KDE Direct KDE-UAS40UVC UVC Electronic Speed ​​Controller

Zaidiview

Hati hii inashughulikia hatua na vipengele vinavyohitajika kuwezesha DroneCAN na mfululizo wa KDE Direct UVC ESC na Pixhawk 2.1 (CUBE). Hatua za usanidi wa vidhibiti, maunzi na programu za ndege ya Pixhawk zimefafanuliwa kwa undani zaidi. Kwa habari zaidi kuhusu DroneCAN, rejelea https://dronecan.org

Anza Haraka na Mahitaji

Vifaa vinahitajika: 

• Pixhawk CUBE
• KDE UVC mfululizo ESCs
• KDECAN-KIT JST-GHR Wire Kit (red and black wires – used between ESCs)
• KDECAN-PHC JST-GHR Wire (yellow wire – for connection to flight controller)

Programu inahitajika: 

• Firmware ya ESC (D4600341.dfu) au juu
• Kidhibiti cha Kifaa cha KDE (KDE_Direct_Device_Manager_V138.4.exe) au zaidi
• Mission Planner

Mwongozo wa Usanidi Haraka: 

1. Weka waya ESC kwa usahihi ili kuunganisha mtandao wa basi wa CAN.
2. Sasisha ESC zote ukitumia programu dhibiti ya hivi punde inayoauni DroneCAN, na ukabidhi kila Kitambulisho cha Nodi ya ESC na Kitambulisho cha Motor kwa kutumia Kidhibiti cha Kifaa cha KDE.
3. Sasisha Pixhawk na programu dhibiti ya hivi punde na upitie usanidi wa awali kupitia Mission Planner.
4. Weka CAN_P1_DRIVER hadi 1, washa upya na uweke CAN_D1_UC_ESC_BM kwa usahihi kisha uandike vigezo na uanze upya Pixhawk kwa kuchomoa na kuunganisha nguvu tena.
5. Bonyeza kitufe cha kuunganisha katika Mission Planner. Data ya telemetry inaweza kuwa viewed kutoka kwa Data -> Kichupo cha Hali.

Mwongozo wa Kina wa Usanidi - Wiring wa basi wa CAN

1. Unganisha waya wa manjano between the first ESC and the Pixhawk. We recommend cutting the CAN bus 3.3V wire (the right-most yellow wire on the ESC side) that connects the ESC to the flight controller. Since the ESC supplies 3.3V to this wire, this can inadvertently power the Pixhawk which isn’t recommended. Only CAN_L, and CAN_H wires are required.
2. Connect each ESC together with the red / black wires included in the KDECAN-KIT
3. Ongeza kipingamizi cha 120-ohm (kutoka KDECAN-KIT) hadi ESC ya mwisho kwenye Basi.
   Figure 1: CAN bus wiring.
   

Onyo: Wiring isiyo sahihi inaweza kusababisha uharibifu kwa kidhibiti cha ndege au ESC.

• Mchoro 1: Pixhawk 2.1 (CUBE) & pini za waya za ESC.
  

Kumbuka: Transceivers za 3.3V za CAN zinashirikiana kikamilifu na vipitishio vya 5V vya CAN.
Kumbuka: Iwapo unatumia Pixhawk 2.1, unganisha kwenye mlango wa CAN2 kwa kuwa milango hiyo ina lebo isiyo sahihi.

Sasisha ESC na Upe Vitambulisho

Endesha kisakinishi kipya cha Kidhibiti cha Kifaa cha KDE (V1.38.4) na uunganishe ESC kwenye Kompyuta yako kupitia kebo ya USB iliyotolewa na ESC. Sasisha ESC kwa firmware ya hivi karibuni mtandaoni (D460341.dfu). Kisha ubadilishe mipangilio ifuatayo:

• Weka Hali ya Urekebishaji wa Throttle iwe RANGE na min na max hadi 1000-2000
• Weka kitambulisho cha CAN BUS NODE kwa thamani ya kipekee
• Weka CAN BUS CONTROL kuwa DRONECAN
• Weka kitambulisho cha MOTOR cha DRONECAN kwenye injini ambayo imeunganishwa (km 1-4 kwa QuadCopter)
• Weka POLE ZA DRONECAN kwa idadi ya miti ya sumaku kwenye motor

Bonyeza kitufe cha "Tuma Mipangilio" na uendelee kurudia hatua zilizo hapo juu kwa kila ESC, uhakikishe kuwa unaongeza KITAMBULISHO CHA NDOGO YA CAN BUS na DRONECAN MOTOR ID.

