Difference between revisions of "Subsystem/actuators"

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(updated supervision to motor mixing link)
(XML configuration)
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=== XML configuration ===
 
=== XML configuration ===
You need the matching [[Rotorcraft_Configuration#Supervision|Supervision section]].
+
You need the matching [[Rotorcraft_Configuration#Motor_Mixing|Motor Mixing section]].
  
 
== PWM Supervision ==
 
== PWM Supervision ==

Revision as of 14:09, 8 October 2013

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"/> <!-- only LPC21xx, 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>
  • MKK_I2C_SCL_TIME is specific to LPC21x based boards (e.g. booz) and has no effect for STM32 based boards (e.g. Lisa/M/L)

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. MKK specific values for SUPERVISION defines:

  • STOP_MOTOR : 0, optional, as the default is already 0
  • MIN_MOTOR : 3
  • MAX_MOTOR : 200

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 Motor Mixing section.

PWM Supervision

Only for stm32 based autopilot boards (eg. Lisa/M, Lisa/L)

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

File: conf/airframes/myplane.xml
  <servos min="0" neutral="0" max="0xff">
    <servo name="FRONT" no="0" min="1000" neutral="1000" max="2000"/>
    <servo name="BACK" no="1" min="1000" neutral="1000" max="2000"/>
    <servo name="LEFT" no="2" min="1000" neutral="1000" max="2000"/>
    <servo name="RIGHT" no="3" min="1000" neutral="1000" max="2000"/>
  </servos>

You also need the matching Motor Mixing section. Example PWM specific values for SUPERVISION defines:

  • STOP_MOTOR : 800
  • MIN_MOTOR : 1000
  • MAX_MOTOR : 2000