Subsystem/actuators - Revision history

IHaveADrone: anchor tag links and spelling

2015-06-26T13:48:53Z

anchor tag links and spelling

← Older revision		Revision as of 07:48, 26 June 2015
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	Currently possible actuators subsystems are		Currently possible actuators subsystems are
	* ''mkk''		* ''[[Subsystem/actuators#MKK\|mkk]]''
	* ''asctec''		* ''[[Subsystem/actuators#MKK_v2\|mkk_v2]]''
	* ''asctec_v2''		* ''[[Subsystem/actuators#Asctec_v1\|asctec]]''
	* ''pwm''		* ''[[Subsystem/actuators#Asctec_v2\|asctec_v2]]''
			* ''[[Subsystem/actuators#PWM\|pwm]]''
			* ''[[Subsystem/actuators#Dual_PWM\|dualpwm]]''
	* ''skiron''		* ''skiron''
	* ''heli''		* ''heli''
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	During the time of a regular pwm pulse (20ms) we got two parts :		During the time of a regular pwm pulse (20ms) we got two parts :
	* the first 1 with a total period of 4ms. During that part we generate the first pulse that is going to control for ~~exemple~~ the first servo.		* the first 1 with a total period of 4ms. During that part we generate the first pulse that is going to control for example the first servo.
	* the first 2 with a total period of 16ms. During that part we generate the second pulse that is going to control for ~~exemple~~ the second servo.		* the first 2 with a total period of 16ms. During that part we generate the second pulse that is going to control for example the second servo.

	=== How to use the driver ===		=== How to use the driver ===
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	=== XML configuration ===		=== XML configuration ===
	Then we will be able to add a servo block into the airframe file (in the same way we would for regular servos). But we have to specify the driver that we are using for ~~thoses~~ servos :		Then we will be able to add a servo block into the airframe file (in the same way we would for regular servos). But we have to specify the driver that we are using for those servos :

	{{Box Code\|conf/airframes/myplane.xml\|		{{Box Code\|conf/airframes/myplane.xml\|

Flixr at 22:08, 28 June 2014

2014-06-28T22:08:16Z

← Older revision		Revision as of 16:08, 28 June 2014
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	<define name="NB" value="4"/><!-- number of motors -->		<define name="NB" value="4"/><!-- number of motors -->
	<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/><!-- the I2C addresses of your motors -->		<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/><!-- the I2C addresses of your motors -->
	~~<define name="DEVICE" value="i2c1"/>~~
	</section>		</section>
	<servos driver="mkk">		<servos driver="mkk">
	<servo name="FRONT" no="0" min="0" neutral="2" max="~~255~~"/>		<servo name="FRONT" no="0" min="0" neutral="2" max="200"/>
	<servo name="RIGHT" no="1" min="0" neutral="2" max="~~255~~"/>		<servo name="RIGHT" no="1" min="0" neutral="2" max="200"/>
	<servo name="BACK" no="2" min="0" neutral="2" max="~~255~~"/>		<servo name="BACK" no="2" min="0" neutral="2" max="200"/>
	<servo name="LEFT" no="3" min="0" neutral="2" max="~~255~~"/>		<servo name="LEFT" no="3" min="0" neutral="2" max="200"/>
	</servos>		</servos>
	~~<command_laws>~~
	~~<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>~~
	~~<set servo="FRONT" value="motor_mixing.commands[SERVO_FRONT]"/>~~
	~~<set servo="BACK" value="motor_mixing.commands[SERVO_BACK]"/>~~
	~~<set servo="RIGHT" value="motor_mixing.commands[SERVO_RIGHT]"/>~~
	~~<set servo="LEFT" value="motor_mixing.commands[SERVO_LEFT]"/>~~
	~~</command_laws>~~
	</source>		</source>
	}}		}}
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	* ''MIN_MOTOR'' : 3		* ''MIN_MOTOR'' : 3
	* ''MAX_MOTOR'' : 200		* ''MAX_MOTOR'' : 200
	~~This does~~ not ~~apply to~~ version 5.0 and above.		The ''STOP\|MIN\|MAX_MOTOR'' define are not needed in version 5.0 and above.

