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Omnibus F4 V5 & V6 Setup - Application Race Quad

gps
arducopter
chibios
copter-36

(Gary Mortimer) #37

Ah ok, I just thought I better check :wink:


(Ryan C Smith) #38

If we are using the omnibusf4pro hwdef and it has less (3x) uarts then our boards. You had made a comment about it about a month ago. The 5.1 also has 5x uarts.


(chris rey) #39

hi @IAMMATT , did you try autotune? I’m just asking because in MP with this Dev firmware the CH7 and CH8 options in advanced settings Tab are not available, but can set in full parameters view, no? Did you get good results? Thanks, Chris


(Matt Kear) #40

Hi Chris,
I found that I had to reinstall mission planner. That ‘un-grayed’ a lot of the parameters on the extended tuning screen.

Yeah, I autotuned my race quad. It took quite a few attempts but it got there in the end. I could only tune one axis at a time as the battery would only last that long. Initially it wouldn’t complete with AUTOTUNE_AGGR set to 0.1. I set it to 0.08 and it worked well. It generally was flying pretty good. I subsequently went back over all the axis, autotuning with AUTOTUNE_AGGR set to 0.1. It worked this time as the starting point was closer. However the flying performance was unchanged. Even check through the data flash logs the tune rate response appeared the same.
Matt


(Matt Kear) #41

Hi Ryan,
I’m not sure I was clear in what I said previously. The V6 board is set up to ‘supposedly’ have 5 UARTS. The v5.1 only has 3
UARTS. Now in theory it might might be possible to have more UARTS on the 5.1 board as the ARM STM32F405 chip can support more. However this is dependent upon which pinouts on the board are connected to which pins on the chip. In all likeliness it would mean sacrificing other functions (like pwm, buzzer, etc) by remapping the board for extra UARTS. However, to do this is currently above my knowledge level and not something I am looking to do.

The reason I say that the V6 ‘supposedly’ has 5 UARTS is because one UART is Rx only and another is Tx only. So not the most helpful. I think that the v6 board will work with the v6 nano hwdef target. However this will only give 4 pwm not 6 pwm. I will eventually get around to adding the last two pwm on the full size v6 board.

Matt


(Ryan C Smith) #42

Your right I didn’t look over my docs well enough and must have had the V6 info in my head when I was doing stuff. My bad.


(Ryan C Smith) #43

I burnt out my 4th PWM on my v5.1 so I ordered a new v6. I happened to check out ardupilot git and there is a new target for the omnibusf4v6. The firmware page has pre compiled ardupilot copter but doesn’t have a bootloader file to flash. And if you were using the omnibusf4Pro or OmnibusNanov6 target previously it won’t allow you to just flash the .apj file as it has a different target board id. I have compiled and successfully flashed the bootloader I made from the git repo with the new hardware definition files for omnibusf4v6.

1.Download the pre compiled bootloader file:
https://drive.google.com/file/d/1tHtFclLbRxUu-YNAp2l3ykb2sSnAEBBh/view?usp=sharing

2. Then flash this per instructions making sure to use the correct file name. If on windows make sure you don't have spaces in any folders:
http://ardupilot.org/copter/docs/common-omnibusf4pro.html#enter-dfu-mode 

3. After you flash make sure to disconnect and reconnect the board.

4. Then Download the firmware you want to install.
http://firmware.ardupilot.org/Copter/beta/omnibusf4v6/ 3.6.1 RC -Beta
And
http://firmware.ardupilot.org/Copter/latest/omnibusf4v6/ 3.7.0 Dev -Latest

5. Load mission planner and install via the Load Custom firmware.  

6. joy

@IAMMATT
I have not used this but the OSD might work, would love someone to test and report. I am working on getting some more parts in before i can finish my build. But will let you guys know when I do.

EDIT: The Latest version now has a new build from master and Tridge added the with-BL.hex to the auto build system. So just flash that with Betaflight then you can flash the Beta as of writing 3.6.1RC to the board. There wont be a with-BL.hex file for BETA with the new bootloader for the omnibusf4v6 board target till they make a new RC for 3.6.1.


(Dave) #44

The easiest way is to use the “with_bl.hex” file and load it with the Betaflight Configurator once. After that you can use Mission Planner as usual to flash firmware. I have a couple of these F4 Nano V6’s.

I’m not using OSD but others are and it works.


(Ryan C Smith) #45

Like I said in the post and if you checked the links (as of my writing) there are no “with_BL.hex” hence the reason i compiled my own bootloader for this 3 day old new target for the omnibusf4v6. The omnibusf4v6 is a brand new target for the v6 board. No one has posted on this thread about using it.

