Hi,
I am trying to use the ardurover software on the speedybee f4v3, I have a gps with compass connected but I am not sure how to connect the radio and motors to the board, as I am not using the stack ESCthat most commonly comes with the speedybee f4v3 but 2 motor controllers that control 2 motors each.
The motor controllers I am using are the BTS7960
And the radio controller I want to connect is the flysky i6x with the iA6B Receiver
I am also not sure if a telemetry radio is needed either.
Without the motor controllers connected I attempted to read the outputs of the 4 motor pins on the flight controller but when trying the motor test in mission planner it said command denied by the autopilot
I am very new to this so any help would be greatly appreciated!
Thanks,
Matt
As I can see the BTS7960 is just a half bridge motor driver.
Controller interface is not just like normal ESC. So please show how you connected these to your FC.
Also your PARAM file and a LOG.bin file is needed.
I haven’t connected the motor controllers to the FC just yet because I am not sure how the 4 motor outputs on my FC would plug into the RPWM and LPWM inputs on each motor controller
@Juergen-Fahlbusch Sorry for the delay,
I have uploaded the full params list file, I am not sure where the LOG files are, and here is a photo of the messages tab when the speedybee is connected if that is useful.
The barometer is also faulty, so I had to make a custom firmware to skip barometer checks to allow it too be armed.
I also currently only have the GPS connected, as I am working on connecting motors, is a telemetry radio needed?
If it is possible to output the motor signals to an Arduino then use the Arduino to control the motors that would also be a option for me, but so far have been unsuccessful to read from the Speedy Bee as mentioned before it says command denied by autopilot when attempting motor tests.
As I said before the BTS7960 is just a half-bridge. To use these devices to controll a motor with running fwd stop rev you need two BTS per motor as a full H bridge. For a skid steer rover this are four BTS7960.
Any of this full H bridge needs as minimum two better three digital control pins. So it is not simple to connect this directly to the FC.
So a normal ESC is more than just the motor driver IC. It has a inbuilt logic which converts the RC PWM signals to 0-100% PWM for the motor and controls also the motor direction.
If you are able to do this with an arduino in between you only need the two connect the two corresponding servo out channels of the FC to two arduino inputs.
Dut as you are also talking from
RPWM and LPWM inputs on each motor controller
you might have not only the BTS7960 chips itself but a controller board based on the chips.
If so please provide any information about this controller.
Ok thanks, I
If it helps the motor controller is an IBT_2 BTS 7960 which allows two motors per controller, so I will just have use 2 motor controllers and have the the left wheels connected to one, and the right wheels to the other, as if its only a 2 wheel skid steering setup.
If I were to read the signals from the SpeedyBee F4 V3, would it just be a PWM range signal that I have to read using the Arduino?
I also still have the problem of mission planner having the “denied by autopilot” error when I attempt motor tests so I cannot currently read anything from any motor output.
Is it also possible to use flysky i6x with the i6ab receiver as my radio? I still need to complete radio calibration which I believe could be the problem for it denying the motor tests but I am unsure if this module can work with the speedybee and where to wire it into the receiver.
Yes, this is one way, read the two PWM ServoOut Channels with the arduino. Or you evaluate if a direct digital link from FC to arduino is possible. Maybe someother had done this already.
