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Permalink Reply by Sebastian Gralla on February 12, 2011 at 2:23pm

send 'Q' in serial monitor, it will output all IMU readings ;)

 

take a look into oilpan shematics (you can find them by clicking on 'ArduPilot' at the top of this page)

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Permalink Reply by Aryeh Marks on February 14, 2011 at 3:19pm

Thank :)

 

Do you happen to have a way to show the .sch as a pdf or something? I don't have any CAD software on my computer.

 

The main reason I want to know how to get the pin numbers is because I am adding motors to the system to obtain an octorotor. I want to be able to see how the controller is supplying commands to the motors and then follow the path with my own control scheme.

 

Thanks again :)

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Permalink Reply by Ken on February 14, 2011 at 5:04pm

Do you happen to have a way to show the .sch as a pdf or something? I don't have any CAD software on my computer.

 

Eagle is a free download. Windows, Mac, Linux.

http://www.cadsoftusa.com/download.htm

 

 

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Permalink Reply by Aryeh Marks on February 14, 2011 at 5:21pm

Thanks for those links.

I can now see the board, but I don't know where the data is coming in from!

 

For example, let's say that I want to see the vertical accelerometer data and then multiply it by 2 and then send this reading to somewhere. . . .

In something like MATLAB I'd have

Accel = read Accel_y;

out=Accel.*2

 

and it would show me a list of the vertical accelerations after they are multiplied by 2.

 

Thanks for any more help

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JDronesPermalink Reply by Jani Hirvinen on February 14, 2011 at 5:32pm

APM electronics and libraries supports only 6 fast PWM ports so if you want to do octo, you need to start using I2C ESC's to achieve good performance.

 

If you are using our libraries that we have made for this electronics, you don't need to care about physical CPU pins. Output ports are just called ch1, ch2---ch8 and you can command them directly.

 

On our hexa code we are using OUT1-4, 7, 8 to command PWM ESC's while OUT5,6 are used for camera compensation. OUT5,6 are outputs that are driven slowly and without fast pwm features.

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