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AP_HAL_FLYMAPLE: updated FlymaplePortingNotes.txt

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Mike McCauley 2013-12-02 10:18:56 +10:00 committed by Andrew Tridgell
parent 55cf4b2111
commit 4dc33c8de8
1 changed files with 45 additions and 7 deletions
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52
libraries/AP_HAL_FLYMAPLE/FlymaplePortingNotes.txt
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@ -60,22 +60,22 @@ Resources on the Flymaple board have been allocated by the HAL:
Pins Pins
0 AP GPS on Flymaple Serial2 Rx in. This is where you connect the 0 AP GPS on Flymaple Serial2 Rx in. This is where you connect the
GPS. 3.3V only, NOT 5V tolerant GPS. 3.3V input only, NOT 5V tolerant, use a voltage divider for 5V GPSs.
1 AP GPS on Flymaple Serial2 Tx out. This is where you connect the GPS. 1 AP GPS on Flymaple Serial2 Tx out. This is where you connect the GPS.
3.3V 3.3V output
5 I2C SCL. Do not use for GPIO. 5 I2C SCL. Do not use for GPIO.
6 Receiver PPM in 6 Receiver PPM-SUM in.
7 Console and Mavlink on Flymaple Serial1 Rx in. Also on connector 7 Console and Mavlink on Flymaple Serial1 Rx in. Also on connector
"COM1". 5V tolerant. "COM1". 5V input tolerant.
8 Console and Mavlink on Flymaple Serial1 Tx out. Also on connector 8 Console and Mavlink on Flymaple Serial1 Tx out. Also on connector
"COM1". 3.3V "COM1". 3.3V output.
9 I2C SDA. Do not use for GPIO 9 I2C SDA. Do not use for GPIO
15 3.3V board VCC analog in. Connect to 3.3V pin. 15 3.3V board VCC analog in. Connect to 3.3V pin.
16 Airspeed analog in (if available). 3.3V, NOT 5V tolerant. 16 Airspeed analog in (if available). 3.3V, NOT 5V tolerant.
19 Battery current analog in (if available). 3.3V, NOT 5V tolerant. 19 Battery current analog in (if available). 3.3V, NOT 5V tolerant.
20 Battery voltage analog in (on-board divider connected to board VIN) 20 Battery voltage analog in (on-board divider connected to board VIN)
29 Telemetry Tx to radio on Serial3 on connector labelled "GPS". 3.3V 29 Telemetry Tx to radio on Serial3 on connector labelled "GPS". 3.3V output
30 Telemetry Rx from radio on Serial3 on connector labelled "GPS". 5V tolerant. 30 Telemetry Rx from radio on Serial3 on connector labelled "GPS". 5V input tolerant.
Timers Timers
SysTick 1000Hz normal timers SysTick 1000Hz normal timers
@ -241,6 +241,44 @@ Pitching up Y +ve
(ie right hand curl rule relative to the given axis) (ie right hand curl rule relative to the given axis)
PPM-SUM receiver and transmitter channel assignments
Pin 6 of the Flymaple is used for the PPM-SUM receiver input
I used the DSM2 PPM+UART receiver product code LEM-CH6-PPM from www.lemon-rx.com:
http://www.lemon-rx.com/shop/index.php?route=product/product&path=70&product_id=66
(make sure you use one made after Oct 2013: earlier versions had a proprietary and
incompatible PPM output).
The raw channel numbers resulting from using this with my Spektrum DMS 6
channel mode 2 transmitter are:
Channel Assignment
1 Throttle
2 Aileron/Roll
3 Elevator/Pitch
4 Rudder/Yaw
5 Gear/mode
6 Flap/learn
With the following channels configured for APMrover:
RCMAP_PITCH 1
RCMAP_ROLL 2
RCMAP_THROTTLE 3
RCMAP_YAW 4
MODE_CH 5
LEARN_CH 6
with the RC servo ouputs on Flymaple J5:
Transmitter channel 2 (steering) PWM/AIN/D27
Transmitter channel 3 (speed = motor ESC) PWM/AIN/D11
This permits a single joystick (the right stick in my case) to be used to control the rover:
elevator = speed control
aileron = steering
gear = mode
flap = learn
Remaining issues: Remaining issues:
1. Many alignment warnings emitted by the compiler from libraries/GCS_MAVLink 1. Many alignment warnings emitted by the compiler from libraries/GCS_MAVLink