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790
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791
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806
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811
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</head>
817

    
818
<body lang=3DEN-US link=3Dblue vlink=3Dpurple style=3D'tab-interval:.5in'>
819

    
820
<div class=3DWordSection1>
821

    
822
<h1><span style=3D'mso-fareast-font-family:"Times New Roman"'>AeroQuad Flig=
823
ht
824
Software Source Code 2.0.1<o:p></o:p></span></h1>
825

    
826
<p class=3Dp1><a href=3D"http://www.aeroquad.com">http://www.aeroquad.com</=
827
a> </p>
828

    
829
<h2><span style=3D'mso-fareast-font-family:"Times New Roman"'>Version 2.0.1
830
Release Notes (9/19/2010)<o:p></o:p></span></h2>
831

    
832
<p class=3DMsoNormal>This is a bug fix release which resolves reported issu=
833
es:</p>
834

    
835
<p class=3DMsoListParagraphCxSpFirst style=3D'text-indent:-.25in;mso-list:l=
836
0 level1 lfo6'><![if !supportLists]><span
837
style=3D'font-family:Symbol;mso-fareast-font-family:Symbol;mso-bidi-font-fa=
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mily:
839
Symbol'><span style=3D'mso-list:Ignore'>&middot;<span style=3D'font:7.0pt "=
840
Times New Roman"'>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
841
</span></span></span><![endif]><a
842
href=3D"http://code.google.com/p/aeroquad/issues/detail?id=3D30&amp;can=3D1=
843
">#30</a> &#8211;
844
added serial com commands to report hardware platform and motor configurati=
845
on
846
to adjust scales</p>
847

    
848
<p class=3DMsoListParagraphCxSpMiddle style=3D'text-indent:-.25in;mso-list:=
849
l0 level1 lfo6'><![if !supportLists]><span
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style=3D'font-family:Symbol;mso-fareast-font-family:Symbol;mso-bidi-font-fa=
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mily:
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Symbol'><span style=3D'mso-list:Ignore'>&middot;<span style=3D'font:7.0pt "=
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854
</span></span></span><![endif]><a
855
href=3D"http://code.google.com/p/aeroquad/issues/detail?id=3D31&amp;can=3D1=
856
">#31</a> &#8211;
857
by adding serial command to report motor <span class=3DSpellE>config</span>=
858
, can
859
now label Configurator correctly</p>
860

    
861
<p class=3DMsoListParagraphCxSpLast style=3D'text-indent:-.25in;mso-list:l0=
862
 level1 lfo6'><![if !supportLists]><span
863
style=3D'font-family:Symbol;mso-fareast-font-family:Symbol;mso-bidi-font-fa=
864
mily:
865
Symbol'><span style=3D'mso-list:Ignore'>&middot;<span style=3D'font:7.0pt "=
866
Times New Roman"'>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
867
</span></span></span><![endif]><a
868
href=3D"http://code.google.com/p/aeroquad/issues/detail?id=3D32&amp;can=3D1=
869
">#32</a> &#8211;
870
fixed wrong referenced array element</p>
871

    
872
<p class=3DMsoNormal><span class=3DGramE>Additionally fixed incorrect sensor
873
orientation for v1.7 Shield with <span class=3DSpellE>Duemilanove</span>, a=
874
nd <span
875
class=3DSpellE>Wii</span> for <span class=3DSpellE>Duemilanove</span> and M=
876
ega, and
877
APM with APM sensor shield.</span><span style=3D'mso-spacerun:yes'>&nbsp; <=
878
/span>Added
879
#defines for <span class=3DSpellE>Wii</span> for Mega.<span
880
style=3D'mso-spacerun:yes'>&nbsp; </span>Solved DCM overflow issues for APM=
881
 when
882
performing calibration or writing to EEPROM. <span
883
style=3D'mso-spacerun:yes'>&nbsp;</span>Flight tested ArduCopter hardware, =
884
v2.0
885
Shield with Mega, v1.8 Shield with <span class=3DSpellE>Duemilanove</span>,=
886
 v1.7
887
Shield with <span class=3DSpellE>Duemilanove</span>, v1.8 Shield using <span
888
class=3DSpellE>Wii</span> sensors with <span class=3DSpellE>Duemilanove</sp=
889
an>.<span
890
style=3D'mso-spacerun:yes'>&nbsp; </span>Updated default PID values for v2.0
891
shield using 30.5cm motor to motor configuration at 1.2kg. </p>
892

