Omnibus F4 Nano v6.1 pinout

vierfuffzig · September 8, 2020, 5:40am

fixes for the V6.x are in master:

Mariusz_Labedzki · September 8, 2020, 5:55am

hey @vierfuffzig

do you think its possible to connect GPS via only one wire like:
GPS TX -> LED (current rc_in) ?

and then connect crossfire to full uart. I mean I can test it but Im not sure how to configure led port in hwdef

Mariusz_Labedzki · September 8, 2020, 5:58am

maybe Im doing something wrong but Im not able to run osd via only one wire FC TX -> air unit RX.

yaapu · September 8, 2020, 6:55am

Could be that DJI disabled support for “push” telemetry

vierfuffzig · September 8, 2020, 4:25pm

i haven’t actually tried, but i’d say if you set the GPSes output accordingly in u-center you might get away with a single signal wire. PB6 most likely won’t work, but you might want to try on RX4 (=ESC telem pin, defaults to SERIAL2 in runtime) if you don’t use BLHeli telemetry.

brad112358 · September 8, 2020, 5:00pm

I received a replacement V6.1 board from GetFPV over the weekend. I have installed it on my 4 inch 190g, 33 minute flight time build. OSD and everything else is now working great. When all is said and done, the only new feature over the V6 for ardupilot seems to be current readings for ESCs which supply the analog signal but don’t track current via telemetry. It’s too bad we didn’t get an extra usable full serial port, but at least we didn’t loose one. Luckily, it turns out that the hwdef already included the current pin even though the V6 didn’t connect it.
I’ve posted details of my build here:
https://discuss.ardupilot.org/t/microarducopter-3-props-omnibus-nano-success/32568/918
–Brad

Broodie · September 9, 2020, 2:32pm

Hello guys. I’m new at AP with a new board V6.1 you have as well. As far as I see currently it will be very challanging to get everything to have some autonomous moves with my drone. At the end I would like to integrate the drone into ROS with help of a raspberry Pi 3b.
I would like to thank all of you for your investigations in the topic regarding the new board I learnt already very lot. Thanks for that.
At first I would like configure the battery voltage and current monitor but I’m stucked and I would need help based on your experience. As I saw the hwdef from most recent release (4.0.3) contains already current pin (11) and voltage pin (12) definition as Brad mentioned. It would be straightforward but when I set 12 to BATT_VOLT_PIN and 11 to BATT_CURR_PIN I’ve got values that are continously changing without reason. (I have built in current sensor in 4in1 ESC.) When I measured the battery voltage with multimeter and typed into Mission Planner -> Setup -> Battery Monitor -> Measured Battery voltage then I get value of 806(!) for BATT_VOLT_MULT parameter that is unreal. And with this value the Battery monitor does not work well it does not follow the draining of the battery. So my assumption is that maybe I use a wrong pin for BATT_VOLT_PIN and BATT_CURR_PIN.
Could you please give me an advice how can I check whether I use correct pins or not for battery voltage/current monitoring?
Thank you for your help in advance.

vierfuffzig · September 9, 2020, 7:25pm

the hwdef’s pin definitions are correct. the volt pin expects direct battery voltage connect, that’s what the multiplier defaults for. check what voltage your individual battery monitor hardware outputs, maybe check the hardware’s specs or post a link to the actual hardware you’re using so we can help.
the current pin’s amp per volt scaling of 18.2 is a point to start from and requires adjustment according to you individual hardware’s specs too.

on a sidenote, respective updates to the board’s wiki page have just been merged and will be online soon.

Broodie · September 13, 2020, 9:42am

Thank you for your help and sorry for my late reply. My board is getting the battery voltage directly from 4in1 ESC so the VBAT on board has the battery voltage. You mentioned “volt pin expects direct battery voltage connect”. Does it mean I need to connect the battery voltage directly to PC1 pin of MCU? Does not PC1 pin get the VBAT directly? I does make sense for me.
About the wiki page of the new board: I have v6.1 and the ESC connector has different pinout. It has this one (I double checked it today):

vierfuffzig · September 13, 2020, 5:44pm

no, don‘t connect anything above 3.3V to your MCU directly!
what i meant was to use the dedicated pads to connect your battery as a place to start from:

Broodie · September 13, 2020, 7:29pm

Yes, I supposed the same. VBAT gets the direct voltage from battery but it does not work. It seems I have defective board unfortunately. Thank you for your help.

vierfuffzig · September 13, 2020, 7:44pm

so if you

reset all your parameters to default
reboot
set BATT_MON = 3
reboot
connect your flight battery to the batt pads

what batt voltage does MP show (and what is your actual batt voltage)?

Broodie · September 14, 2020, 10:46am

I have done that you proposed. In addition I disconnect the 4in1 ESC from FC just to be sure. In this case the battery voltage monitoring works. I did a debugging and it turned out the battery voltage monitoring works only if the current PIN is not connected from ESC to FC. I am using the following ESC: https://www.aliexpress.com/item/32845314114.html
The socket pins are not identical I took it into account. So the ESC current pin goes to CURRENT_SOCKET PC2 pin directly. The ESC current pin provides 7mV in idle state and if motors rotating on 20% throttle the current pin provides 110mV. I guess this signal should fit for MCU, shouldn’t it?
So if this pin is connected the battery voltage monitoring shows 0,2V instead of ~16V. The BATT_MON value does not matter (3, 4). Parameters are the following:

So it can be problem with the firmware? I don’t understand why the battery voltage monitor does not work if Current pin is conencted between ESC anf FC.

vierfuffzig · September 14, 2020, 11:10am

imho you need to recheck those socket pins are matching, which is not excatly facilitated by the different socket pin-maps provided on V6.1 and V6.2 revision.

