I read that hardware modified is needed for fcu001v1 with external esc.
When connecting the ESC the PWM signal cable should be connected to pin2 of P1, P2, P4, P5 connectors (not the “+” pin).
Then R12, R13, R16, R17 must be "NOT mounted" (removed) and R14, R15, R18, R19 mounted according to the ESC you will connect.
On top of the HW modifications mentioned by Giuseppe above, please take care you need to modify the FW as well.
You can refer to the documentation for it, shortly:
- At first please remove the propellers before changing FW, Safety first!!
- In motor.h file you need to change the #define to ESC configuration:
#define MOTOR_DC//#define MOTOR_ESC
- When ESC is used you may need to verify the PWM value is ok with your ESC calibration tresholds in the MIN and MAX values:#ifdef MOTOR_DC #define MOTOR_MAX_PWM_VALUE 1900.0f /* DC motor configuration */ #define MOTOR_MIN_PWM_VALUE 0.0f /* DC motor configuration */#endif#ifdef MOTOR_ESC #define MOTOR_MAX_PWM_VALUE 1700.0f /* External ESC configuration */ #define MOTOR_MIN_PWM_VALUE 850.0f /* 850 for 1msec (Fine tuned for Freq 400Hz), FCU ON motors not ARMED*/#endif
- Please note that once you change to different drone frame and motors you may need to tune again the PID values in flight_control.h otherwise the drone may be unstable:
#define ROLL_PID_KP1 3#define ROLL_PID_KI1 0//#define ROLL_PID_KP2 800 /* default */#define ROLL_PID_KP2 100 /* test minidrone *///#define ROLL_PID_KP2 200 /* test FPV250 with STEVAL-ESC001V1 *///#define ROLL_PID_KP2 40 /* test FPV250 with Afro ESC12A *///#define ROLL_PID_KI2 400 /* default */#define ROLL_PID_KI2 100 /* test minidrone *///#define ROLL_PID_KI2 200 /* test FPV250 with STEVAL-ESC001V1 *///#define ROLL_PID_KI2 40 /* test FPV250 with Afro ESC12A */#define ROLL_PID_KD2 10 //(x/PID_SAMPLING_TIME)//#define ROLL_PID_KD2 5 /* test FPV250 with STEVAL-ESC001V1 */#define ROLL_PID_I1_LIMIT 2.0 //5 degree//#define ROLL_PID_I2_LIMIT (100/ROLL_PID_KI2)#define ROLL_PID_I2_LIMIT 20.0//#define ROLL_PID_I2_LIMIT 2
For your reference there are some values of PID I tested with FPV250 frame and Afro 12A ESC, but you may need to fine tune to your drone
What would happen if i directly connect the external esc to MOSFET driven
fcu output ?
Most probably you will fry the ESC Microcontroller since you will try to inject few A of current in a GPIO of the MCU (PWM input).
Yikes ! Can we not add some protection circuit from mosfet stage ? I do not have smd solder apparatus, so any work around to drive external esc without modification on the fcu board itself.
But i can make hw modifications from the stock output stage.
Sorry it's not possible to add external protections for this. The only way is to make the HW modifications indicated in the documentation. Even if you have not a smd solder apparatus it's ok, I have done modifications at home using a 10$ soldering machine like in the picture and modifications was fine.
Wow! That's good to know
Thank you so much .
On Thu, 26 Apr 2018, 7:49 p.m. Matteo Maravita, <
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