	== MKK v2 ==		== MKK v2 ==

Alonsoac: fix MKK and add MKK v2

2014-06-28T04:14:28Z

fix MKK and add MKK v2

← Older revision		Revision as of 22:14, 27 June 2014
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	<subsystem name="actuators" type="mkk">		<subsystem name="actuators" type="mkk">
	<configure name="MKK_I2C_SCL_TIME" value="50"/> <!-- only LPC21xx, optional, 150 is default, use 50 for 8 motors-->		<configure name="MKK_I2C_SCL_TIME" value="50"/> <!-- only LPC21xx, optional, 150 is default, use 50 for 8 motors-->
			<configure name="ACTUATORS_MKK_I2C_DEV" value="i2c1"/>
	</subsystem>		</subsystem>
	<define name="I2C_TRANSACTION_QUEUE_LEN" value="10"/> <!-- default is 8, increase to 10 or more for 8 motors-->		<define name="I2C_TRANSACTION_QUEUE_LEN" value="10"/> <!-- default is 8, increase to 10 or more for 8 motors-->
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	=== XML configuration ===		=== XML configuration ===
	~~required defines in section ''ACTUATORS_MKK'':~~
	* ''NB'': number of motors
	* ''ADDR'': the I2C addresses of your motors
	{{Box Code\|conf/airframes/myplane.xml\|		{{Box Code\|conf/airframes/myplane.xml\|
	<source lang="xml">		<source lang="xml">
	<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">		<section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
	<define name="NB" value="4"/>		<define name="NB" value="4"/><!-- number of motors -->
	<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>		<define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/><!-- the I2C addresses of your motors -->
			<define name="DEVICE" value="i2c1"/>
	</section>		</section>
			<servos driver="mkk">
			<servo name="FRONT" no="0" min="0" neutral="2" max="255"/>
			<servo name="RIGHT" no="1" min="0" neutral="2" max="255"/>
			<servo name="BACK" no="2" min="0" neutral="2" max="255"/>
			<servo name="LEFT" no="3" min="0" neutral="2" max="255"/>
			</servos>
			<command_laws>
			<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
			<set servo="FRONT" value="motor_mixing.commands[SERVO_FRONT]"/>
			<set servo="BACK" value="motor_mixing.commands[SERVO_BACK]"/>
			<set servo="RIGHT" value="motor_mixing.commands[SERVO_RIGHT]"/>
			<set servo="LEFT" value="motor_mixing.commands[SERVO_LEFT]"/>
			</command_laws>
	</source>		</source>
	}}		}}

	The order of addresses in the list defines the numbering of motors! Warn on this during motor mixing!		The order of addresses in the list defines the numbering of motors! Warn on this during motor mixing!

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	* ''MAX_MOTOR'' : 200		* ''MAX_MOTOR'' : 200
	This does not apply to version 5.0 and above.		This does not apply to version 5.0 and above.

			== MKK v2 ==

			Similar to the above, this is version 2 of the MKK ESCs. The configuration is the same as above, just change mkk to mkk_v2 and MKK to MKK_V2.

			This also works with ESCs that have the SimonK firmware and that have I2C support. Very limited documentation is available at [https://github.com/sim-/tgy/ the github page]. It should be noted that you will need to compile and load the firmware for each motor as you will need to change the I2C address for each one to match the ADDR define. If you have success with this please post some more info here.

	== Asctec v1 ==		== Asctec v1 ==

Alonsoac: /* XML configuration */

2014-06-28T02:36:29Z

XML configuration

← Older revision		Revision as of 20:36, 27 June 2014
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	You also need the matching [[Rotorcraft_Configuration#Motor_Mixing\|Motor Mixing section]].		You also need the matching [[Rotorcraft_Configuration#Motor_Mixing\|Motor Mixing section]].
	MKK specific values for SUPERVISION defines:		For Paparazzi versions older than 5.0 MKK specific values for SUPERVISION defines:
	* ''STOP_MOTOR'' : 0, optional, as the default is already 0		* ''STOP_MOTOR'' : 0, optional, as the default is already 0
	* ''MIN_MOTOR'' : 3		* ''MIN_MOTOR'' : 3
	* ''MAX_MOTOR'' : 200		* ''MAX_MOTOR'' : 200
			This does not apply to version 5.0 and above.

