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/* Font Definitions */ |
340 |
@font-face |
341 |
{font-family:Helvetica; |
342 |
panose-1:2 11 6 4 2 2 2 2 2 4; |
343 |
mso-font-charset:0; |
344 |
mso-generic-font-family:swiss; |
345 |
mso-font-pitch:variable; |
346 |
mso-font-signature:-536859905 -1073711037 9 0 511 0;} |
347 |
@font-face |
348 |
{font-family:Wingdings; |
349 |
panose-1:5 0 0 0 0 0 0 0 0 0; |
350 |
mso-font-charset:2; |
351 |
mso-generic-font-family:auto; |
352 |
mso-font-pitch:variable; |
353 |
mso-font-signature:0 268435456 0 0 -2147483648 0;} |
354 |
@font-face |
355 |
{font-family:"Cambria Math"; |
356 |
panose-1:2 4 5 3 5 4 6 3 2 4; |
357 |
mso-font-charset:1; |
358 |
mso-generic-font-family:roman; |
359 |
mso-font-format:other; |
360 |
mso-font-pitch:variable; |
361 |
mso-font-signature:0 0 0 0 0 0;} |
362 |
/* Style Definitions */ |
363 |
p.MsoNormal, li.MsoNormal, div.MsoNormal |
364 |
{mso-style-unhide:no; |
365 |
mso-style-qformat:yes; |
366 |
mso-style-parent:""; |
367 |
margin:0in; |
368 |
margin-bottom:.0001pt; |
369 |
mso-pagination:widow-orphan; |
370 |
font-size:12.0pt; |
371 |
font-family:"Times New Roman","serif"; |
372 |
mso-fareast-font-family:"Times New Roman";} |
373 |
h1 |
374 |
{mso-style-unhide:no; |
375 |
mso-style-qformat:yes; |
376 |
mso-style-link:"Heading 1 Char"; |
377 |
mso-style-next:Normal; |
378 |
margin-top:12.0pt; |
379 |
margin-right:0in; |
380 |
margin-bottom:3.0pt; |
381 |
margin-left:0in; |
382 |
mso-pagination:widow-orphan; |
383 |
page-break-after:avoid; |
384 |
mso-outline-level:1; |
385 |
font-size:16.0pt; |
386 |
font-family:"Arial","sans-serif"; |
387 |
mso-fareast-font-family:"Times New Roman"; |
388 |
mso-fareast-theme-font:minor-fareast; |
389 |
mso-font-kerning:16.0pt;} |
390 |
h2 |
391 |
{mso-style-unhide:no; |
392 |
mso-style-qformat:yes; |
393 |
mso-style-link:"Heading 2 Char"; |
394 |
mso-style-next:Normal; |
395 |
margin-top:12.0pt; |
396 |
margin-right:0in; |
397 |
margin-bottom:3.0pt; |
398 |
margin-left:0in; |
399 |
mso-pagination:widow-orphan; |
400 |
page-break-after:avoid; |
401 |
mso-outline-level:2; |
402 |
font-size:14.0pt; |
403 |
font-family:"Arial","sans-serif"; |
404 |
mso-fareast-font-family:"Times New Roman"; |
405 |
mso-fareast-theme-font:minor-fareast; |
406 |
font-style:italic;} |
407 |
h3 |
408 |
{mso-style-unhide:no; |
409 |
mso-style-qformat:yes; |
410 |
mso-style-link:"Heading 3 Char"; |
411 |
mso-style-next:Normal; |
412 |
margin-top:12.0pt; |
413 |
margin-right:0in; |
414 |
margin-bottom:3.0pt; |
415 |
margin-left:0in; |
416 |
mso-pagination:widow-orphan; |
417 |
page-break-after:avoid; |
418 |
mso-outline-level:3; |
419 |
font-size:13.0pt; |
420 |
font-family:"Arial","sans-serif"; |
421 |
mso-fareast-font-family:"Times New Roman"; |
422 |
mso-fareast-theme-font:minor-fareast;} |
423 |
a:link, span.MsoHyperlink |
424 |
{mso-style-unhide:no; |
425 |
color:blue; |
