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hobbies:quadrocopter:controllers [2013/09/22 14:15] fishy |
hobbies:quadrocopter:controllers [2013/09/22 15:37] (current) fishy [i86 / Eagle N9] |
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| Line 87: | Line 87: | ||
| ===== ArduPilotMega ===== | ===== ArduPilotMega ===== | ||
| - | ==== APM === | + | ==== APM ==== |
| | CPU: | ATMega1280 @ 16MHz (later upgraded to '2560)| | | CPU: | ATMega1280 @ 16MHz (later upgraded to '2560)| | ||
| Line 107: | Line 107: | ||
| to ATMega1280+ type microcontrollers on dedicated board layouts for both CPU and IMU boards. | to ATMega1280+ type microcontrollers on dedicated board layouts for both CPU and IMU boards. | ||
| - | ==== APM2.0 === | + | ==== APM2.0 ==== |
| | CPU: | ATMega2560 @ 16MHz | | | CPU: | ATMega2560 @ 16MHz | | ||
| Line 127: | Line 127: | ||
| GPS and compass sensors can be disabled to allow use of external (remote located) sensors. | GPS and compass sensors can be disabled to allow use of external (remote located) sensors. | ||
| - | ==== APM2.5 === | + | ==== APM2.5 ==== |
| | CPU: | ATMega2560 @ 16MHz | | | CPU: | ATMega2560 @ 16MHz | | ||
| Line 147: | Line 147: | ||
| 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. | 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 === | + | ==== APM2.6 ==== |
| | CPU: | ATMega2560 @ 16MHz | | | CPU: | ATMega2560 @ 16MHz | | ||
| Line 165: | Line 165: | ||
| (especially multicopters and rovers) where the compass should be placed as far from power and motor sources as possible to avoid magnetic interference. | (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 === | + | ==== HKPilot 2.5 ==== |
| | CPU: | ATMega2560 @ 16MHz | | | CPU: | ATMega2560 @ 16MHz | | ||
| Line 181: | Line 181: | ||
| This board is a HobbyKing direct copy of the 3DRobotics APM2.5 board. | 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 ===== | ||