    
893
<p class=3DMsoNormal><o:p>&nbsp;</o:p></p>
894

    
895
<h2><span style=3D'mso-fareast-font-family:"Times New Roman"'>Version 2.0 R=
896
elease
897
Notes (9/6/2010)<o:p></o:p></span></h2>
898

    
899
<p class=3DMsoNormal>This is a major architecture change from the v1.x flig=
900
ht
901
software release.<span style=3D'mso-spacerun:yes'>&nbsp; </span>Major hardw=
902
are
903
and algorithm components are now implemented as C++ classes to allow common
904
flight software support.<span style=3D'mso-spacerun:yes'>&nbsp; </span>Impr=
905
oved
906
Stable Mode implemented.<span style=3D'mso-spacerun:yes'>&nbsp; </span><span
907
class=3DGramE>Hardware support for new v1.8 and v2.0 AeroQuad Shields using
908
ITG-3200 gyros and BMA-180 accelerometers.</span><span
909
style=3D'mso-spacerun:yes'>&nbsp; </span>Hardware support for <span class=
910
=3DSpellE>Wii</span>
911
sensors, ArduCopter (APM and <span class=3DSpellE>Oilpan</span>) and <span
912
class=3DSpellE>Multipilot</span> (all new platforms still need flight testi=
913
ng).</p>
914

    
915
<p class=3DMsoNormal><o:p>&nbsp;</o:p></p>
916

    
917
<p class=3DMsoNormal>Flight software configuration support <span class=3DGr=
918
amE>for
919
multiple hardware</span> has changed.<span style=3D'mso-spacerun:yes'>&nbsp;
920
</span>Look for the lines listed below at the start of AeroQuad.pde and
921
uncomment the appropriate selection:</p>
922

    
923
<p class=3DMsoNormal><o:p>&nbsp;</o:p></p>
924

    
925
<p class=3DMsoNormal>/*****************************************************=
926
***********************</p>
927

    
928
<p class=3DMsoNormal><span
929
style=3D'mso-spacerun:yes'>&nbsp;</span>************************* Hardware
930
Configuration ***************************</p>
931

    
932
<p class=3DMsoNormal><span
933
style=3D'mso-spacerun:yes'>&nbsp;</span>***********************************=
934
*****************************************/</p>
935

    
936
<p class=3DMsoNormal>// Select which hardware you wish to use with the Aero=
937
Quad
938
Flight Software</p>
939

    
940
<p class=3DMsoNormal><o:p>&nbsp;</o:p></p>
941

    
942
<p class=3DMsoNormal>//#define AeroQuad_v1<span
943
style=3D'mso-spacerun:yes'>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
944
</span>// Arduino 2009 with AeroQuad Shield v1.7 and below</p>
945

    
946
<p class=3DMsoNormal>#define AeroQuad_v18<span
947
style=3D'mso-spacerun:yes'>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; </spa=
948
n>//
949
Arduino 2009 with AeroQuad Shield v1.8</p>
950

    
951
<p class=3DMsoNormal>//#define <span class=3DSpellE>AeroQuad_Wii</span><span
952
style=3D'mso-spacerun:yes'>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; </spa=
953
n>//
954
Arduino 2009 with <span class=3DSpellE>Wii</span> Sensors</p>
955

    
956
<p class=3DMsoNormal>//#define AeroQuadMega_v1<span
957
style=3D'mso-spacerun:yes'>&nbsp;&nbsp;&nbsp;&nbsp; </span>// Arduino Mega =
958
with
959
AeroQuad Shield v1.7 and below</p>
960

    
961
<p class=3DMsoNormal>//#define AeroQuadMega_v2<span
962
style=3D'mso-spacerun:yes'>&nbsp;&nbsp;&nbsp;&nbsp; </span>// Arduino Mega =
963
with
964
AeroQuad Shield v2.x</p>
965

    
966
<p class=3DMsoNormal>//#define <span class=3DSpellE>AeroQuadMega_Wii</span>=
967
<span
968
style=3D'mso-spacerun:yes'>&nbsp;&nbsp;&nbsp; </span>// Arduino Mega with <=
969
span
970
class=3DSpellE>Wii</span> Sensors (needs debug)</p>
971