426 |
text-decoration:underline; |
427 |
text-underline:single;} |
428 |
a:visited, span.MsoHyperlinkFollowed |
429 |
{mso-style-unhide:no; |
430 |
color:purple; |
431 |
text-decoration:underline; |
432 |
text-underline:single;} |
433 |
p.MsoListParagraph, li.MsoListParagraph, div.MsoListParagraph |
434 |
{mso-style-priority:34; |
435 |
mso-style-unhide:no; |
436 |
mso-style-qformat:yes; |
437 |
margin-top:0in; |
438 |
margin-right:0in; |
439 |
margin-bottom:0in; |
440 |
margin-left:.5in; |
441 |
margin-bottom:.0001pt; |
442 |
mso-add-space:auto; |
443 |
mso-pagination:widow-orphan; |
444 |
font-size:12.0pt; |
445 |
font-family:"Times New Roman","serif"; |
446 |
mso-fareast-font-family:"Times New Roman";} |
447 |
p.MsoListParagraphCxSpFirst, li.MsoListParagraphCxSpFirst, div.MsoListParag= |
448 |
raphCxSpFirst |
449 |
{mso-style-priority:34; |
450 |
mso-style-unhide:no; |
451 |
mso-style-qformat:yes; |
452 |
mso-style-type:export-only; |
453 |
margin-top:0in; |
454 |
margin-right:0in; |
455 |
margin-bottom:0in; |
456 |
margin-left:.5in; |
457 |
margin-bottom:.0001pt; |
458 |
mso-add-space:auto; |
459 |
mso-pagination:widow-orphan; |
460 |
font-size:12.0pt; |
461 |
font-family:"Times New Roman","serif"; |
462 |
mso-fareast-font-family:"Times New Roman";} |
463 |
p.MsoListParagraphCxSpMiddle, li.MsoListParagraphCxSpMiddle, div.MsoListPar= |
464 |
agraphCxSpMiddle |
465 |
{mso-style-priority:34; |
466 |
mso-style-unhide:no; |
467 |
mso-style-qformat:yes; |
468 |
mso-style-type:export-only; |
469 |
margin-top:0in; |
470 |
margin-right:0in; |
471 |
margin-bottom:0in; |
472 |
margin-left:.5in; |
473 |
margin-bottom:.0001pt; |
474 |
mso-add-space:auto; |
475 |
mso-pagination:widow-orphan; |
476 |
font-size:12.0pt; |
477 |
font-family:"Times New Roman","serif"; |
478 |
mso-fareast-font-family:"Times New Roman";} |
479 |
p.MsoListParagraphCxSpLast, li.MsoListParagraphCxSpLast, div.MsoListParagra= |
480 |
phCxSpLast |
481 |
{mso-style-priority:34; |
482 |
mso-style-unhide:no; |
483 |
mso-style-qformat:yes; |
484 |
mso-style-type:export-only; |
485 |
margin-top:0in; |
486 |
margin-right:0in; |
487 |
margin-bottom:0in; |
488 |
margin-left:.5in; |
489 |
margin-bottom:.0001pt; |
490 |
mso-add-space:auto; |
491 |
mso-pagination:widow-orphan; |
492 |
font-size:12.0pt; |
493 |
font-family:"Times New Roman","serif"; |
494 |
mso-fareast-font-family:"Times New Roman";} |
495 |
span.Heading1Char |
496 |
{mso-style-name:"Heading 1 Char"; |
497 |
mso-style-unhide:no; |
498 |
mso-style-locked:yes; |
499 |
mso-style-link:"Heading 1"; |
500 |
mso-ansi-font-size:14.0pt; |
501 |
mso-bidi-font-size:14.0pt; |
502 |
font-family:"Cambria","serif"; |
503 |
mso-ascii-font-family:Cambria; |
504 |
mso-ascii-theme-font:major-latin; |
505 |
mso-fareast-font-family:"Times New Roman"; |
506 |
mso-fareast-theme-font:major-fareast; |
507 |
mso-hansi-font-family:Cambria; |
508 |
mso-hansi-theme-font:major-latin; |
