文件列表:

BruGi_050_r1127 (0, 2016-06-26)
BruGi_050_r1127\BruGi_050_r21117 (0, 2016-06-26)
BruGi_050_r1127\BruGi_050_r21117\_BruG1i (0, 2014-05-30)
BruGi_050_r1127\BruGi_050_r21117\_BruG1i\BLcontroller.h (7738, 2014-05-30)
BruGi_050_r1127\BruGi_050_r21117\_BruG1i\ControlPanel.h (184, 2014-05-30)
BruGi_050_r1127\BruGi_050_r21117\_BruG1i\ControlPanel.ino (3994, 2014-05-30)
BruGi_050_r1127\BruGi_050_r21117\_BruG1i\definitions.h (6291, 2014-05-30)
BruGi_050_r1127\BruGi_050_r21117\_BruG1i\EEPROMAnything.h (449, 2014-05-30)
BruGi_050_r1127\BruGi_050_r21117\_BruG1i\fastMathRoutines.h (4627, 2014-05-30)
BruGi_050_r1127\BruGi_050_r21117\_BruG1i\GUI (0, 2014-05-30)
BruGi_050_r1127\BruGi_050_r21117\_BruG1i\GUI\blg-tool.exe (4025182, 2014-05-30)
BruGi_050_r1127\BruGi_050_r21117\_BruG1i\GUI\blg-tool.tcl (93577, 2014-05-30)
BruGi_050_r1127\BruGi_050_r21117\_BruG1i\GUI\GUI-50-r198-Live-View#1.png (78107, 2014-05-30)
BruGi_050_r1127\BruGi_050_r21117\_BruG1i\GUI\GUI-50-r198-Live-View#2.png (64574, 2014-05-30)
BruGi_050_r1127\BruGi_050_r21117\_BruG1i\GUI\Settings-GoPro-typical-Brugi_050.txt (1409, 2014-05-30)
BruGi_050_r1127\BruGi_050_r21117\_BruG1i\GUI\Settings-GoPro-typical-Brugi_050_01.png (109656, 2014-05-30)
BruGi_050_r1127\BruGi_050_r21117\_BruG1i\GUI\Settings-GoPro-typical-Brugi_050_02.png (31796, 2014-05-30)
BruGi_050_r1127\BruGi_050_r21117\_BruG1i\GUI\Settings-GoPro-typical-Brugi_050_03.png (32224, 2014-05-30)
BruGi_050_r1127\BruGi_050_r21117\_BruG1i\GUI\Settings-GoPro-typical-Brugi_050_04.png (45159, 2014-05-30)
BruGi_050_r1127\BruGi_050_r21117\_BruG1i\GUI\Settings-GoPro-typical-Brugi_050_05.png (44553, 2014-05-30)
BruGi_050_r1127\BruGi_050_r21117\_BruG1i\GUI\Settings-GoPro-typical-Brugi_050_06.png (33802, 2014-05-30)
BruGi_050_r1127\BruGi_050_r21117\_BruG1i\GUI\Settings-GoPro-typical-Brugi_050_07.png (41189, 2014-05-30)
BruGi_050_r1127\BruGi_050_r21117\_BruG1i\I2Cdev.cpp (53538, 2014-05-30)
BruGi_050_r1127\BruGi_050_r21117\_BruG1i\I2Cdev.h (11542, 2014-05-30)
BruGi_050_r1127\BruGi_050_r21117\_BruG1i\IMU.ino (7476, 2014-05-30)
BruGi_050_r1127\BruGi_050_r21117\_BruG1i\MPU6050.cpp (127723, 2014-05-30)
BruGi_050_r1127\BruGi_050_r21117\_BruG1i\MPU6050.h (42820, 2014-05-30)
BruGi_050_r1127\BruGi_050_r21117\_BruG1i\orientationRoutines.h (4668, 2014-05-30)
BruGi_050_r1127\BruGi_050_r21117\_BruG1i\PinChangeInt.h (20638, 2014-05-30)
BruGi_050_r1127\BruGi_050_r21117\_BruG1i\RCdecode.h (15579, 2014-05-30)
BruGi_050_r1127\BruGi_050_r21117\_BruG1i\ReleaseHistory.txt (18537, 2014-05-30)
BruGi_050_r1127\BruGi_050_r21117\_BruG1i\SerialCom.h (16315, 2014-05-30)
BruGi_050_r1127\BruGi_050_r21117\_BruG1i\SerialCommand.cpp (5048, 2014-05-30)
BruGi_050_r1127\BruGi_050_r21117\_BruG1i\SerialCommand.h (3016, 2014-05-30)
BruGi_050_r1127\BruGi_050_r21117\_BruG1i\Timer1.h (139, 2014-05-30)
BruGi_050_r1127\BruGi_050_r21117\_BruG1i\Timer1.ino (1383, 2014-05-30)
BruGi_050_r1127\BruGi_050_r21117\_BruG1i\Trace.h (646, 2014-05-30)
BruGi_050_r1127\BruGi_050_r21117\_BruG1i\Trace.ino (3594, 2014-05-30)
BruGi_050_r1127\BruGi_050_r21117\_BruG1i\variables.h (9473, 2014-05-30)
