control type: | 490Hz PWM for ESC, 50Hz PWM for servos available | | ||
+ | | Voltage control: | No 5V regulator, relies on external voltage regulator. | | ||
+ | | Control input: | Standard PWM, CPPM | | ||
+ | | Data storage/Log: | On-board 4Mbyte dataflash card | | ||
+ | | Flight modes: | Gyro rate control, Stabilised Level, Altitude Hold, Position Hold (Loiter), Return to Launch, Waypoint flight, CareFree mode | | ||
+ | |||
+ | With many users opting to use external GPS, or not using GPS at all, the APM2.5 was designed to simplify and bring down the cost of the APM2. There had | ||
+ | also been problems with getting the MicroSD card slot to work with larger SD cards, as well as connectivity issues where the dataflash became unavalable | ||
+ | during flight. By removing the GPS, and moving to a fixed on-board 4MByte dataflash, the need for a daughter-card was removed, and a tidy single-board | ||
+ | design was possible. The APM2.5 also adds a separate Power port for use with a fused voltage/current sensor and voltage regulator as an optional addition. | ||
+ | |||
+ | ==== APM2.6 ==== | ||
+ | |||
+ | | CPU: | ATMega2560 @ 16MHz | | ||
+ | | Gyro: | MPU-6000 MEMS| | ||
+ | | Accelerometer: | MPU-6000 | | ||
+ | | Barometric sensor: | Measurement Specialities MS5611-01BA03 | | ||
+ | | Magnetometer: | None, required external for use w/GPS | | ||
+ | | GPS: | Optional external GPS, Mediatek or u-Blox 10Hz | | ||
+ | | Additional sensors | Optional: Voltage, Current, Sonar, Optical Flow | | ||
+ | | ESC control type: | 490Hz PWM for ESC, 50Hz PWM for servos available | | ||
+ | | Voltage control: | No 5V regulator, relies on external voltage regulator. | | ||
+ | | Control input: | Standard PWM, CPPM | | ||
+ | | Data storage/Log: | On-board 4Mbyte dataflash card | | ||
+ | | Flight modes: | Gyro rate control, Stabilised Level, Altitude Hold, Position Hold (Loiter), Return to Launch, Waypoint flight, CareFree mode | | ||
+ | |||
+ | The 2.6 revision simply skips the onboard compass sensor of the AMP2/2.5, and required the use of an external compass. It is designed for vehicles | ||
+ | (especially multicopters and rovers) where the compass should be placed as far from power and motor sources as possible to avoid magnetic interference. | ||
+ | |||
+ | ==== HKPilot 2.5 ==== | ||
+ | |||
+ | | CPU: | ATMega2560 @ 16MHz | | ||
+ | | Gyro: | MPU-6000 MEMS| | ||
+ | | Accelerometer: | MPU-6000 | | ||
+ | | Barometric sensor: | Measurement Specialities MS5611-01BA03 | | ||
+ | | Magnetometer: | Honeywell HMC5883L | | ||
+ | | GPS: | Optional external GPS, Mediatek or u-Blox 10Hz | | ||
+ | | Additional sensors | Optional: Voltage, Current, Sonar, Optical Flow | | ||
+ | | ESC control type: | 490Hz PWM for ESC, 50Hz PWM for servos available | | ||
+ | | Voltage control: | No 5V regulator, relies on external voltage regulator. | | ||
+ | | Control input: | Standard PWM, CPPM | | ||
+ | | Data storage/Log: | On-board 4Mbyte dataflash card | | ||
+ | | Flight modes: | Gyro rate control, Stabilised Level, Altitude Hold, Position Hold (Loiter), Return to Launch, Waypoint flight, CareFree mode | | ||
+ | |||
+ | This board is a HobbyKing direct copy of the 3DRobotics APM2.5 board. | ||
+ | |||
+ | ===== KK Multicopter ===== | ||
+ | |||
+ | ==== KapteinKUKs Simple and Low Part Count Flight Controller ==== | ||
+ | |||
+ | | CPU: | ATMega48 with no external clock (8MHz?) | | ||
+ | | Gyro: | 3x Piezo gyros (Murata ENC-03M) from HK401B | | ||
+ | | Accelerometer: | No | | ||
+ | | Barometric sensor: | No | | ||
+ | | Magnetometer: | No | | ||
+ | | GPS: | No | | ||
+ | | Additional sensors | No | | ||
+ | | ESC control type: | 50Hz PWM for ESC | | ||
+ | | Voltage control: | No 5V regulator, relies on external voltage regulator. | | ||
+ | | Control input: | Standard PWM | | ||
+ | | Data storage/Log: | No | | ||
+ | | Flight modes: | Gyro rate control | | ||
+ | |||
+ | The forst version of the KK Multicopter controller was wired up on a protoboard, and schematics published. The controller is a direct | ||
+ | gyro stabilizer, with no attitude control outside of gyro roll compensation. The software was also completely single-loop with no | ||
+ | interrupt-driven or timer-driven control. | ||
+ | |||
+ | http://www.rcgroups.com/forums/showthread.php?t=1143569 | ||
+ | |||