509 |
mso-bidi-font-family:"Times New Roman"; |
510 |
mso-bidi-theme-font:major-bidi; |
511 |
color:#365F91; |
512 |
mso-themecolor:accent1; |
513 |
mso-themeshade:191; |
514 |
font-weight:bold;} |
515 |
span.Heading2Char |
516 |
{mso-style-name:"Heading 2 Char"; |
517 |
mso-style-unhide:no; |
518 |
mso-style-locked:yes; |
519 |
mso-style-link:"Heading 2"; |
520 |
mso-ansi-font-size:13.0pt; |
521 |
mso-bidi-font-size:13.0pt; |
522 |
font-family:"Cambria","serif"; |
523 |
mso-ascii-font-family:Cambria; |
524 |
mso-ascii-theme-font:major-latin; |
525 |
mso-fareast-font-family:"Times New Roman"; |
526 |
mso-fareast-theme-font:major-fareast; |
527 |
mso-hansi-font-family:Cambria; |
528 |
mso-hansi-theme-font:major-latin; |
529 |
mso-bidi-font-family:"Times New Roman"; |
530 |
mso-bidi-theme-font:major-bidi; |
531 |
color:#4F81BD; |
532 |
mso-themecolor:accent1; |
533 |
font-weight:bold;} |
534 |
span.Heading3Char |
535 |
{mso-style-name:"Heading 3 Char"; |
536 |
mso-style-unhide:no; |
537 |
mso-style-locked:yes; |
538 |
mso-style-link:"Heading 3"; |
539 |
mso-ansi-font-size:12.0pt; |
540 |
mso-bidi-font-size:12.0pt; |
541 |
font-family:"Cambria","serif"; |
542 |
mso-ascii-font-family:Cambria; |
543 |
mso-ascii-theme-font:major-latin; |
544 |
mso-fareast-font-family:"Times New Roman"; |
545 |
mso-fareast-theme-font:major-fareast; |
546 |
mso-hansi-font-family:Cambria; |
547 |
mso-hansi-theme-font:major-latin; |
548 |
mso-bidi-font-family:"Times New Roman"; |
549 |
mso-bidi-theme-font:major-bidi; |
550 |
color:#4F81BD; |
551 |
mso-themecolor:accent1; |
552 |
font-weight:bold;} |
553 |
p.p1, li.p1, div.p1 |
554 |
{mso-style-name:p1; |
555 |
mso-style-unhide:no; |
556 |
margin:0in; |
557 |
margin-bottom:.0001pt; |
558 |
mso-pagination:widow-orphan; |
559 |
font-size:10.5pt; |
560 |
font-family:"Helvetica","sans-serif"; |
561 |
mso-fareast-font-family:"Times New Roman";} |
562 |
p.p2, li.p2, div.p2 |
563 |
{mso-style-name:p2; |
564 |
mso-style-unhide:no; |
565 |
margin:0in; |
566 |
margin-bottom:.0001pt; |
567 |
mso-pagination:widow-orphan; |
568 |
font-size:10.5pt; |
569 |
font-family:"Helvetica","sans-serif"; |
570 |
mso-fareast-font-family:"Times New Roman";} |
571 |
span.apple-converted-space |
572 |
{mso-style-name:apple-converted-space; |
573 |
mso-style-unhide:no;} |
574 |
span.SpellE |
575 |
{mso-style-name:""; |
576 |
mso-spl-e:yes;} |
577 |
span.GramE |
578 |
{mso-style-name:""; |
579 |
mso-gram-e:yes;} |
580 |
.MsoChpDefault |
581 |
{mso-style-type:export-only; |
582 |
mso-default-props:yes; |
583 |
font-size:10.0pt; |
584 |
mso-ansi-font-size:10.0pt; |
585 |
mso-bidi-font-size:10.0pt;} |
586 |
@page WordSection1 |
587 |
{size:8.5in 11.0in; |
588 |
margin:1.0in 1.25in 1.0in 1.25in; |
589 |
mso-header-margin:.5in; |
590 |
mso-footer-margin:.5in; |
591 |
mso-paper-source:0;} |
592 |
div.WordSection1 |
593 |
{page:WordSection1;} |
594 |
/* List Definitions */ |
