Replies to This Discussion

Permalink Reply by Mark Slater on March 13, 2012 at 5:32pm

No they are not, we tried that and failed due to X aircraft using its own protocol, (we think)

But if you ever do get it working please let me know.

Permalink Reply by wilson javier madrid sossa on March 13, 2012 at 5:55pm

and we did work with CRIUS multiwii, changing settings on the board by Arduino.arducopter in this case can also be because in the Arduino programming through there is to know what values to change.

rather what is the protocol to change in values

JDronesPermalink Reply by Jani Hirvinen on March 14, 2012 at 2:13am

They are not as normal ESCs and all other RC gear is using 1000-2000us pulse widths. And ArduCopter software only supports normal ESCs as there are ready made kits like jDrones and other kits and then many people are using their own systems with random ESCs. 

As ArduCopter software is fully opensource, it is possible to modify software to your needs. 

Permalink Reply by wilson javier madrid sossa on March 14, 2012 at 6:08am

mind all agree, the thing is if someone has already done the modification and will help us to change the code because its ultra PWM pulses are 200us and 1200US

Permalink Reply by Aaron Curtis on April 16, 2012 at 8:18pm

Jani, is this "InstantPWM" thing something we can use to get 2ms pwm frames with pulses below 200us (motors disarmed)?

Otherwise, I'm starting http://code.google.com/r/foobarbecue-ardupilot-ultrapwm/ to change to code so it works with Xaircraft UltraPWM.

I'm guessing that the lines that need to change are:

in APM_RC_APM2.h

#define MIN_PULSEWIDTH 900
#define MAX_PULSEWIDTH 2100

...

void SetFastOutputChannels(uint32_t chmask, uint16_t speed_hz = 400);

and setting the parameter RC_FAST_SPEED?

Anything else?

Permalink Reply by wilson javier madrid sossa on April 17, 2012 at 6:58am

Aaron.....  I'm looking for in APM_RC_APM2.h y not know where to find it since neither in 2.5.3 and 2.6 beta is not if I would like it to be more clear the check information making thesechanges the speed work. thank you very much

Permalink Reply by Aaron Curtis on April 17, 2012 at 7:11am

Hi wilson,

APM_RC_AP2.h is in libraries/APM_RC/ .

My changes have not worked so far. Possibly we need to change the way throttle_out is determined in Arducopter/Arducopter.pde .

It seems that the "throttle" values in the code go from 0 to 1000, and then at some point (the mixer?) they are changed into PWM values. If we can figure out how that happens presumably we can change the mapping. Would be great to have an actual developer help on this, although I'm having fun trying to understand the code.

I have very little experience in c++ and am trying to get my head around all this...

Permalink Reply by Aaron Curtis on April 17, 2012 at 7:47am

Now I'm thinking we may need to change the range_to_pwm function in APM_RC_Channel.cpp .

Permalink Reply by Aaron Curtis on April 17, 2012 at 8:59am

Ok, nevermind. Looks like it's libraries/AP_Motors/AP_MotorsMatrix.cpp that needs changing.

Permalink Reply by Aaron Curtis on April 17, 2012 at 8:36am

I'm getting very confused about the use of the terms "radio" "servo" "range" and "pwm" in variables... the calc_pwm function of the RC_Channel class seems to take a range, change it to a "pwm_out" and then change that to a "radio_out." I presume radio_out has nothing to do with the radio, it's the pwm to be sent to the motors?

Or maybe this code is really acting on the radio input, before mixing?

Would be really nice if a dev can add some clearer comments in there, or even better write a sort of overall tour of the code basics.

Permalink Reply by Aaron Curtis on April 18, 2012 at 7:00am

Ok, I have successfully modified the code to properly drive Xaircraft Ultrapwm ESCs. I will upload the code in a bit once I make it a little less hacky...

Permalink Reply by wilson javier madrid sossa on April 18, 2012 at 7:04am

already have some response from the ces working with the programming?

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