• Kielelezo cha 3: Mipangilio ya Kidhibiti cha Kifaa cha KDE DRONECAN
  

Kumbuka: When CAN BUS CONTROL is set to DRONECAN, the ESC will prioritize the throttle sent via the PWM wire (if available). If you send the throttle via the PWM wire (white, red, black) and disconnect it, the ESC will fallback on the DroneCAN throttle. Connecting the PWM wire is optional when using DroneCAN.

For throttle control to work properly via DRONECAN, first you need to set the ANAWEZA_P1_DEREVA to 1 (First Driver) and set CAN_D1_PROTOCOL to 1 (DroneCAN) then reboot the flight controller (all features that require chunks of memory to initialize are done once at boot). Next, you need to set CAN_D1_UC_ESC_BM to the number of ESCs you are using in Mission Planner. This bitmask tells the flight controller which Servo Outputs are routed to DroneCAN ESCs (the bitmask should match the servo motor output you are using). For exampna, ikiwa unatumia fremu ya QUAD X, basi ungechagua ESC 1, ESC 2, ESC 3, na ESC 4 kwa vituo 1-4.

• Kielelezo cha 4: Mission Planner CAN_D1_UC_ESC_BM example.
  

Pia unahitaji kusanidi hii kwenye kila ESC kwa kutumia Kidhibiti cha Kifaa cha KDE Direct pia. Kwa mfanoampIkiwa unatumia QUAD X, injini ya juu kushoto ni ID 3 kwa hivyo ESC inayodhibiti injini ya juu kushoto inahitaji kuweka Kitambulisho cha DRONECAN MOTOR kuwa 03. Utahitaji kuweka Kitambulisho cha MOTOR kwa kila ESC iliyounganishwa.

• Kielelezo cha 5: KDE Kidhibiti cha Kifaa cha MOTOR.
  
• Figure 6: Mission Planer Frame Type.
  

Viewkwenye Telemetry ya moja kwa moja

Pixhawk sasa itapokea ujumbe wa DRONECAN. Ikiwa haifanyi kazi, rudi nyuma kupitia hatua na uhakikishe mipangilio na vigezo vyote vimewekwa kwa usahihi. * Kumbuka: Mission Planner haitasasisha uga za hali ya ESC isipokuwa injini inazunguka.

Wakati imeunganishwa kwa MAVLink 2 kupitia lango la COM, telemetry ya ESC ya moja kwa moja inaweza kuwa viewed via “Flight Data” -> “Status”. Each ESC has numerous fields marked (escX_volt, escX_curr, etc.) with X indicating the DRONECAN MOTOR ID. The fields indicate the ESCs’ voltage, sasa, rpm, na halijoto. Kwa view telemetry kwa michoro, bofya kisanduku cha kuteua cha "Tuning", ubofye mara mbili grafu tupu, kisha uchague hadi vigezo kumi ili kujaza grafu.

• Kielelezo cha 7: Dirisha la telemetry la Mpangaji Misheni.
  

Kwa programu dhibiti ya PX4 Autopilot na QGroundControl:

weka Usanidi wa Gari -> Matokeo ya Kitendaji -> Sanidi: "Sensorer na Viendeshaji (ESCs) Usanidi wa Kiotomatiki" weka Usanidi wa Gari -> kitendakazi cha ESCs 1-4 ili kutoa kwa Motors 1-4

Unaweza sasa view ujumbe wa ESC_STATUS katika Zana za Kuchambua -> Mkaguzi wa MAVLink

Nyaraka / Rasilimali

KDE Direct KDE-UAS40UVC UVC Electronic Speed ​​Controller [pdf] Mwongozo wa Mtumiaji KDE-UAS40UVC UVC Electronic Speed Controller, KDE-UAS40UVC, UVC Electronic Speed Controller, Electronic Speed Controller, Speed Controller, Controller

Marejeleo

• Mwongozo wa Mtumiaji