There is no way to install the omnibusf4v6 ardupilot software without the bootloader. I am not sure how to make those files and It could be as easy as renaming my arducopter build i made myself from master that ended in .bin to a .hex file. I just got this board in the mail today and I’ll have to ask a dev if my theory is correct. When you compile it spits out two firmware files an .apj and a .bin. But I don’t know of the .bin has a bootloader in it or not.

The file I posted above was me just compiling a bootloader
But I can confirm this method I posted above works.


(Dave) #46

Ah OK, sorry. So the old way before the BF targets were available. I had to do that with the 1st F4 Nano V6.


(Ryan C Smith) #47

I get some more crap in the mail tomorrow and can rebuild my smaller quad. I am switching my PDB to one with a current sensor even though I am going to try to use the BLheli esc telemetry as a current sensor too. I am gong to set up BLheli as sensor monitor 1 and current sensor as monitor 2… after I calibrate it that is.


(Dave) #48

Interesting. The latest hwdef file for the F4 Nano V6 is supposed to enable ESC telemetry on Rx 4 but 1st attempt didn’t work for me with an Ori32 ESC.


(Ryan C Smith) #49

Just heard back from Tridge and they added the bootloader to the auto build system so I assume soonish there will be a version of beta and latest with the "with_BL.hex so it can be flashed onto the f4 v6.

@dkemxr I havn’t gotten that far I fired my v5.1 with a soldering iron that was hotter then it needed to be. So my testing ended there.
Have you looked into the serial settings? ( SERIAL(3 or 4)_PROTOCOL ) It should be set to 16 for ESC Telemetry.
Hwddef.dat on the nanov6 was updated to inclued uart 4 rx for ESC Telemetry. There is also a test function to see if your getting info from the motors you can set. it might be new if you tried it a little while ago. You should see data in mission planner according to the video that sets the full debug. SERVO_BLH_TEST I would assume the motor test runs similar and you would see telemetry data.


(Dave) #50

Yep, have Serial 4 set for 16. I’m monitoring ESC telemetry in MP on the tuning screen but no data.


(Ryan C Smith) #51

Check out this post and the whole thread on esc telemetry. This user has the nanov6. He says he had to comment out Uart4 and re-compile AP but i don’t think that may be needed anymore. The post was a month or so ago. I haven’t check in on this theory yet about i am pretty sure i saw it setup properly on the new v6 regular target. so they may have updated the hwdef for the nano as well as they are very similar. Also @Paul_Atkin1 confirmed a few posts down that he had it hooked up correctly but didn’t think he did the whole time. Due to the messages he saw in MP. … It might work if your on the master or new 3.6.1RC for the nanov6


(Paul Atkin) #52

MP still shows no esc data correctly in the status screen. it is plain broken. you need to arm the model and then look into the dataflash log into ESCx sections. if hooked up correctly - it will have those sections and values in them.


(Dave) #53

UART4 mapped to Serial2! That did the trick, thanks Ryan! The data is now available on the tuning screen of Mission Planner. Not sure about current it looks a bit wonky but voltage and RPM are working. It could just be the update rate for the live graph.


(Ryan C Smith) #54

Awesome Dave, Make sure to set the SERVO_BLH_TRATE to 10. Also check to see what you set your Protocol for the BLHELI that may affect your results. Recommended was Dshot150. Per http://ardupilot.org/copter/docs/common-dshot.html?highlight=blheli. I am going to try out Serial 2 on my v6 Regular when I get things soldered up hopefully tonight. Hopefully it is the same. I need to look over the hdwdef for the nano and regular side by side. I am assuming I need to use the LED pad for S.Bus on the FRSKY too like the nanov6.


(atobiese) #55

“I am assuming I need to use the LED pad for S.Bus on the FRSKY too like the nanov6.”

Yes, that is correct.


(atobiese) #56

The regular V6 board also includes an additional uart (uart3), that can be used for example for a rangefinder in conjunction with gps etc. It also exposes pwm 5 and 6 (for example for servos).

I have not had time to make a description for the board yet. Note that uart4 is not a full uart, only rx (PA0 is used for rssi adc).

for example with use of 3 uarts:
esc-telemetry
SERIAL2_PROTOCOL

gps (enabling use of the 6 pin JST, gps with compass)
SERIAL3_PROTOCOL

lidar tfmini
SERIAL4_PROTOCOL (UART3)