Changes¶
- Add a parameter start-acc (0-100%) to configure maximum acceleration at low speed. Default 20%.
- Set a minimum commanded PWM (half of the start-pwm parameter) to avoid motor desync when braking hard.
- Add a ~500ns delay before grounding phases when braking, in case a phase go from +Vcc to GND directly without passing through the floating state. This avoids potential shorts due to MOSFETs commutation time.
Download¶
tk3-mikrokopter-1.10.tar.gz
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
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
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
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
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
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