... ...

Configuration of the paramters is accomplished by a serial protocol. The user will not access the serial line directly, he will use a graphical user interface (GUI) running on a host pc. A proper gui tool (blg-tool) is located in the GUI folder. The Arduino Serial Monitor can be used for debugging purposes. Arduino -> Tools -> Serial Monitor Settings Baudrate: 11200 Baud, NL and CR ###################################### List of serial commands ###################################### sd # set defaults we # write config to eeprom re # restore config from eeprom gc # calibrate gyro ac # calibrate acc sbv # save battery voltage sc # select specific eeprom config set par # general parameter read/set command e.g. par # list all config parameters par gyroPitchKi # list gyroPitchKi par gyroPitchKi 12000 # set gyroPitchKi to 12000 ver # print firmware version string he # print help The firmware version string is printed at the end of a "par" list command e.g. "BruGi version 49 r190" ###################################### Config Parameters (list with "par") ###################################### gyroPitchKp/gyroRollKp pid controller P-value gyroPitchKi/gyroRollKi pid controller I-value gyroPitchKd/gyroRollKd pid controller D-value accTimeConstant time constant of ACC complementary filter. controls how fast the gimbal follows ACC. unit = 1 sec, e.g. 7 = 7 seconds angleOffsetPitch/angleOffsetRoll offset of gimbal zero position unit = 0.01 deg, e.g. 500 = 5.00 deg dirMotorPitch dirMotorRoll motor direction 1 = normal, -1 = reverse direction motorNumberPitch motorNumberRoll assign motor output for pitch and roll, legal values are 0 or 1 maxPWMmotorPitch maxPWMmotorRoll motor power, legal range 0 to 255 refVoltageBat reference voltage for power scale mode In power scale mode the motor power is compensated for power supply changes Save the voltage value at which the PWM paramters have been set, as a reference. cutoffVoltage if supply voltage drops below this value motor power is switched off. Can be used to avoid low battery discharge. motorPowerScale voltage divider resistors must be mounted to use the power scale feature (see Voltage-Sense-Modification folder) 0 ... power scale mode off 1 ... power scale mode ON rcAbsolutePitch rcAbsoluteRoll 0 ... RC Relative Mode, gimbal position is incremented/decremented by RC 1 ... RC Absolute Mode, RC controls gimbal directly minRCPitch minRCRoll RC minimum set point angle, unit = 1 deg maxRCPitch maxRCRoll RC maximum set point angle, unit = 1 deg rcGainPitch rcGainRoll RC gain in Relative mode, specifies speed of gimbal movement rcLPFPitch rcLPFRoll RC low pass filter in Absolute mode, specifies speed of gimbal movement unit = 0.1 sec, e.g. 20 = 2.0 seconds rcModePPMPitch rcModePPMRoll rcModePPMAux rcModePPMFpvP rcModePPMFpvR selects the RC input mode for Pitch,Roll,Aux, FpvPitch and FpvRoll functions 0 ... use RC PWM (pulse width modulation, 1.0-2.0 ms) input source 1 ... use RC PPM (rc sum signal) input source input A2 = PWM channel 1 or