    
972
<p class=3DMsoNormal>//#define ArduCopter<span
973
style=3D'mso-spacerun:yes'>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;=
974
&nbsp;
975
</span>// <span class=3DSpellE>ArduPilot</span> Mega (APM) with APM Sensor =
976
Board</p>
977

    
978
<p class=3DMsoNormal>//#define <span class=3DSpellE>Multipilot</span><span
979
style=3D'mso-spacerun:yes'>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;=
980
&nbsp;
981
</span>// <span class=3DSpellE>Multipilot</span> board with Lys344 and ADXL=
982
 610
983
Gyro</p>
984

    
985
<p class=3DMsoNormal>//#define MultipilotI2C<span
986
style=3D'mso-spacerun:yes'>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; </span>// A=
987
ctive <span
988
class=3DSpellE>Multipilot</span> I2C and <span class=3DSpellE>Mixertable</s=
989
pan></p>
990

    
991
<p class=3DMsoNormal><o:p>&nbsp;</o:p></p>
992

    
993
<p class=3DMsoNormal>Review the rest of the #defines also to match the uniq=
994
ue
995
setup of you multicopter.</p>
996

    
997
<h2><span style=3D'mso-fareast-font-family:"Times New Roman"'>Version 1.7.1
998
Release Notes (3/24/2010)<o:p></o:p></span></h2>
999

    
1000
<p class=3DMsoNormal>Fixed bug for Arduino Mega users.<span
1001
style=3D'mso-spacerun:yes'>&nbsp; </span>#define Mega_AQ1x was not defined =
1002
before
1003
#include &quot;<span class=3DSpellE>Receiver.h</span>&quot;.<span
1004
style=3D'mso-spacerun:yes'>&nbsp; </span>It accidentally caused the receive=
1005
r pin
1006
assignments to use the <span class=3DSpellE>Duemilanove</span> assignments
1007
instead of the Mega.</p>
1008

    
1009
<h2><span style=3D'mso-fareast-font-family:"Times New Roman"'>Version 1.7 R=
1010
elease
1011
Notes (3/21/2010)<o:p></o:p></span></h2>
1012

    
1013
<p class=3DMsoNormal>This release allows users to specific which voltage is=
1014
 used
1015
for <span class=3DSpellE>aref</span>, specifically for compatibility with
1016
AeroQuad v1.7 shields.<span style=3D'mso-spacerun:yes'>&nbsp; </span><span
1017
class=3DGramE>Updated accelerometer calibration <a
1018
href=3D"http://carancho.com/AeroQuad/forum/index.php?topic=3D290.msg2735#ms=
1019
g2735">here</a>
1020
to accommodate user definable <span class=3DSpellE>aref</span> and to best
1021
estimate Z axis zero position.</span><span style=3D'mso-spacerun:yes'>&nbsp;
1022
</span>Fixed heading hold reference to <span class=3DSpellE>aref</span> and
1023
optimized motor to gyro rate conversion for motor control PID.<span
1024
style=3D'mso-spacerun:yes'>&nbsp; </span>The new <span class=3DSpellE>aref<=
1025
/span>
1026
update is configured through the AeroQuad Configurator v2.3.<span
1027
style=3D'mso-spacerun:yes'>&nbsp; </span><span class=3DGramE>Tested this ve=
1028
rsion
1029
against Arduino 0018.</span><span style=3D'mso-spacerun:yes'>&nbsp; </span>=
1030
Be
1031
sure to update your HardwareSerial.cpp found <a
1032
href=3D"http://carancho.com/AeroQuad/forum/index.php?topic=3D85.0">here</a>=
1033
 if you
1034
are using <span class=3DSpellE>XBee</span> for wireless communication.</p>
1035

    
1036
<h2><span style=3D'mso-fareast-font-family:"Times New Roman"'>Version 1.6 R=
1037
elease
1038
Notes (3/5/2010)<o:p></o:p></span></h2>
1039

