Flight Controller based on K20DX256 (Teensy 3.1), forked from cTn
PIN setup Teensy 3.1 pin numbering:
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I2C SCL 19
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I2C SDA 18
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SUMD RX1 ( Receiver, 115kBaud ) 0
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Alternative PPM/PWM 3
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BT RX2 9
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BT TX2 10
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GPS RX3 7
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GPS TX3 8
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Sonar 11
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Sonar 12
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UMon 14
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UMon 15
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LED Stripe White 2
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LED Stripe Red 4
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LED Stripe MultiColor 6 ?
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LED Internal 13
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Rotor 1 22
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Rotor 2 23
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Rotor 3 20
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Rotor 4 21
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Battery Monitor (current sensor) 17
Filters, kinematics, data handling
- Initial raw data from sensors (read every 1ms = 1000Hz) is being averaged by a simple averaging filter
- Averaged data from sensors are being processed every 10ms (100Hz)
- CMP kinematitcs (my own) selected by default
- ARG kinematics (from aeroquad) is also supported (can be enabled by simple include change)
- DCM kinematics (from FreeIMU)
- Flight controller supports
- Rate (ACRO) | gyro only
- Attitude | gyro with accel corrections
- Altitute hold | barometer or sonar
- Pilot commands are being read via single PIN (with HW timer or USART), PPM, PWM and SUMD in is supported
- Stabilization and pilot commands are mixed together by 2 separate PID controllers
- First (only used in attitude mode) mixes pilot commands with kinematics output
- Second (used in both attitude and rate mode) mixes output from first PID or raw stick input with gyroRate output
- For ESC signal output i am using an build in 8 channel FLEX timer (yes you can controll octocopter with this)
- ESC PWM signal supports both 250Hz and 400Hz update rate (running at 400Hz by default)
Acc and Gyro init with MultiWii like stick commands
Accelerometer offset trimming via TX
- While in dis-armed state
- To enter the trimming mode = Throttle stick UP & Rudder RIGHT
- To adjust the values = PITCH UP & DOWN || ROLL LEFT & RIGHT
- To save the values in EEPROM = Throttle UP & Rudder LEFT
- (you dont have to save the values right away, you can test them, then return back to trimming mode and save them)
- To leave trimming mode = Throttle stick DOWN