KDE Direct UVC letoto la ESC
Tataiso ea DroneCAN QuickStart
REV 1.0.4 Qetello e Fetotsoe (Pherekhong 29, 2024)
Fetileview
Tokomane ena e akaretsa mehato le likarolo tse hlokahalang ho thusa DroneCAN ka letoto la KDE Direct UVC ESC le Pixhawk 2.1 (CUBE). Mehato ea tlhophiso bakeng sa balaoli ba sefofane sa Pixhawk, hardware, le software li hlalositsoe ka botlalo. Bakeng sa tlhaiso-leseling e batsi ka DroneCAN, sheba ho https://dronecan.org.
Qala ka Potlako le Litlhoko
Software e Hlokahala:
- ESC firmware (D4600341.dfu) kapa ka holimo
- KDE Device Manager (KDE_Direct_Device_Manager_V138.4.exe) kapa ka holimo
- Morero oa Moralo
Tataiso e potlakileng ea ho seta:
- Kenya terata ka nepo li-ESC ho hokela marangrang a libese a CAN.
- Ntlafatsa li-ESC tsohle ka firmware ea morao-rao e tšehetsang DroneCAN, 'me u fane ka ID e' ngoe le e 'ngoe ea ESC Node ID le Motor ID u sebelisa KDE Device Manager.
- Ntlafatsa Pixhawk ka firmware ea morao-rao 'me u tsamaee ka tlhophiso ea pele ka Mission Planner.
- Beha CAN_P1_DRIVER ho 1, qala hape 'me u hlophise CAN_D1_UC_ESC_BM ka nepo ebe u ngola li-parameter ebe u qala Pixhawk hape ka ho hula le ho hokahanya matla hape.
- Tobetsa konopo ea hokela ho Mission Planner. Lintlha tsa Telemetry li ka ba viewed ho tswa ho Data -> Boemo ba tab.
Tataiso e qaqileng ea ho seta - CAN Bus Wiring
- Hokela terata e mosehla pakeng tsa ESC ea pele le Pixhawk. Re khothaletsa ho seha mohala oa CAN bese oa 3.3V (terata e mosehla ka ho fetisisa ka ho le letona ka lehlakoreng la ESC) e hokahanyang ESC le molaoli oa sefofane. Kaha ESC e fana ka 3.3V ho terata ena, sena se ka matlafatsa Pixhawk ka mokhoa o sa lebelloang e sa khothaletsoang. Ke CAN_L feela, le lithapo tsa CAN_H tse hlokahalang.
- Hokela ESC ka 'ngoe le lithapo tse khubelu/tse ntšo tse kenyellelitsoeng ho KDECAN-KIT.
- Kenya sehanyetsi sa ho emisa sa 120-ohm (ho tloha ho KDECAN-KIT) ho isa ho ESC ea ho qetela Beseng.
Tlhokomeliso: Lithapo tse fosahetseng li ka baka tšenyo ho molaoli oa sefofane kapa ESC.
Ntlafatsa li-ESC 'me u fane ka li-ID
Matha setsi sa morao-rao sa KDE Device Manager (V1.38.4) 'me u hokele ESC ho PC ka thapo ea USB e fanoeng le ESC. Nchafatsa ESC ho firmware ea morao-rao inthaneteng (D460341.dfu). Ebe u fetola litlhophiso tse latelang:
- Beha Mokhoa oa ho Calibration oa Throttle ho RANGE le min le max ho 1000-2000.
- Beha ID ea CAN BUS NODE ho boleng bo ikhethang.
- Beha TAolo ea CAN BUS ho DRONECAN.
- Beha ID ea DRONECAN MOTOR koloing eo e hokahaneng le eona (mohlala, 1-4 bakeng sa QuadCopter).
- Beha POLE ea DRONECAN palo ea lipalo tsa makenete ho enjene.
Tobetsa konopo ea Romela Litlhophiso 'me u tsoele pele ho pheta mehato e ka holimo bakeng sa ESC ka' ngoe, u etsa bonnete ba hore u eketsa ID ea CAN BUS NODE le DRONECAN MOTOR ID.
Viewka Live Telemetry
Hona joale Pixhawk e tla fumana melaetsa ea DRONECAN. Haeba e sa sebetse, khutlela morao ka mehato 'me u netefatse hore litlhophiso tsohle le litekanyetso li behiloe ka nepo.