PC2 (PIN12) by hardware def is used as VOLTAGE pin, not current
PC1 ( PIN11) is the CURRENT pin.

github.com

vierfuffzig/ardupilot/blob/5893b3e45f76b30fe666bcb1b3560ac8a4175e7e/libraries/AP_HAL_ChibiOS/hwdef/OmnibusNanoV6/hwdef.dat#L25


# flash size
FLASH_SIZE_KB 1024
FLASH_RESERVE_START_KB 64


# order of I2C buses
I2C_ORDER I2C2 I2C1


# order of UARTs
SERIAL_ORDER OTG1 USART1 UART4 USART6 USART3


#adc
PC1 BAT_CURR_SENS ADC1 SCALE(1)
PC2 BAT_VOLT_SENS ADC1 SCALE(1)
PA0 RSSI_IN ADC1


#pwm output
PB0 TIM1_CH2N TIM1 PWM(1) GPIO(50)
PB1 TIM1_CH3N TIM1 PWM(2) GPIO(51)
PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52)
PB5 TIM3_CH2 TIM3 PWM(4) GPIO(53)

Broodie · September 14, 2020, 11:49am

This diagram was shared by Ari Krupnik on 23th August:

I’ve got the ESC current signal on the pin I highlighted with red arrow (CURRENT_SOCKET [PC2]) I measured it. Is this pin defined as PIN 11 in AP? Voltage monitoring works with PIN 12 settings.

vierfuffzig · September 14, 2020, 8:07pm

see hardware pin to adc_chan (= runtime pin no) table:

github.com

ArduPilot/ardupilot/blob/2bc7d17e7a0226f852cad1e4fec729cc9ff90661/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32F405xx.py#L563


	"PA1"	:	1,
	"PA2"	:	2,
	"PA3"	:	3,
	"PA4"	:	4,
	"PA5"	:	5,
	"PA6"	:	6,
	"PA7"	:	7,
	"PB0"	:	8,
	"PB1"	:	9,
	"PC0"	:	10,
	"PC1"	:	11,
	"PC2"	:	12,
	"PC3"	:	13,
	"PC4"	:	14,
	"PC5"	:	15,
}


DMA_Map = {
	# format is (DMA_TABLE, StreamNum, Channel)
	# extracted from tabula-STM32F405-DMA.csv
	"ADC1"    	:	[(2,0,0),(2,4,0)],

Broodie · September 15, 2020, 9:21am

Thanks for the table it helped a lot. Based on the diagram that Ari shared with us we can see in case of STM32F405RGT6 the current pin is PC2, the voltage pin is PC1. In the table you provided the PC1 is pin 11 and PC2 is pin 12. So at the end the default pin for V6.1 board (voltage: 12, current: 11) is not correct. It needs to be exchanged to voltage: 11 and current 12.
My observiations:

Test with voltage - Pin 12, current - Pin 11: Voltage monitoring is working only if the current signal cable is completely not connected to the board. In this case there is no current monitoring.
Test with voltage - Pin 11, current - Pin 12: It is working well even if the current signal is connected to the board -> current and voltage monitoring available.

The solution is to exchange the default pins for voltage and current monitoring in case of V6.1. I don’t know why it should be but maybe the V6 has different MCU and not STM32F405RGT6. (I’m not sure.)
Has anyone tried the voltage and current monitoring using onboard voltage sensor and current pin with V6.1 board?

iter · September 15, 2020, 1:34pm

I received this diagram from an employee of the vendor. There is no guarantee that it is correct to the board you have. The vendor may have made changes to the board, or the schematic, or both, between when the board went to fab and when I received the schematic.

Ari.

brad112358 · September 15, 2020, 2:25pm

Yes, I use both Voltage and current monitoring working well on V6.1. The hwdef file is correct. The vendors’s diagram seems to have been more of a planning document and is not correct for V6 or V6.1 in this respect.
Current pin should be set to 11, Volt to 12. After calibrating both current (via total consumption measured during charge) and voltage, I have voltage multiplier set to 11.775 (voltage divider resistors vary in accuracy from board to board) and amps/volt set to 38 with offset of -0.013 (both of these numbers vary by ESC design.

Note that getting the current reading setup to be accurate both while flying and on the ground may take a few tests. Some current measurement hardware is not completely consistent as the voltage changes and at low currents it may not be very linear.

–Brad

Broodie · September 15, 2020, 2:52pm

Maybe the diagram is not valid for all V6.1 boards but that helped me out in this topic. I’ve got the board on 17th June so it was the first pack of the new version that’s why it differs to newer ones maybe. With initial calibration I’ve got 11,18 for voltage multiplier and 33,63 for A/V but I used pin 11 for current and pin 12 for voltage.
Anyway thanks all of you who helped me in this investigation. I appreciate it.