Difference between revisions of "Subsystem/actuators"

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(added some more info about different actuator implementations)
Line 2: Line 2:


Currently possible actuators subsystems are
Currently possible actuators subsystems are
* ''mkk'': Mikrokopter ESCs
* ''mkk''
* ''asctec''
* ''asctec''
* ''asctec_v2''
* ''asctec_v2''
Line 9: Line 9:
* ''heli''
* ''heli''


== MKK ==
Mikrokopter ESCs
{{Box Code|conf/airframes/myplane.xml|
{{Box Code|conf/airframes/myplane.xml|
<pre>
<pre>
   <firmware name="rotorcraft">
   <firmware name="rotorcraft">
     ...
     ...
     <subsystem name="actuators" type="mkk"/>
  <subsystem name="actuators"    type="mkk">
    <configure name="MKK_I2C_SCL_TIME" value="50"/> <!-- this is optional, 150 is default, use 50 for 8 motors-->
  </subsystem>
  <define name="I2C_TRANSACTION_QUEUE_LEN" value="10"/> <!-- default is 8, increase to 10 or more for 8 motors-->
</firmware>
</pre>
}}
 
=== 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|
<pre>
  <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
    <define name="NB" value="4"/>
    <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
  </section>
</pre>
}}
 
You also need the matching [[Rotorcraft_Configuration#Supervision|Supervision section]].
 
== Asctec v1 ==
These controllers already to the mixing themselves, so the [[Rotorcraft_Configuration#Supervision|Supervision]] section is not needed.
{{Box Code|conf/airframes/myplane.xml|
<pre>
  <firmware name="rotorcraft">
    ...
     <subsystem name="actuators" type="asctec"/>
  </firmware>
</pre>
}}
 
== Asctec v2 ==
{{Box Code|conf/airframes/myplane.xml|
<pre>
  <firmware name="rotorcraft">
    ...
    <subsystem name="actuators" type="asctec_v2"/>
  </firmware>
</pre>
}}
=== XML configuration ===
You need the matching [[Rotorcraft_Configuration#Supervision|Supervision section]].
 
== PWM Supervision ==
{{Box Code|conf/airframes/myplane.xml|
<pre>
  <firmware name="rotorcraft">
    ...
    <subsystem name="actuators" type="pwm_supervison">
      <define name="SERVO_HZ" value="400"/>
    </subsystem>
   </firmware>
   </firmware>
</pre>
</pre>
}}
}}


The define ''SERVO_HZ'' sets a higher update frequency for the pwm controllers which is needed for good response times.
=== XML configuration ===
You need the matching [[Rotorcraft_Configuration#Supervision|Supervision section]].




[[Category:Software]] [[Category:User_Documentation]] [[Category:Subsystems]]
[[Category:Software]] [[Category:User_Documentation]] [[Category:Subsystems]]

Revision as of 11:46, 7 December 2011

This subsystem only needs be explicitly specified for rotorcrafts where there are several different actuators implementations and you have to add the correct one depending on the ESCs you use.

Currently possible actuators subsystems are

  • mkk
  • asctec
  • asctec_v2
  • pwm_supervision
  • skiron
  • heli

MKK

Mikrokopter ESCs

File: conf/airframes/myplane.xml 
  <firmware name="rotorcraft">
     ...
   <subsystem name="actuators"     type="mkk">
     <configure name="MKK_I2C_SCL_TIME" value="50"/> <!-- this is optional, 150 is default, use 50 for 8 motors-->
   </subsystem>
   <define name="I2C_TRANSACTION_QUEUE_LEN" value="10"/> <!-- default is 8, increase to 10 or more for 8 motors-->
 </firmware>

XML configuration

required defines in section ACTUATORS_MKK:

  • NB: number of motors
  • ADDR: the I2C addresses of your motors
File: conf/airframes/myplane.xml 
  <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
    <define name="NB" value="4"/>
    <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
  </section>

You also need the matching Supervision section.

Asctec v1

These controllers already to the mixing themselves, so the Supervision section is not needed.

File: conf/airframes/myplane.xml 
  <firmware name="rotorcraft">
     ...
    <subsystem name="actuators" type="asctec"/>
  </firmware>

Asctec v2

File: conf/airframes/myplane.xml 
  <firmware name="rotorcraft">
     ...
    <subsystem name="actuators" type="asctec_v2"/>
  </firmware>

XML configuration

You need the matching Supervision section.

PWM Supervision

File: conf/airframes/myplane.xml 
  <firmware name="rotorcraft">
     ...
    <subsystem name="actuators" type="pwm_supervison">
      <define name="SERVO_HZ" value="400"/>
    </subsystem>
  </firmware>

The define SERVO_HZ sets a higher update frequency for the pwm controllers which is needed for good response times.

XML configuration

You need the matching Supervision section.

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