Features of aq32Plus:
1)Focused at the capabilities of the aq32/STM32F407 hardware 2)1 KHz sampling of gyro and accel, averaged to 500 Hz for use 3)Pressure data sampling at 100 Hz, averged to 10 Hz for use 4)Mag data sampling at 50 Hz 5)Interrupt driven system timing, 1 KHz max rate for sensor reads 6)500Hz, 200Hz, 100Hz, 50Hz, 10 Hz, 5 Hz, and 1 Hz task frames. Not quite a RTOS. 7)1 to 8 ESC PWM outputs, adjustable output rate, default 450 Hz, 0.5 uSec resolution 8)1 to 3 Servo PWM outputs, adjustable output rate, default 50 Hz, 0.5 uSec resolution 9)Parallel PWM (default), serial PWM, and Spektrum RX support(binding with RX too) ** 10)MARG attitude estimator with functioning accel cutoff 11)Attitude estimation and flight control inner loops running at 500 Hz 12)Delta times for integration functions computed via hardware timers at 0.5 uSec resolution 13)Wide range of mixers: Gimbal Flying Wing BiCopter TriCopter QuadP, QuadX, VTail(6 different schemes), Y4 Hex6P, Hex6X, Y6 OctoF8P, OctoF8X, OctoX8P, OctoX8X FreeMix (Up to 8 motors/Surfaces) 14)Drivers for I2C 1 and 2, SPI 1,2, and 3, uart2(GPS), uart3(RF telem for now) 15)Setup via command line interface (CLI), no configurator interface at this time 16)Limited high speed (100 Hz) RF telemetry for sensor evaluation and PID tuning 17)Built with the Eclipse/Code Sourcery/STM Standard Peripherial Library tools 18)Programmed thru USB port via STM DFUSE demo program 19)Not Arduino compatible (sorry) 20)Whatever I forgot to add here......
** PWM at 0.5 uSec resolution, both low res and hi res Spektrum data
Bench Tested Features of aq32Plus:
1)Parallel PWM Inputs 2)Spektrum Satellite Input and Binding, 8 channel low res mode 3)Quad X Calculations 4)CLI Setup 5)RF Telem
Flight Tested Features of aq32Plus:
1)Spektrum Satellite Input and Binding, 8 channel low res mode 2)Quad X 3)CLI Setup
Planned Additions (in no particular order):
1)Vertical VelocityHold/Altitude Hold 2)Velocity Hold 3)Position Hold 4)Battery Monitor 5)SD Card Read/Write 6)AGL Sensor 7)Optical Flow velocity/position aiding 8)Re work uart definitions to match production AQ32 schematic 9)Futaba SBUS 10)Support more than 8 RX channels 11)OSD 12)Second Spektrum Satellite 13)PID autotuning
There's a lot of stuff I could on here with, but enough typing for now. I tried to keep the code as readable as possible. I'm sure there is a lot of room for improvement.
As of this writting I've done hovering tests in my backyard, and Mikro has also flown it (harder than I have I hope). I think it's the best handling code I flown in my limited testing. Some of the guys I conferred with, who are far better pilots than I am, have been able to fly circles around themselves without seeing the leans problem.
My test configuration is the AeroQuad Typhoon frame, with the same motors and ESC supplied in the ARF kit. I have flashed the HobbyWing ESCs with Revision 7 of the BLHeli multirotor code. I'm using a Spektrum satellite for the RX, and will install the xBee telem radio shortly.
This a major work in progress, looking at what I feel are the best parts of many of the open source projects out there, melding that together in the STM32 world, along with some different ways of doing other things, and seeing where it takes me.
Special thanks to Greg Egan (from the UAVX program) down in Australia for his help with the accel cutoff. Many others had their hand in this too, ala42 for helping me figure out how to get the FPU running, RobertB for sharing ideas about different PID structures, and TimeCop for introducing the Naze32, which enabled me to finally figure out this STM32 stuff. Most of the low level drivers in aq32Plus are based on his Naze32/BaseFlight work. I also have a subset of this code that does run on the Naze32, but it's a little behind in some of the attitude estimator and PID enhacements at the moment.
Still a lot to learn about the STM32, and what we can do with it. More to come.....
v0.1 - Initial Release