Drone's DIYer

About

This firmware designed as a replacement for many commercially available ESC designs based on the AVR MCU. It implements scalar sensor less method to drive Brushless Motor by detecting BEMF zero-crossing instants. The goal of this project is to create firmware most suitable to use in multi-rotors, using cheap and commercially available hardware.

이 펌웨어는 AVR 마이크로콘트롤러(MCU)에 기반을 둔 많은 상업용 ESC의 대체용으로 설계되었습니다. 이것은 BEMF zero-cross 순간을 감지하여 Brushless 모터를 구동하는 Sensorless 방법을 구현하였습니다. 이 프로젝트의 목표는 저렴하고 상업적으로 가능한 멀티로터(Multi-rotor) 기체를 사용하는 데에 가장 적당한 펨웨어를 개발하는 것입니다.

Features:

• Fastest possible power response.

• Up to 4000 steps of resolution.

• Low noise with comparatively high efficiency (Sigma-delta modulator, instead of fixed frequency PWM)

• Linear power response. (completely no "bump" at 100%)

• Jitter-free input PWM measurement without harware assisted input capture.

• Accepts any PWM update rate

• Sync recovery.

• Safe stall detection.

• Complimentary PWM support (AKA: active freewheeling, active rectification)

• Fixed throttle end-points. No need to calibrate. (since version 2.0.9 it is also possible to calibrate end-points using stick programming procedure)

• Automatic oscillator calibration.
  Enhanced PPM filter, preventing accidental motor startup (when FC is rebooted, for example)

• Configurable. The configuration parameters are stored in EEPROM. The Wii-ESC flash tool has visual parameters editor. No more stick programming.

• Modularity. The high-level implementation is separated from actual hardware with HAL layer.

• Portability. The firmware is written in C++, which means it can be easilly ported to different platform.

Supported Hardware:

For complete mapping between targets and real hardware, it is possible to use RapidESC Database. Currently tested targets:

펌웨어와 실제 하드웨어 사이에 완전한 매핑을 위하여 RapidESC 데이타베이스를 사용하는 것이 가능합니다. 현재 검증된 펨웨어는 다음과 같습니다.

• bs.hex

• bs_nfet.hex

• bs40a.hex

• kda.hex

• qynx.hex

• rb50a.hex

• rct30nfs.hex

• rct45nfs.hex

• tgy.hex

• tp.hex

• tp_nfet.hex

다음은 아래의 상업용 HobbyKing BlueSeries 40A(HK40A-bs) ESC에서 APC prop.을 장착하고 원래 출고당시 제품과 SimonK와 Wii-ESC 펌웨어를 탑재하였을 때의 추력 등의 특성을 서로 비교한 데이터입니다.

마지막으로 상업용 ESC에 재프로그램(reflashing)하는 절차입니다.

• Project Wiki

• RCGroups Thread