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mso-level-tab-stop:.5in; |
| 748 |
mso-level-number-position:left; |
| 749 |
text-indent:-.25in; |
| 750 |
font-family:Symbol;} |
| 751 |
@list l4:level2 |
| 752 |
{mso-level-tab-stop:1.0in;
|
| 753 |
mso-level-number-position:left; |
| 754 |
text-indent:-.25in;} |
| 755 |
@list l4:level3 |
| 756 |
{mso-level-tab-stop:1.5in;
|
| 757 |
mso-level-number-position:left; |
| 758 |
text-indent:-.25in;} |
| 759 |
@list l4:level4 |
| 760 |
{mso-level-tab-stop:2.0in;
|
| 761 |
mso-level-number-position:left; |
| 762 |
text-indent:-.25in;} |
| 763 |
@list l4:level5 |
| 764 |
{mso-level-tab-stop:2.5in;
|
| 765 |
mso-level-number-position:left; |
| 766 |
text-indent:-.25in;} |
| 767 |
@list l4:level6 |
| 768 |
{mso-level-tab-stop:3.0in;
|
| 769 |
mso-level-number-position:left; |
| 770 |
text-indent:-.25in;} |
| 771 |
@list l4:level7 |
| 772 |
{mso-level-tab-stop:3.5in;
|
| 773 |
mso-level-number-position:left; |
| 774 |
text-indent:-.25in;} |
| 775 |
@list l4:level8 |
| 776 |
{mso-level-tab-stop:4.0in;
|
| 777 |
mso-level-number-position:left; |
| 778 |
text-indent:-.25in;} |
| 779 |
@list l4:level9 |
| 780 |
{mso-level-tab-stop:4.5in;
|
| 781 |
mso-level-number-position:left; |
| 782 |
text-indent:-.25in;} |
| 783 |
ol |
| 784 |
{margin-bottom:0in;}
|
| 785 |
ul |
| 786 |
{margin-bottom:0in;}
|
| 787 |
--> |
| 788 |
</style> |
| 789 |
<!--[if gte mso 10]> |
| 790 |
<style> |
| 791 |
/* Style Definitions */ |
| 792 |
table.MsoNormalTable |
| 793 |
{mso-style-name:"Table Normal";
|
| 794 |
mso-tstyle-rowband-size:0; |
| 795 |
mso-tstyle-colband-size:0; |
| 796 |
mso-style-noshow:yes; |
| 797 |
mso-style-priority:99; |
| 798 |
mso-style-qformat:yes; |
| 799 |
mso-style-parent:""; |
| 800 |
mso-padding-alt:0in 5.4pt 0in 5.4pt; |
| 801 |
mso-para-margin:0in; |
| 802 |
mso-para-margin-bottom:.0001pt; |
| 803 |
mso-pagination:widow-orphan; |
| 804 |
font-size:10.0pt; |
| 805 |
font-family:"Times New Roman","serif";} |
| 806 |
</style> |
| 807 |
<![endif]--> |
| 808 |
<meta http-equiv=3DContent-Style-Type content=3D"text/css"> |
| 809 |
<meta name=3DCocoaVersion content=3D824.48> |
| 810 |
<!--[if gte mso 9]><xml> |
| 811 |
<o:shapedefaults v:ext=3D"edit" spidmax=3D"13314"/> |
| 812 |
</xml><![endif]--><!--[if gte mso 9]><xml> |
| 813 |
<o:shapelayout v:ext=3D"edit"> |
| 814 |
<o:idmap v:ext=3D"edit" data=3D"1"/> |
| 815 |
</o:shapelayout></xml><![endif]--> |
| 816 |
</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= |
| 838 |
mily: |
| 839 |
Symbol'><span style=3D'mso-list:Ignore'>·<span style=3D'font:7.0pt "= |
| 840 |
Times New Roman"'> |
| 841 |
</span></span></span><![endif]><a |
| 842 |
href=3D"http://code.google.com/p/aeroquad/issues/detail?id=3D30&can=3D1= |
| 843 |
">#30</a> – |
| 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 |
| 850 |
style=3D'font-family:Symbol;mso-fareast-font-family:Symbol;mso-bidi-font-fa= |
| 851 |
mily: |
| 852 |
Symbol'><span style=3D'mso-list:Ignore'>·<span style=3D'font:7.0pt "= |
| 853 |
Times New Roman"'> |
| 854 |
</span></span></span><![endif]><a |
| 855 |
href=3D"http://code.google.com/p/aeroquad/issues/detail?id=3D31&can=3D1= |
| 856 |
">#31</a> – |
| 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'>·<span style=3D'font:7.0pt "= |
| 866 |
Times New Roman"'> |
| 867 |
</span></span></span><![endif]><a |
| 868 |
href=3D"http://code.google.com/p/aeroquad/issues/detail?id=3D32&can=3D1= |
| 869 |
">#32</a> – |
| 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'> <= |
| 878 |
/span>Added |
| 879 |
#defines for <span class=3DSpellE>Wii</span> for Mega.<span |
| 880 |
style=3D'mso-spacerun:yes'> </span>Solved DCM overflow issues for APM= |
| 881 |
when |
| 882 |
performing calibration or writing to EEPROM. <span |
| 883 |
style=3D'mso-spacerun:yes'> </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'> </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> </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'> </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'> </span>Impr= |
| 905 |
oved |
| 906 |
Stable Mode implemented.<span style=3D'mso-spacerun:yes'> </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'> </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> </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'> |
| 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> </o:p></p> |
| 924 |
|
| 925 |
<p class=3DMsoNormal>/*****************************************************= |
| 926 |
***********************</p> |
| 927 |
|
| 928 |
<p class=3DMsoNormal><span |
| 929 |
style=3D'mso-spacerun:yes'> </span>************************* Hardware |
| 930 |
Configuration ***************************</p> |
| 931 |
|
| 932 |
<p class=3DMsoNormal><span |
| 933 |
style=3D'mso-spacerun:yes'> </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> </o:p></p> |
| 941 |
|
| 942 |
<p class=3DMsoNormal>//#define AeroQuad_v1<span |
| 943 |
style=3D'mso-spacerun:yes'> |
| 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'> </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'> </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'> </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'> </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'> </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'> = |
| 974 |
|
| 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'> = |
| 980 |
|
| 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'> </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> </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'> </span>#define Mega_AQ1x was not defined = |
| 1002 |
before |
| 1003 |
#include "<span class=3DSpellE>Receiver.h</span>".<span |
| 1004 |
style=3D'mso-spacerun:yes'> </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'> </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'> |
| 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'> </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'> </span><span class=3DGramE>Tested this ve= |
| 1028 |
rsion |
| 1029 |
against Arduino 0018.</span><span style=3D'mso-spacerun:yes'> </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'> </spa= |
| 1044 |
n>Also |
| 1045 |
the comments were fixed to reflect usage of IDG500 or IXZ500 gyros.<span |
| 1046 |