	== Asctec v1 ==		== Asctec v1 ==

Karlito139: /* Dual PWM */

2014-06-26T12:40:53Z

Dual PWM

← Older revision		Revision as of 06:40, 26 June 2014
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	...		...

	<subsystem name="actuators" type="~~dualPwm~~">		<subsystem name="actuators" type="dualpwm">
	<define name="DUAL_PWM_ON"/>		<define name="DUAL_PWM_ON"/>
	</subsystem>		</subsystem>

Flixr at 11:49, 13 May 2014

2014-05-13T11:49:07Z

← Older revision		Revision as of 05:49, 13 May 2014
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	You need the matching [[Rotorcraft_Configuration#Motor_Mixing\|Motor Mixing section]].		You need the matching [[Rotorcraft_Configuration#Motor_Mixing\|Motor Mixing section]].

	== PWM ~~Supervision~~ ==		== PWM ==
	Only for stm32 based autopilot boards (eg. Lisa/M, Lisa/L)		Only for stm32 based autopilot boards (eg. Lisa/M, Lisa/L)
	{{Box Code\|conf/airframes/myplane.xml\|		{{Box Code\|conf/airframes/myplane.xml\|

Alonsoac: /* XML configuration */ remove example of pre-5.0 "supervision" stabilization

2014-05-09T23:13:24Z

XML configuration: remove example of pre-5.0 "supervision" stabilization

@@ Line 97: / Line 97: @@
 }}
 You also need the matching [[Rotorcraft_Configuration#Motor_Mixing|Motor Mixing section]].
 == Dual PWM ==

Alonsoac: fix pwm_supervision is not the correct name of the type pwm

2014-05-08T21:07:31Z

fix pwm_supervision is not the correct name of the type pwm

← Older revision		Revision as of 15:07, 8 May 2014
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	* ''asctec''		* ''asctec''
	* ''asctec_v2''		* ''asctec_v2''
	* ''~~pwm_supervision~~''		* ''pwm''
	* ''skiron''		* ''skiron''
	* ''heli''		* ''heli''
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	<firmware name="rotorcraft">		<firmware name="rotorcraft">
	...		...
	<subsystem name="actuators" type="~~pwm_supervison~~">		<subsystem name="actuators" type="pwm">
	<define name="SERVO_HZ" value="400"/>		<define name="SERVO_HZ" value="400"/>
	</subsystem>		</subsystem>
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	}}		}}

	The define ''SERVO_HZ'' sets a higher update frequency for the pwm controllers which is needed for good response times.		The define ''SERVO_HZ'' sets a higher update frequency for the pwm controllers which is needed for good response times on some ESCs. Some newer ESCs are said to work better with lower frequencies. More information should be added here.
	=== XML configuration ===		=== XML configuration ===
	{{Box Code\|conf/airframes/myplane.xml\|		{{Box Code\|conf/airframes/myplane.xml\|

Flixr at 17:54, 3 April 2014

2014-04-03T17:54:43Z

← Older revision		Revision as of 11:54, 3 April 2014
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	== Dual PWM ~~Supervision~~ ==		== Dual PWM ==
	This driver allows you to generate dual pulses to control for example double servos like those :		This driver allows you to generate dual pulses to control for example double servos like those :

Flixr at 17:54, 3 April 2014

2014-04-03T17:54:04Z

← Older revision		Revision as of 11:54, 3 April 2014
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	== Dual PWM Supervision ==		== Dual PWM Supervision ==
	This ~~module allow~~ you to generate dual pulses to control for example double servos like those :		This driver allows you to generate dual pulses to control for example double servos like those :

	[[File:Dual linear servos.jpg]]		[[File:Dual linear servos.jpg]]
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	* the first 2 with a total period of 16ms. During that part we generate the second pulse that is going to control for exemple the second servo.		* the first 2 with a total period of 16ms. During that part we generate the second pulse that is going to control for exemple the second servo.

	=== How to use the ~~module~~ ===		=== How to use the driver ===

	<span style="color:#FF0000">'''CAUTION!'''</span> <b>This module is only implemented on the lisa M and lisa S boards at the time of writing this documentation (28 mars 2014)</b>		<span style="color:#FF0000">'''CAUTION!'''</span> <b>This module is only implemented on the lisa M and lisa S boards at the time of writing this documentation (28 mars 2014)</b>