Aerial Robotics Testbed » telekyb3 » tk3-mikrokopter

News

tk3-mikrokopter 1.9 released

Added by Anthony Mallet 6 months ago

Changes¶

• Add a 'disarm' timeout stopping motors (default 10s)

Download¶

tk3-mikrokopter-1.9.tar.gz

tk3-mikrokopter 1.8.5 released

Added by Anthony Mallet almost 5 years ago

Changes¶

• Write clock setting into EEPROM only during the first 30s, to avoid the 12ms write time during flight and while receiving motor velocity commands.

Download¶

tk3-mikrokopter-1.8.5.tar.gz

tk3-mikrokopter 1.8.4 released

Added by Anthony Mallet almost 6 years ago

Changes¶

• Fix clock synchronization on the ESC (signed vs. unsigned comparison error).

Download¶

tk3-mikrokopter-1.8.4.tar.gz

tk3-mikrokopter 1.8.3 released

Added by Anthony Mallet almost 6 years ago

Changes¶

• Fix issues in the open-loop startup code
• Do not hardcode max current for overcurrent protection during startup
• Ignore motor start command if already starting up
• Update the allowed range of motor id in the mkbl settings documentation
• Add missing 'start-period' parameter in the ESC parameters doc

Download¶

tk3-mikrokopter-1.8.3.tar.gz

tk3-mikrokopter 1.8.2 released

Added by Anthony Mallet about 7 years ago

Changes¶

• Fix SMC error computation (32 bits -> 16 bits conversion), preventing from triggering dynamic braking
• Drop the hardcoded minimum PWM limit in open-loop control mode (now automatically switches to closed loop control when the velocity drops below ~15Hz)
• Limit peak voltage due to dynamic braking to 23V (hardcoded conservative limit for the MKBL2.0 hardware).

Download¶

tk3-mikrokopter-1.8.2.tar.gz

tk3-mikrokopter 1.8.1 released

Added by Anthony Mallet over 7 years ago

Changes¶

• Log value of clock calibration rate when it is changed

Download¶

tk3-mikrokopter-1.8.1.tar.gz

tk3-mikrokopter 1.8 released

Added by Anthony Mallet over 7 years ago

Changes¶

• Added a butterfly compatible bootloader for the flymu board
• Added support for the flymu board
• Added a command setting an array of PWM for all motors (#111)
• Improved ADC calibration for current and battery measurement
• Simplified communication buffer overflow handling
• Miscelaneous optimizations improving code speed

Download¶

tk3-mikrokopter-1.8.tar.gz

tk3-mikrokopter 1.7 released

Added by Anthony Mallet about 8 years ago

Changes¶

• Reworked the startup procedure to make it more robust to different propellers/motors combination (new parameters require a flash -i)
• Updated threshold on the SMC controller (faster response)
• Allow individual motor start and stop

Download¶

tk3-mikrokopter-1.7.tar.gz

tk3-mikrokopter 1.6.1 released

Added by Anthony Mallet over 8 years ago

Changes¶

• Increase the maximum allowed startup current (to 6A)
• Make the flight controller start timeout proportional to the number of motors
• Add a visual communication bandwidth staturation flag on the flight controller
• Always activate dynamic braking when spinning velocity is above ~16Hz (instead of every other period)
• Smooth a bit more the spinning velocity measurement
• Improve a bit the velocity controller response time
• Reset the spinning direction to + when stopping

Download¶

tk3-mikrokopter-1.6.1.tar.gz

tk3-mikrokopter 1.6 released

Added by Anthony Mallet over 8 years ago

Changes¶

• Document the 'watchdog' brushless parameter
• Implement motor reversing capability. /!\ this breaks (slightly) the communication protocol: spinning velocities in control messages are now defined as the half of the period (so that the signed quantity still fits on 16 bits with the same range).
• Explicitly fail to boot if some EEPROM parameters are not set

Download¶

tk3-mikrokopter-1.6.tar.gz

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