    
1040
<p class=3DMsoNormal>This release fixes a yaw bug that exhibits <span
1041
class=3DGramE>itself</span> with the new capacitors installed which allows =
1042
the
1043
user to use higher PID values.<span style=3D'mso-spacerun:yes'>&nbsp; </spa=
1044
n>Also
1045
the comments were fixed to reflect usage of IDG500 or IXZ500 gyros.<span
1046
style=3D'mso-spacerun:yes'>&nbsp; </span>If the user does not select the co=
1047
rrect
1048
gyro, the yaw axis may become inverted.<span style=3D'mso-spacerun:yes'>&nb=
1049
sp;
1050
</span><span class=3DGramE>Started implementing certain functions using cla=
1051
sses
1052
(C++).</span><span style=3D'mso-spacerun:yes'>&nbsp; </span>The <span
1053
class=3DSpellE>FlightAngle</span> class defines the algorithm to use for an=
1054
gle
1055
estimation, the Motors class defines how PWM works and the Filter class all=
1056
ows
1057
multiple filter objects to be called to reduce the number of global variabl=
1058
es
1059
needed and to encapsulate and retain the data needed for those filters to w=
1060
ork.</p>
1061

    
1062
<h2><span style=3D'mso-fareast-font-family:"Times New Roman"'>Version 1.5 R=
1063
elease
1064
Notes<o:p></o:p></span></h2>
1065

    
1066
<p class=3DMsoNormal>This is a maintenance release for users of an Arduino =
1067
Mega
1068
with an AeroQuad Shield v1.5 which provides receiver support.<span
1069
style=3D'mso-spacerun:yes'>&nbsp; </span>There is a bug in the Arduino core=
1070
 code
1071
which doesn&#8217;t allow the proper PCINT assignments to PCINT 8-23.<span
1072
style=3D'mso-spacerun:yes'>&nbsp; </span>This release will hardcode AI pins=
1073
 8-13
1074
(PCINT 16-21) for use as receiver pins.<span style=3D'mso-spacerun:yes'>&nb=
1075
sp;
1076
</span>To enable this capability, please uncomment #define Mega_AQ1x locate=
1077
d in
1078
AeroQuad.pde.</p>
1079

    
1080
<p class=3DMsoNormal><o:p>&nbsp;</o:p></p>
1081

    
1082
<p class=3DMsoNormal>Place jumper wires as indicated below to make your Aer=
1083
oQuad
1084
Shield v1.5 receiver pins work with an Arduino Mega:</p>
1085

    
1086
<p class=3DMsoListParagraphCxSpFirst style=3D'text-indent:-.25in;mso-list:l=
1087
2 level1 lfo1'><![if !supportLists]><span
1088
style=3D'font-family:Symbol;mso-fareast-font-family:Symbol;mso-bidi-font-fa=
1089
mily:
1090
Symbol'><span style=3D'mso-list:Ignore'>&middot;<span style=3D'font:7.0pt "=
1091
Times New Roman"'>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
1092
</span></span></span><![endif]>Roll (Aileron) Channel, place jumper between=
1093
 AQ
1094
Shield pin 2 and Mega AI13</p>
1095

    
1096
<p class=3DMsoListParagraphCxSpMiddle style=3D'text-indent:-.25in;mso-list:=
1097
l2 level1 lfo1'><![if !supportLists]><span
1098
style=3D'font-family:Symbol;mso-fareast-font-family:Symbol;mso-bidi-font-fa=
1099
mily:
1100
Symbol'><span style=3D'mso-list:Ignore'>&middot;<span style=3D'font:7.0pt "=
1101
Times New Roman"'>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
1102
</span></span></span><![endif]>Pitch (Elevator) Channel, place jumper betwe=
1103
en
1104
AQ Shield pin 5 and Mega AI11</p>
1105

    
1106
<p class=3DMsoListParagraphCxSpMiddle style=3D'text-indent:-.25in;mso-list:=
1107
l2 level1 lfo1'><![if !supportLists]><span
1108
style=3D'font-family:Symbol;mso-fareast-font-family:Symbol;mso-bidi-font-fa=
1109
mily:
1110
Symbol'><span style=3D'mso-list:Ignore'>&middot;<span style=3D'font:7.0pt "=
1111
Times New Roman"'>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
1112
</span></span></span><![endif]>Yaw (Rudder) Channel, place jumper between AQ
1113
Shield pin 6 and Mega AI10</p>
1114

    
1115
<p class=3DMsoListParagraphCxSpMiddle style=3D'text-indent:-.25in;mso-list:=
1116
l2 level1 lfo1'><![if !supportLists]><span
1117
style=3D'font-family:Symbol;mso-fareast-font-family:Symbol;mso-bidi-font-fa=
1118
mily:
1119
Symbol'><span style=3D'mso-list:Ignore'>&middot;<span style=3D'font:7.0pt "=
1120
Times New Roman"'>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
1121
</span></span></span><![endif]>Throttle Channel, place jumper between AQ Sh=
1122
ield
1123
pin 4 and Mega AI12</p>
1124