+ | ==== KK Multicopter second revision ==== | ||
+ | |||
+ | | CPU: | ATMega168 with no external clock @ 8MHz | | ||
+ | | Gyro: | 3x Murata ENC-03M Piezo gyros | | ||
+ | | Accelerometer: | No | | ||
+ | | Barometric sensor: | No | | ||
+ | | Magnetometer: | No | | ||
+ | | GPS: | No | | ||
+ | | Additional sensors | No | | ||
+ | | ESC control type: | 400Hz PWM for ESC | | ||
+ | | Voltage control: | No 5V regulator, relies on external voltage regulator. | | ||
+ | | Control input: | Standard PWM | | ||
+ | | Data storage/Log: | No | | ||
+ | | Flight modes: | Gyro rate control | | ||
+ | |||
+ | An updated version of the first KK controller moves to a slightly more powerful CPU, uses the CPU's timers and interrupt systems, | ||
+ | and uses directly integrated Murata gyros. This can be called the first "productization" of the KK Multicopter controller. | ||
+ | |||
+ | ==== KK BlackBoard / HK Multirotor-controller 3.0 ==== | ||
+ | |||
+ | | CPU: | ATMega328PA @ 8MHz | | ||
+ | | Gyro: | 3x Murata ENC-03M Piezo gyros | | ||
+ | | Accelerometer: | No | | ||
+ | | Barometric sensor: | No | | ||
+ | | Magnetometer: | No | | ||
+ | | GPS: | No | | ||
+ | | Additional sensors | No | | ||
+ | | ESC control type: | 490Hz PWM for ESC | | ||
+ | | Voltage control: | No 5V regulator, relies on external voltage regulator. | | ||
+ | | Control input: | Standard PWM | | ||
+ | | Data storage/Log: | No | | ||
+ | | Flight modes: | Gyro rate control | | ||
+ | |||
+ | An updated version, yet another upgrade of CPU. This is the final version of the "Gyro-only" versions of the KK Multicopter controllers, | ||
+ | and has a relatively high build quality. As there is still no accelerometers, the only stabilization is through gyro rate control, and with | ||
+ | potentiometers used to "tune" the gyro gains it is quite "fiddly" to get a good flight attitude, as well as susceptible to temperature and | ||
+ | vibration related sensor- and potmeter drift. | ||
+ | |||
+ | ==== i86 / Eagle N9 ==== | ||
+ | |||
+ | | CPU: | ATMega168 with no external clock @ 8MHz | | ||
+ | | Gyro: | ST Microelectronics AGD8 2xxx MEMS gyro | | ||
+ | | Accelerometer: | No | | ||
+ | | Barometric sensor: | No | | ||
+ | | Magnetometer: | No | | ||
+ | | GPS: | No | | ||
+ | | Additional sensors | No | | ||
+ | | ESC control type: | 400Hz PWM for ESC | | ||
+ | | Voltage control: | No 5V regulator, relies on external voltage regulator. | | ||
+ | | Control input: | Standard PWM | | ||
+ | | Data storage/Log: | No | | ||
+ | | Flight modes: | Gyro rate control | | ||
+ | |||
+ | The i86 is a rebrand of an "Eagle N9 v1" flight controller, based on the KK multicopter, but with a | ||
+ | MEMS 3-axis gyro replacing the piezo's, and DIP-swithces to select copter configuration without | ||
+ | having to re-upload firmware. Because of the changes, it is not directly compatible with KK Multicopter | ||
+ | software, but is so close to a clone that it is listed under the KK heading. Seeing as the board | ||
+ | does not have any accelerometers, this is a direct gyro rate control board, with no levelling support. | ||
+ | |||
+ | ==== KK2.0 ==== | ||
+ | |||
+ | | CPU: | ATMega324PA @ 8MHz | | ||
+ | | Gyro: | Invensense MEMS gyros | | ||
+ | | Accelerometer: | Analogue Devices | | ||
+ | | Barometric sensor: | No | | ||
+ | | Magnetometer: | No | | ||
+ | | GPS: | No | | ||
+ | | Additional sensors | No | | ||
+ | | ESC control type: | 490Hz PWM for ESC | | ||
+ | | Voltage control: | No 5V regulator, relies on external voltage regulator. | | ||
+ | | Control input: | Standard PWM (alternate firmware for CPPM) | | ||
+ | | Data storage/Log: | No | | ||
+ | | Flight modes: | Gyro rate control, Stabilised Level | | ||
+ | |||
+ | This version of KapteinKuks controller is provided by HobbyKing, with royalties from sales going to KapteinKuk/Rolf Bakke. The controller | ||
+ | features an integrated LCD display for direct setup and tuning, has moved to MEMS gyros for improved stability and precision, and has added | ||
+ | a 3-axis acellerometer and a levelling flight mode. Software development has been fairly active. The choice of ATMega324pa microcontroller | ||
+ | as CPU limits the capabilities of this controller, but considering the price, it is a reasonable controller for projects on a tight budget. | ||
+ | |||
+ | ===== MultiWii ===== |