595 |
@list l0 |
596 |
{mso-list-id:122776071; |
597 |
mso-list-type:hybrid; |
598 |
mso-list-template-ids:-586135540 67698689 67698691 67698693 67698689 67698= |
599 |
691 67698693 67698689 67698691 67698693;} |
600 |
@list l0:level1 |
601 |
{mso-level-number-format:bullet; |
602 |
mso-level-text:\F0B7; |
603 |
mso-level-tab-stop:none; |
604 |
mso-level-number-position:left; |
605 |
text-indent:-.25in; |
606 |
font-family:Symbol;} |
607 |
@list l1 |
608 |
{mso-list-id:279335807; |
609 |
mso-list-type:hybrid; |
610 |
mso-list-template-ids:-724278300 67698689 67698691 67698693 67698689 67698= |
611 |
691 67698693 67698689 67698691 67698693;} |
612 |
@list l1:level1 |
613 |
{mso-level-number-format:bullet; |
614 |
mso-level-text:\F0B7; |
615 |
mso-level-tab-stop:.5in; |
616 |
mso-level-number-position:left; |
617 |
text-indent:-.25in; |
618 |
font-family:Symbol;} |
619 |
@list l1:level2 |
620 |
{mso-level-tab-stop:1.0in; |
621 |
mso-level-number-position:left; |
622 |
text-indent:-.25in;} |
623 |
@list l1:level3 |
624 |
{mso-level-tab-stop:1.5in; |
625 |
mso-level-number-position:left; |
626 |
text-indent:-.25in;} |
627 |
@list l1:level4 |
628 |
{mso-level-tab-stop:2.0in; |
629 |
mso-level-number-position:left; |
630 |
text-indent:-.25in;} |
631 |
@list l1:level5 |
632 |
{mso-level-tab-stop:2.5in; |
633 |
mso-level-number-position:left; |
634 |
text-indent:-.25in;} |
635 |
@list l1:level6 |
636 |
{mso-level-tab-stop:3.0in; |
637 |
mso-level-number-position:left; |
638 |
text-indent:-.25in;} |
639 |
@list l1:level7 |
640 |
{mso-level-tab-stop:3.5in; |
641 |
mso-level-number-position:left; |
642 |
text-indent:-.25in;} |
643 |
@list l1:level8 |
644 |
{mso-level-tab-stop:4.0in; |
645 |
mso-level-number-position:left; |
646 |
text-indent:-.25in;} |
647 |
@list l1:level9 |
648 |
{mso-level-tab-stop:4.5in; |
649 |
mso-level-number-position:left; |
650 |
text-indent:-.25in;} |
651 |
@list l2 |
652 |
{mso-list-id:976296328; |
653 |
mso-list-type:hybrid; |
654 |
mso-list-template-ids:1790714858 67698689 67698691 67698693 67698689 67698= |
655 |
691 67698693 67698689 67698691 67698693;} |
656 |
@list l2:level1 |
657 |
{mso-level-number-format:bullet; |
658 |
mso-level-text:\F0B7; |
659 |
mso-level-tab-stop:none; |
660 |
mso-level-number-position:left; |
661 |
text-indent:-.25in; |
662 |
font-family:Symbol;} |
663 |
@list l2:level2 |
664 |
{mso-level-tab-stop:1.0in; |
665 |
mso-level-number-position:left; |
666 |
text-indent:-.25in;} |
667 |
@list l2:level3 |
668 |
{mso-level-tab-stop:1.5in; |
669 |
mso-level-number-position:left; |
670 |
text-indent:-.25in;} |
671 |
@list l2:level4 |
672 |
{mso-level-tab-stop:2.0in; |
673 |
mso-level-number-position:left; |
674 |
text-indent:-.25in;} |
675 |
@list l2:level5 |
676 |
{mso-level-tab-stop:2.5in; |
677 |
mso-level-number-position:left; |
678 |
text-indent:-.25in;} |
679 |
@list l2:level6 |
680 |
{mso-level-tab-stop:3.0in; |
681 |