    
1125
<p class=3DMsoListParagraphCxSpMiddle style=3D'text-indent:-.25in;mso-list:=
1126
l2 level1 lfo1'><![if !supportLists]><span
1127
style=3D'font-family:Symbol;mso-fareast-font-family:Symbol;mso-bidi-font-fa=
1128
mily:
1129
Symbol'><span style=3D'mso-list:Ignore'>&middot;<span style=3D'font:7.0pt "=
1130
Times New Roman"'>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
1131
</span></span></span><![endif]>Mode (Gear) Channel, place jumper between AQ
1132
Shield pin 7 and Mega AI9</p>
1133

    
1134
<p class=3DMsoListParagraphCxSpLast style=3D'text-indent:-.25in;mso-list:l2=
1135
 level1 lfo1'><![if !supportLists]><span
1136
style=3D'font-family:Symbol;mso-fareast-font-family:Symbol;mso-bidi-font-fa=
1137
mily:
1138
Symbol'><span style=3D'mso-list:Ignore'>&middot;<span style=3D'font:7.0pt "=
1139
Times New Roman"'>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
1140
</span></span></span><![endif]>Aux Channel, place jumper between AQ Shield 8
1141
and Mega AI8</p>
1142

    
1143
<p class=3DMsoNormal><o:p>&nbsp;</o:p></p>
1144

    
1145
<h2><span style=3D'mso-fareast-font-family:"Times New Roman"'>Version 1.4 R=
1146
elease
1147
Notes<o:p></o:p></span></h2>
1148

    
1149
<p class=3DMsoNormal><b style=3D'mso-bidi-font-weight:normal'>Warning!</b><=
1150
span
1151
style=3D'mso-spacerun:yes'>&nbsp; </span>If you are a previous AeroQuad use=
1152
r and
1153
are using the <span class=3DSpellE>Sparkfun</span> 5DOF with the original I=
1154
DG300
1155
gyros, please review AeroQuad.pde and uncomment the line: #define <span
1156
class=3DSpellE>OriginalIMU</span>.<span style=3D'mso-spacerun:yes'>&nbsp;
1157
</span>Failure to do so will result in unstable flight.<span
1158
style=3D'mso-spacerun:yes'>&nbsp; </span>When <span class=3DSpellE>Sparkfun=
1159
</span>
1160
updated the 5DOF IMU to use the IDG500, the roll/pitch gyro axes were
1161
inverted.<span style=3D'mso-spacerun:yes'>&nbsp; </span>The default AeroQuad
1162
Flight Software behavior is to assume the user is using the latest <span
1163
class=3DSpellE>Sparkfun</span> 5DOF IMU to make it easier for new users.</p>
1164

    
1165
<p class=3DMsoNormal><o:p>&nbsp;</o:p></p>
1166

    
1167
<p class=3DMsoNormal>Many of the improvements in v1.4 are geared towards th=
1168
e new
1169
features of the AeroQuad Configurator v2.0 and include the Spectrum Analyze=
1170
r,
1171
Serial Monitor, manual input motor commands for initial checkout.<span
1172
style=3D'mso-spacerun:yes'>&nbsp; </span>A basic heading hold has also been
1173
implemented (turned off by default) using the yaw gyro.</p>
1174

    
1175
<p class=3DMsoNormal><o:p>&nbsp;</o:p></p>
1176

    
1177
<p class=3DMsoNormal>The camera stabilization feature is operational but st=
1178
ill
1179
not optimal.<span style=3D'mso-spacerun:yes'>&nbsp; </span>There is an
1180
incompatibility with PCINT for reading receiver output and the Arduino 0017
1181
Servo library.<span style=3D'mso-spacerun:yes'>&nbsp; </span>There is an
1182
intermittent jitter that occurs during reading of receiver output.<span
1183
style=3D'mso-spacerun:yes'>&nbsp; </span>Using <span class=3DSpellE><span
1184
class=3DGramE>analogWrite</span></span><span class=3DGramE>(</span>) works =
1185
well,
1186
but there are not enough compatible pins on the Arduino <span class=3DSpell=
1187
E>Duemilanove</span>
1188
to support this.<span style=3D'mso-spacerun:yes'>&nbsp; </span>Therefore fu=
1189
rther
1190
development will be pushed to the Arduino Mega.</p>
1191