style=3D'mso-spacerun:yes'> </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'> </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'> </span>There is a bug in the Arduino core= |
| 1070 |
code |
| 1071 |
which doesn’t allow the proper PCINT assignments to PCINT 8-23.<span |
| 1072 |
style=3D'mso-spacerun:yes'> </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> </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'>·<span style=3D'font:7.0pt "= |
| 1091 |
Times New Roman"'> |
| 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'>·<span style=3D'font:7.0pt "= |
| 1101 |
Times New Roman"'> |
| 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'>·<span style=3D'font:7.0pt "= |
| 1111 |
Times New Roman"'> |
| 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'>·<span style=3D'font:7.0pt "= |
| 1120 |
Times New Roman"'> |
| 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'>·<span style=3D'font:7.0pt "= |
| 1130 |
Times New Roman"'> |
| 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'>·<span style=3D'font:7.0pt "= |
| 1139 |
Times New Roman"'> |
| 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> </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'> </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'> |
| 1157 |
</span>Failure to do so will result in unstable flight.<span |
| 1158 |
style=3D'mso-spacerun:yes'> </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'> </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> </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'> </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> </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'> </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'> </span>There is an |
| 1182 |
intermittent jitter that occurs during reading of receiver output.<span |
| 1183 |
style=3D'mso-spacerun:yes'> </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'> </span>Therefore fu= |
| 1189 |
rther |
| 1190 |
development will be pushed to the Arduino Mega.</p> |
| 1191 |
|
| 1192 |
<p class=3DMsoNormal><o:p> </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'> </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'> </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'> </span>The user will then be= |
| 1203 |
able |
| 1204 |
to return to flight.<span style=3D'mso-spacerun:yes'> </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> </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'> </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'> </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'> </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'> </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'> </span></p> |
| 1243 |
|
| 1244 |
<p class=3DMsoNormal>If you’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> </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'> </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'> </span>To verify the library has been |
| 1259 |
successfully installed, open the Arduino IDE and go to Sketch->Import |
| 1260 |
Library.<span class=3Dapple-converted-space> </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'> </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> </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'> </span>This will provide an update rate t= |
| 1273 |
o the |
| 1274 |
motors at 490Hz.<span style=3D'mso-spacerun:yes'> </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'> |
| 1286 |
</span>There is also a calibration for ESC’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'> </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'> </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'> </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'> </span>This removes the need to know the |
| 1309 |
channel order of the receiver used.<span style=3D'mso-spacerun:yes'> |
| 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> </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'> </span>Therefore Version 1.2 is not direc= |
| 1329 |
tly |
| 1330 |
compatible with the Mega.<span style=3D'mso-spacerun:yes'> </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'> </span>To enable remove the comment = |
| 1343 |
of the |
| 1344 |
appropriate #define statement in AeroQuad.pde.<span |
| 1345 |
style=3D'mso-spacerun:yes'> </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'> </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’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'> </span>The <span class=3DSpellE>Turnigy</= |
| 1384 |
span> |
| 1385 |
ESC’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’t be= |
| 1387 |
any |
| 1388 |
issues.<span style=3D'mso-spacerun:yes'> </span>Also, if you’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> </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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|
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------=_NextPart_01CB5847.D20730C0 |
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Content-Location: file:///C:/0E9656D4/ReadMeFirst_files/colorschememapping.xml |
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Content-Transfer-Encoding: quoted-printable |
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Content-Type: text/xml |
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|
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<?xml version=3D"1.0" encoding=3D"UTF-8" standalone=3D"yes"?> |
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<a:clrMap xmlns:a=3D"http://schemas.openxmlformats.org/drawingml/2006/main"= |
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ccent6=3D"accent6" hlink=3D"hlink" folHlink=3D"folHlink"/> |
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------=_NextPart_01CB5847.D20730C0 |
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Content-Location: file:///C:/0E9656D4/ReadMeFirst_files/filelist.xml |
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Content-Type: text/xml; charset="utf-8" |
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|
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<xml xmlns:o=3D"urn:schemas-microsoft-com:office:office"> |
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</xml> |
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------=_NextPart_01CB5847.D20730C0-- |