KDE Direct KDE-UAS40UVC UVC Kontrol Kacepetan Elektronik
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Dokumen iki nyakup langkah-langkah lan komponen sing dibutuhake kanggo ngaktifake DroneCAN kanthi seri KDE Direct UVC ESC lan Pixhawk 2.1 (CUBE). Langkah-langkah konfigurasi kanggo pengontrol penerbangan, hardware, lan piranti lunak Pixhawk diterangake kanthi luwih rinci. Kanggo informasi luwih lengkap babagan DroneCAN, waca https://dronecan.org
Mulai cepet lan Requirements
Perangkat keras sing dibutuhake:
- Pixhawk CUBE
- KDE UVC seri ESCs
- KDECAN-KIT JST-GHR Wire Kit (red and black wires – used between ESCs)
- KDECAN-PHC JST-GHR Wire (yellow wire – for connection to flight controller)
Perangkat lunak sing dibutuhake:
- firmware ESC (D4600341.dfu) utawa ndhuwur
- Pangatur Piranti KDE (KDE_Direct_Device_Manager_V138.4.exe) utawa ndhuwur
- Perencana Misi
Pandhuan Persiyapan Cepet:
- Sambungake kabel ESC kanthi bener kanggo nyambungake jaringan bis CAN.
- Nganyari kabeh ESC kanthi perangkat kukuh paling anyar sing ndhukung DroneCAN, lan nemtokake saben ID Node ESC lan ID Motor nggunakake Manajer Piranti KDE.
- Nganyari Pixhawk nganggo perangkat kukuh paling anyar lan pindhah menyang konfigurasi awal liwat Mission Planner.
- Setel CAN_P1_DRIVER dadi 1, urip maneh lan setel CAN_D1_UC_ESC_BM kanthi bener banjur tulis paramèter lan miwiti maneh Pixhawk kanthi nyopot lan nyambungake maneh daya.
- Pencet tombol sambungake ing Mission Planner. Data telemetri bisa viewed saka Data -> tab Status.
Detailed Setup Guide - CAN bus Wiring
- Sambungake ing kabel kuning between the first ESC and the Pixhawk. We recommend cutting the CAN bus 3.3V wire (the right-most yellow wire on the ESC side) that connects the ESC to the flight controller. Since the ESC supplies 3.3V to this wire, this can inadvertently power the Pixhawk which isn’t recommended. Only CAN_L, and CAN_H wires are required.
- Connect each ESC together with the red / black wires included in the KDECAN-KIT
- Tambah resistor terminating 120-ohm (saka KDECAN-KIT) menyang ESC pungkasan ing Bus
Gambar 1: kabel CAN bus.
Pènget: Kabel sing salah bisa nyebabake karusakan ing pengontrol penerbangan utawa ESC.
- Gambar 1: Pixhawk 2.1 (CUBE) & pin kabel ESC.
Cathetan: 3.3V CAN transceiver kanthi interoperable karo 5V CAN transceiver.
Cathetan: Yen nggunakake Pixhawk 2.1, sambungake menyang port CAN2 amarga port kasebut salah diwenehi label.
Nganyari ESCs lan Nemtokake ID
Bukak installer Manager Piranti KDE paling anyar (V1.38.4) lan sambungake ESC menyang PC liwat kabel USB sing kasedhiya karo ESC. Nganyari ESC kanggo perangkat kukuh paling anyar online (D460341.dfu). Banjur ganti setelan ing ngisor iki:
- Setel Mode Kalibrasi Throttle menyang RANGE lan min lan maksimal dadi 1000-2000
- Setel CAN BUS NODE ID menyang nilai unik
- Setel CAN BUS CONTROL menyang DRONECAN
- Setel ID MOTOR DRONECAN menyang motor sing disambungake (contone 1-4 kanggo QuadCopter)
- Setel kutub DRONECAN menyang jumlah kutub magnet ing motor
Pencet tombol "Kirim Setelan" lan nerusake kanggo mbaleni langkah ing ndhuwur kanggo saben ESC, priksa manawa kanggo nambah CAN BUS NODE ID lan DRONECAN MOTOR ID.
- Gambar 3: Setelan DRONECAN Manager Piranti KDE
Cathetan: When CAN BUS CONTROL is set to DRONECAN, the ESC will prioritize the throttle sent via the PWM wire (if available). If you send the throttle via the PWM wire (white, red, black) and disconnect it, the ESC will fallback on the DroneCAN throttle. Connecting the PWM wire is optional when using DroneCAN.
For throttle control to work properly via DRONECAN, first you need to set the BISA_P1_DRIVER to 1 (First Driver) and set BISA_D1_PROTOKOL to 1 (DroneCAN) then reboot the flight controller (all features that require chunks of memory to initialize are done once at boot). Next, you need to set CAN_D1_UC_ESC_BM to the number of ESCs you are using in Mission Planner. This bitmask tells the flight controller which Servo Outputs are routed to DroneCAN ESCs (the bitmask should match the servo motor output you are using). For example, yen sampeyan nggunakake pigura QUAD X, sampeyan bakal milih ESC 1, ESC 2, ESC 3, lan ESC 4 kanggo saluran 1-4.
- Gambar 4: Mission Planner CAN_D1_UC_ESC_BM example.
Sampeyan uga kudu ngatur iki ing saben ESC nggunakake Manager Piranti Langsung KDE uga. Kanggo example, yen sampeyan nggunakake QUAD X, motor kiwa ndhuwur ID 3 supaya ESC ngontrol motor kiwa ndhuwur kudu DRONECAN MOTOR ID disetel kanggo 03. Sampeyan kudu nyetel ID MOTOR kanggo saben ESC disambungake.
- Gambar 5: ID MOTOR Pangatur Piranti KDE.
- Gambar 6: Jinis Rangka Mission Planer.
Viewing Telemetri Langsung
Pixhawk saiki bakal nampa pesen DRONECAN. Yen ora bisa digunakake, bali liwat langkah-langkah lan verifikasi kabeh setelan lan paramèter wis disetel kanthi bener. * Wigati: Mission Planner ora bakal nganyari kolom status ESC kajaba motor muter.
Nalika disambungake menyang MAVLink 2 liwat port COM, telemetri urip ESC bisa viewed liwat "Data Penerbangan" -> "Status". Saben ESC wis akeh kothak ditandhani (escX_volt, escX_curr, etc.) karo X nuduhake ID MOTOR DRONECAN. Kothak kasebut nuduhake ESCs 'voltage, arus, rpm, lan suhu. Kanggo view telemetri kanthi grafis, klik kothak centhang "Tuning", klik kaping pindho ing grafik kosong, banjur pilih nganti sepuluh paramèter kanggo ngisi grafik.
- Gambar 7: Jendhela telemetri Mission Planner.
Kanggo firmware PX4 Autopilot karo QGroundControl:
atur Persiyapan Kendaraan -> Output Aktuator -> Konfigurasi: "Konfigurasi Otomatis Sensor lan Aktuator (ESCs)" nyetel Persiyapan Kendaraan -> fungsi ESCs 1-4 kanggo output menyang Motors 1-4
Sampeyan saiki bisa view pesen ESC_STATUS ing Analyze Tools -> MAVLink Inspector
Dokumen / Sumber Daya
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KDE Direct KDE-UAS40UVC UVC Kontrol Kacepetan Elektronik [pdf] Pandhuan pangguna KDE-UAS40UVC UVC Pengontrol Kacepetan Elektronik, KDE-UAS40UVC, Pengontrol Kacepetan Elektronik UVC, Pengontrol Kacepetan Elektronik, Pengontrol Kacepetan, Pengontrol |