    
1192
<p class=3DMsoNormal><o:p>&nbsp;</o:p></p>
1193

    
1194
<p class=3DMsoNormal>The heading hold feature is also operational but not
1195
optimal.<span style=3D'mso-spacerun:yes'>&nbsp; </span>The IDG gyros exhibi=
1196
t some
1197
drift during flight, which will cause the heading hold to eventually also
1198
drift.<span style=3D'mso-spacerun:yes'>&nbsp; </span>This can be alleviated=
1199
 by
1200
landing the AeroQuad, disarm motor output, and then perform a manual sensor
1201
calibration (TX left stick to the lower left, TX right stick to the lower
1202
right).<span style=3D'mso-spacerun:yes'>&nbsp; </span>The user will then be=
1203
 able
1204
to return to flight.<span style=3D'mso-spacerun:yes'>&nbsp; </span>This fea=
1205
ture
1206
will be optimized during Arduino Mega development since it is planned to
1207
implement heading hold with a magnetometer for that platform.</p>
1208

    
1209
<p class=3DMsoNormal><o:p>&nbsp;</o:p></p>
1210

    
1211
<p class=3DMsoNormal>With the updated Servo library of Arduino 0017, the ol=
1212
der
1213
ServoTimer2 library will not be used for future versions of the AeroQuad Fl=
1214
ight
1215
Software.</p>
1216

    
1217
<h2><span style=3D'mso-fareast-font-family:"Times New Roman"'>Version 1.3.2
1218
Release Notes<o:p></o:p></span></h2>
1219

    
1220
<p class=3DMsoNormal>This version provides additional communication message=
1221
s for
1222
the Configurator to make the new calibration procedures more robust.<span
1223
style=3D'mso-spacerun:yes'>&nbsp; </span>New support added to allow Configu=
1224
rator
1225
to auto-reconnect to the AeroQuad (via USB or Wireless) for more convenienc=
1226
e to
1227
the user. The Pin Change Interrupt (PCINT) code has been improved to work
1228
better for Futaba transmitters.<span style=3D'mso-spacerun:yes'>&nbsp; </sp=
1229
an>The
1230
variable declaration section in the main AeroQuad.pde sketch has been organ=
1231
ized
1232
into separate header files for easier maintainability into the future.<span
1233
style=3D'mso-spacerun:yes'>&nbsp; </span>The new default EEPROM values now
1234
include a suggested setting for yaw to allow a smoother yaw transition (in =
1235
the
1236
past it would cause the quad to pop up and down a bit).<span
1237
style=3D'mso-spacerun:yes'>&nbsp; </span>The main loop is now organized into
1238
different timed loops, to make sure the sampling of the sensors and control
1239
algorithm execution are now performed at regular timed intervals (500Hz). <=
1240
/p>
1241

    
1242
<p class=3DMsoNormal><span style=3D'mso-spacerun:yes'>&nbsp;</span></p>
1243

    
1244
<p class=3DMsoNormal>If you&#8217;d like to maintain as much PWM resolution=
1245
 as
1246
possible for PWM Motor Control, please install the ServoTimer2 library found
1247
at:<span class=3Dapple-converted-space>&nbsp;</span></p>
1248

    
1249
<p class=3DMsoNormal><a
1250
href=3D"http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=3D1204020386/75">ht=
1251
tp://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=3D1204020386/75</a>.<span
1252
style=3D'mso-spacerun:yes'>&nbsp; </span>To compile the AeroQuad sketch to =
1253
use
1254
the ServoTimer2 library, the ServoTimer2 folder found in this distribution =
1255
must
1256
be copied <span class=3DGramE>to ..</span>\Arduino-00xx\hardware\libraries.=
1257
<span
1258
style=3D'mso-spacerun:yes'>&nbsp; </span>To verify the library has been
1259
successfully installed, open the Arduino IDE and go to Sketch-&gt;Import
1260
Library.<span class=3Dapple-converted-space>&nbsp; </span>You should see
1261
ServoTimer2 as one of the items to select (you don't need to select it at t=
1262
his
1263
time).<span style=3D'mso-spacerun:yes'>&nbsp; </span>The last step is to
1264
configure the #define statements for ServoTimer2 in the AeroQuad.pde sketch=
1265
.</p>
1266