PPM, if rcModePPM is select for at least once input A1 = PWM channel 2 input A0 = PWM channel 3 rcChannelPitch rcChannelRoll rcChannelAux rcChannelFpvP rcChannelFpvR select the source channel number for each Pitch,Roll,Aux, FpvPitch and FpvRoll function in PPM mode: channel numbers 0...15 select PPM channel 1...16 in PWM mode: channel numbers 0...2 refer to the input channel 1...3 note: if PPM is used, PWM channel 1 is not available for PWM rcChannelPt0 rcChannelPt1 selects the PPM channel to be output as PWM on either A2 or A1 (see rcPinModeCH1/rcPinModeCH2) fpvGainPitch fpvGainRoll gain of FPV (first person view) channel. When switch into FPV mode (my switch fpvSw) the fpv channel controls the camera postion, instead of the primary Rc channel. The amount of travel can be set by this number. rcLPFPitchFpv rcLPFRollFpv low pass filter constant in FPV mode rcMid pulse withc of the center position of pwm/ppm rc channels default 1500 usec fTrace fast trace mode data and status information is sent regulary with 25 Hz rate 0 ... off 1 ... trace RC data 2 ... trace AUX 3 ... trace IMU 4 ... trace ACC 5 ... trace GYRO 6 ... trace PID pitch 7 ... trace PID roll 8 ... trace angles (legacy OAC) sTrace slow trace mode data and status information is sent regulary with 10 Hz rate 0 ... off 1 ... trace RC data 2 ... trace AUX 3 ... trace IMU 4 ... trace ACC 5 ... trace GYRO 6 ... trace PID pitch 7 ... trace PID roll 8 ... trace angles (legacy OAC) 9 ... trace ALL (cycles through 1...7) (see Trace.ino for actual modes) enableGyro enableACC 1 ... enable Gyro/ACC update in control loop just for test and adjustment purposes axisReverseZ 0 ... sensor is mounted with component side up 1 ... sensor is mounted with component side down axisSwapXY 0 ... standard X/Y sensor orientation 1 ... swap X/Y, exchange roll/pitch function, when sensor is rotated 90 degrees fpvSwPitch fpvSwRoll select switch function (sw1 or sw2) for fpv mode switchover altSwAccTime select switch function (sw1 or sw2) for alternate acc time switchover accTimeConstant2 alternate acc time constant, as activated by alsSwAccTime gyroCal enable gyro calibration at startup 0 ... no gyro calibration at startup, use gyroOffset values from EEPROM/flash instead 1 ... perform gyro calibartion each time at startup (default) gyrOffsetX gyrOffsetY gyrOffsetZ gyro offset values, set at gyro calibration (gc command) accOffsetX accOffsetY accOffsetZ acc offset values, they are set at acc calibration (ac command). Acc calibration should be done for at least to sensor positions. e.g. for vertical (90 deg) and for horizontal (0 deg). rcPinModeCH0 rcPinModeCH1 rcPinModeCH2 mode of input A2(CH0), A1(CH1), A0(CH2) 0 ... disable 1 ... RC pwm input (on A2(Ch0) either ppm or pwm) 2 ... analog input 3 ... RC pwm output (pass trough of PPM channels rcChannelPt0/rcChannelPt1), no valid in A2(CH0) as this is the PPM input configSet active config set in EEPROM. select between several config sets stored in EEPROM. valid range 0..2

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