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projects:crazyflie2:expansionboards:bigquad [2016-06-29 12:16] tobias [Current firmware status notes (2016-03)] |
projects:crazyflie2:expansionboards:bigquad [2018-12-11 14:04] tobias [Compatibility with Loco deck, microSD and Flow (v2) deck] |
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BigQuad expansion deck {{: | BigQuad expansion deck {{: | ||
+ | ===== Compatibility with Loco deck, microSD and Flow (v2) deck ===== | ||
+ | |||
+ | {{ : | ||
+ | The Loco deck, microSD and Flow (v2) deck all uses the SPI bus. As the BigQuad deck uses the deck SPI buss pins for possible voltage and current measurement, | ||
+ | - By removing capacitor C1 on the BigQuad deck. See image on the right. | ||
+ | - Not having BQ_DECK_ENABLE_PM defined. | ||
+ | - Disabling the extRx functionality by commenting out [[https:// | ||
+ | Capacitor C1 is used to filter the current measurement and removing this has the effect that it will not be filtered any more. Still possible to use it if a deck using the SPI is not wanted any more. | ||
+ | |||
+ | To make it work with the Flow (v2) deck more changes/ | ||
+ | - The Flow HW ChipSelect (IO3) interfere with BigQuad PWM and needs to be moved. Cut trace and solder patch on Flow deck from IO3 to IO1. | ||
+ | - Change the CS pin in [[https:// | ||
+ | |||
+ | Next problem is how to mount the deck in a nice way on the quad, we leave that up to you. | ||
====== Setting up ====== | ====== Setting up ====== | ||
<WRAP center round warning> | <WRAP center round warning> | ||
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* When the BQ-Deck is detected it will automatically switch to brushless motor drivers. It will be noted in the cfclient console if it is detected or not. | * When the BQ-Deck is detected it will automatically switch to brushless motor drivers. It will be noted in the cfclient console if it is detected or not. | ||
* 1mbit or 2mbit datarate seem to be more stable when communicating with the BigQuad deck attached. It is wise to do a range test before flying far away. | * 1mbit or 2mbit datarate seem to be more stable when communicating with the BigQuad deck attached. It is wise to do a range test before flying far away. | ||
- | * Different PID tuning parameters might be needed for it to fly well. Currently this has to be [[https:// | + | * Different PID tuning parameters might be needed for it to fly well. Currently this has to be [[https:// |
* External battery voltage/ | * External battery voltage/ | ||
* The PWM output is set to 400Hz. Use ESCs which can handle this or compile with [[https:// | * The PWM output is set to 400Hz. Use ESCs which can handle this or compile with [[https:// | ||
* **Be safe**, it is experimental software. Run all testing **without** props! | * **Be safe**, it is experimental software. Run all testing **without** props! | ||
====== Reference setup ====== | ====== Reference setup ====== |