    
1267
<p class=3DMsoNormal><o:p>&nbsp;</o:p></p>
1268

    
1269
<p class=3DMsoNormal>The default #<span class=3DGramE>define</span> stateme=
1270
nt for
1271
PWM Motor Control is <span class=3DSpellE>AnalogWrite</span>.<span
1272
style=3D'mso-spacerun:yes'>&nbsp; </span>This will provide an update rate t=
1273
o the
1274
motors at 490Hz.<span style=3D'mso-spacerun:yes'>&nbsp; </span>No modificat=
1275
ion to
1276
the <span class=3DGramE>code,</span> or installation of the ServoTimer2 lib=
1277
rary
1278
is necessary for this default.</p>
1279

    
1280
<h2><span style=3D'mso-fareast-font-family:"Times New Roman"'>Version 1.3.1
1281
Release Notes<o:p></o:p></span></h2>
1282

    
1283
<p class=3DMsoNormal>This version allows the user to calibrate a transmitte=
1284
r in
1285
either Airplane or Helicopter Mode.<span style=3D'mso-spacerun:yes'>&nbsp;
1286
</span>There is also a calibration for ESC&#8217;s and the ability for the =
1287
user
1288
to return EEPROM values to a default value (which is also useful for first =
1289
time
1290
setup).<span style=3D'mso-spacerun:yes'>&nbsp; </span>To use these features=
1291
, you
1292
must download the AeroQuad Configurator v1.3.1 or greater.<span
1293
style=3D'mso-spacerun:yes'>&nbsp; </span>The transmitter calibration is mea=
1294
nt to
1295
fix the situation where the trims could potentially move the transmitter be=
1296
yond
1297
the 1000-2000 ms PWM pulse width range the AeroQuad is expecting.<span
1298
style=3D'mso-spacerun:yes'>&nbsp; </span>This had resulted in a non-respons=
1299
e from
1300
the AeroQuad when moving the transmitter stick to an extreme position.</p>
1301

    
1302
<h2><span style=3D'mso-fareast-font-family:"Times New Roman"'>Version 1.2 R=
1303
elease
1304
Notes<o:p></o:p></span></h2>
1305

    
1306
<p class=3DMsoNormal>This version incorporates the use of the Pin Change
1307
Interrupts (PCINT) to read output from an R/C receiver.<span
1308
style=3D'mso-spacerun:yes'>&nbsp; </span>This removes the need to know the
1309
channel order of the receiver used.<span style=3D'mso-spacerun:yes'>&nbsp;
1310
</span>This PCINT method has been tested with:</p>
1311

    
1312
<ul style=3D'margin-top:0in' type=3Ddisc>
1313
 <li class=3DMsoNormal style=3D'mso-list:l3 level1 lfo2;tab-stops:list .5in=
1314
'><span
1315
     class=3DSpellE>Spektrum</span> DX7 w/ AR6100, 6200 and AR7000</li>
1316
 <li class=3DMsoNormal style=3D'mso-list:l3 level1 lfo2;tab-stops:list .5in=
1317
'>Futaba
1318
     T6EXHP w/ R146iP</li>
1319
 <li class=3DMsoNormal style=3D'mso-list:l3 level1 lfo2;tab-stops:list .5in=
1320
'><span
1321
     class=3DSpellE>Airtronics</span> RD8000 w/ 92778</li>
1322
</ul>
1323

    
1324
<p class=3DMsoNormal><o:p>&nbsp;</o:p></p>
1325

    
1326
<p class=3DMsoNormal>The PCINT pins are unfortunately different between the
1327
Arduino <span class=3DSpellE>Duemilanove</span> and Arduino Mega.<span
1328
style=3D'mso-spacerun:yes'>&nbsp; </span>Therefore Version 1.2 is not direc=
1329
tly
1330
compatible with the Mega.<span style=3D'mso-spacerun:yes'>&nbsp; </span>The=
1331
re are
1332
plans for compatibility with future releases, but for now the Mega is only
1333
compatible with Version 1.0 of the AeroQuad flight software.</p>
1334

    
1335
<h3><span style=3D'mso-fareast-font-family:"Times New Roman"'>New v1.2 feat=
1336
ures:<o:p></o:p></span></h3>
1337