mso-level-number-position:left; |
682 |
text-indent:-.25in;} |
683 |
@list l2:level7 |
684 |
{mso-level-tab-stop:3.5in; |
685 |
mso-level-number-position:left; |
686 |
text-indent:-.25in;} |
687 |
@list l2:level8 |
688 |
{mso-level-tab-stop:4.0in; |
689 |
mso-level-number-position:left; |
690 |
text-indent:-.25in;} |
691 |
@list l2:level9 |
692 |
{mso-level-tab-stop:4.5in; |
693 |
mso-level-number-position:left; |
694 |
text-indent:-.25in;} |
695 |
@list l3 |
696 |
{mso-list-id:2030402926; |
697 |
mso-list-type:hybrid; |
698 |
mso-list-template-ids:-2146642246 67698689 67698691 67698693 67698689 6769= |
699 |
8691 67698693 67698689 67698691 67698693;} |
700 |
@list l3:level1 |
701 |
{mso-level-number-format:bullet; |
702 |
mso-level-text:\F0B7; |
703 |
mso-level-tab-stop:.5in; |
704 |
mso-level-number-position:left; |
705 |
text-indent:-.25in; |
706 |
font-family:Symbol;} |
707 |
@list l3:level2 |
708 |
{mso-level-tab-stop:1.0in; |
709 |
mso-level-number-position:left; |
710 |
text-indent:-.25in;} |
711 |
@list l3:level3 |
712 |
{mso-level-tab-stop:1.5in; |
713 |
mso-level-number-position:left; |
714 |
text-indent:-.25in;} |
715 |
@list l3:level4 |
716 |
{mso-level-tab-stop:2.0in; |
717 |
mso-level-number-position:left; |
718 |
text-indent:-.25in;} |
719 |
@list l3:level5 |
720 |
{mso-level-tab-stop:2.5in; |
721 |
mso-level-number-position:left; |
722 |
text-indent:-.25in;} |
723 |
@list l3:level6 |
724 |
{mso-level-tab-stop:3.0in; |
725 |
mso-level-number-position:left; |
726 |
text-indent:-.25in;} |
727 |
@list l3:level7 |
728 |
{mso-level-tab-stop:3.5in; |
729 |
mso-level-number-position:left; |
730 |
text-indent:-.25in;} |
731 |
@list l3:level8 |
732 |
{mso-level-tab-stop:4.0in; |
733 |
mso-level-number-position:left; |
734 |
text-indent:-.25in;} |
735 |
@list l3:level9 |
736 |
{mso-level-tab-stop:4.5in; |
737 |
mso-level-number-position:left; |
738 |
text-indent:-.25in;} |
739 |
@list l4 |
740 |
{mso-list-id:2086225386; |
741 |
mso-list-type:hybrid; |
742 |
mso-list-template-ids:-363434886 67698689 67698691 67698693 67698689 67698= |
743 |
691 67698693 67698689 67698691 67698693;} |
744 |
@list l4:level1 |
745 |
{mso-level-number-format:bullet; |
746 |
mso-level-text:\F0B7; |
747 |
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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------=_NextPart_01CB5847.D20730C0 |
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Content-Location: file:///C:/0E9656D4/ReadMeFirst_files/colorschememapping.xml |
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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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------=_NextPart_01CB5847.D20730C0 |
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Content-Location: file:///C:/0E9656D4/ReadMeFirst_files/filelist.xml |
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------=_NextPart_01CB5847.D20730C0-- |