    
1338
<ul style=3D'margin-top:0in' type=3Ddisc>
1339
 <li class=3DMsoNormal style=3D'mso-list:l1 level1 lfo3;tab-stops:list .5in=
1340
'>Stable
1341
     Mode (auto level) is disabled by default.<span
1342
     style=3D'mso-spacerun:yes'>&nbsp; </span>To enable remove the comment =
1343
of the
1344
     appropriate #define statement in AeroQuad.pde.<span
1345
     style=3D'mso-spacerun:yes'>&nbsp; </span>This was done to remove preve=
1346
nt confusion
1347
     by new users.</li>
1348
 <li class=3DMsoNormal style=3D'mso-list:l1 level1 lfo3;tab-stops:list .5in=
1349
'>If any
1350
     critical flight parameters are zero, it is automatically filled in wit=
1351
h a
1352
     typical value.</li>
1353
 <li class=3DMsoNormal style=3D'mso-list:l1 level1 lfo3;tab-stops:list .5in=
1354
'>PCINT
1355
     receiver code updated for efficiency</li>
1356
 <li class=3DMsoNormal style=3D'mso-list:l1 level1 lfo3;tab-stops:list .5in=
1357
'>Auto
1358
     calibration of sensors at <span class=3DSpellE>powerup</span> disabled=
1359
 by
1360
     default.<span style=3D'mso-spacerun:yes'>&nbsp; </span>To enable, remo=
1361
ve the
1362
     comment of the appropriate #define statement in AeroQuad.pde.</li>
1363
 <li class=3DMsoNormal style=3D'mso-list:l1 level1 lfo3;tab-stops:list .5in=
1364
'>Manual
1365
     calibration of sensors can be performed by moving left transmitter sti=
1366
ck
1367
     to the lower left, and the right transmitter stick to the lower right
1368
     corners.</li>
1369
</ul>
1370

    
1371
<h2><span style=3D'mso-fareast-font-family:"Times New Roman"'>Version 1.1 R=
1372
elease
1373
Notes<o:p></o:p></span></h2>
1374

    
1375
<p class=3DMsoNormal>This version of the code now uses <span class=3DSpellE=
1376
><span
1377
class=3DGramE>analogWrite</span></span><span class=3DGramE>(</span>) to eff=
1378
iciently
1379
write PWM commands to the ESC&#8217;s.<span style=3D'mso-spacerun:yes'>&nbs=
1380
p;
1381
</span>The tradeoff is that we can only achieve 128 steps of resolution.<sp=
1382
an
1383
style=3D'mso-spacerun:yes'>&nbsp; </span>The <span class=3DSpellE>Turnigy</=
1384
span>
1385
ESC&#8217;s specified in the parts list have been measured to only have 128
1386
steps of resolution, so if you are using this ESC, there shouldn&#8217;t be=
1387
 any
1388
issues.<span style=3D'mso-spacerun:yes'>&nbsp; </span>Also, if you&#8217;ve=
1389
 built
1390
a previous <span class=3DSpellE>MikroQuad</span> or AeroQuad you will be re=
1391
quired
1392
to update wiring in your shield per the AeroQuad website instructions.</p>
1393

    
1394
<h3><span style=3D'mso-fareast-font-family:"Times New Roman"'>New v1.1 feat=
1395
ures:<o:p></o:p></span></h3>
1396

    
1397
<ul style=3D'margin-top:0in' type=3Ddisc>
1398
 <li class=3DMsoNormal style=3D'mso-list:l4 level1 lfo4;tab-stops:list .5in=
1399
'>400Hz
1400
     update rate to ESC's/Motors</li>
1401
 <li class=3DMsoNormal style=3D'mso-list:l4 level1 lfo4;tab-stops:list .5in=
1402
'>Combined
1403
     user configurable values into single tab in Configurator</li>
1404
</ul>
1405

    
1406
<p class=3DMsoNormal><span style=3D'font-size:10.5pt;font-family:"Helvetica=
1407
","sans-serif";
1408
mso-bidi-font-family:"Times New Roman"'><o:p>&nbsp;</o:p></span></p>
1409

    
1410
<p class=3DMsoNormal>Happy flying!</p>
1411

    
1412
<p class=3DMsoNormal><a href=3D"mailto:info@AeroQuad.info">info@AeroQuad.in=
1413
fo</a></p>
1414

    
1415
</div>
1416

    
1417
</body>
1418

    
1419
</html>
1420

    
1421
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