Hlokomela: Mission Planner e ke ke ea ntlafatsa maemo a ESC ntle le haeba enjene e ntse e bilika. Ha e ntse e hokahane le MAVLink 2 ka koung ea COM, ESC live telemetry e ka ba viewed ka Flight Data -> Boemo. ESC ka 'ngoe e na le likarolo tse ngata tse tšoailoeng (escX_volt, escX_curr, joalo-joalo) 'me X e bonts'a ID ea DRONECAN MOTOR. Libaka li bonts'a karolo ea ESCstage, hona joale, rpm, le mocheso. Ho view telemetry ka mokhoa o hlakileng, tobetsa konopo ea Tuning, tobetsa habeli kerafo e se nang letho, ebe u khetha liparamente tse fihlang ho tse leshome ho tlatsa kerafo.
Litlhaloso
| Karolo | Tlhaloso |
|---|---|
| Firmware ea ESC | D4600341.dfu kapa ka holimo |
| Motsamaisi oa Sesebelisoa sa KDE | KDE_Direct_Device_Manager_V138.4.exe kapa ka holimo |
| Morero oa Moralo | Phetolelo ea morao-rao |
LBH
- Sepheo sa ho khaola terata ea CAN bese ea 3.3V ke efe?
Ho khaola CAN bese 3.3V terata ho thibela ESC hore e se ke ea e-ba matla Pixhawk, e sa khothaletsoang. - Nka ntlafatsa firmware ea ESC joang?
Sebelisa KDE Device Manager ho hokela ESC ho komporo ea hau ka USB le ho ntlafatsa firmware ea morao-rao inthaneteng. - Ke lokela ho etsa eng haeba data ea telemetry e sa bonahale?
Etsa bonnete ba hore litlhophiso tsohle le liparamente li hlophisitsoe hantle 'me u netefatse hore koloi e ntse e bilika ho ntlafatsa maemo a ESC ho Mission Planner.
Tataiso ea DroneCAN QuickStart
REV 1.0.4 Qetello e Fetotsoe (Pherekhong 29, 2024)
Fetileview
Tokomane ena e akaretsa mehato le likarolo tse hlokahalang ho thusa DroneCAN ka letoto la KDE Direct UVC ESC le Pixhawk 2.1 (CUBE). Mehato ea tlhophiso bakeng sa balaoli ba sefofane sa Pixhawk, hardware, le software li hlalositsoe ka botlalo. Bakeng sa tlhaiso-leseling e batsi ka DroneCAN, sheba ho https://dronecan.org
Qala ka Potlako le Litlhoko
Ho hlokahala Hardware
- Pixhawk CUBE
- KDE UVC letoto la lihlooho tse ESCs
- KDECAN-KIT JST-GHR Wire Kit (lithapo tse khubelu le tse ntšo - tse sebelisoang lipakeng tsa ESCs)
- KDECAN-PHC JST-GHR Wire (terata e tshehla - bakeng sa kgokelo ho molaodi wa sefofane)
Software e hlokahalang:
- ESC firmware (D4600341.dfu) kapa ka holimo
- KDE Device Manager (KDE_Direct_Device_Manager_V138.4.exe) kapa ka holimo
- Morero oa Moralo
Tataiso e potlakileng ea ho seta:
- Kenya terata ka nepo li-ESC ho hokela marangrang a libese a CAN.
- Ntlafatsa li-ESC tsohle ka firmware ea morao-rao e tšehetsang DroneCAN, 'me u fane ka ID e' ngoe le e 'ngoe ea ESC Node ID le Motor ID u sebelisa KDE Device Manager.
- Ntlafatsa Pixhawk ka firmware ea morao-rao 'me u tsamaee ka tlhophiso ea pele ka Mission Planner.
- Beha CAN_P1_DRIVER ho 1, qala hape 'me u hlophise CAN_D1_UC_ESC_BM ka nepo ebe u ngola li-parameter ebe u qala Pixhawk hape ka ho hula le ho hokahanya matla hape.
- Tobetsa konopo ea hokela ho Mission Planner. Lintlha tsa Telemetry li ka ba viewed ho tswa ho Data -> Boemo ba tab.
Tataiso e qaqileng ea ho seta - CAN Bus Wiring
- Hokela terata e mosehla pakeng tsa ESC ea pele le Pixhawk. Re khothaletsa ho seha mohala oa CAN bese oa 3.3V (terata e mosehla ka ho fetisisa ka ho le letona ka lehlakoreng la ESC) e hokahanyang ESC le molaoli oa sefofane. Kaha ESC e fana ka 3.3V ho terata ena, sena se ka matlafatsa Pixhawk ka mokhoa o sa lebelloang e sa khothaletsoang. Ke CAN_L feela, le lithapo tsa CAN_H tse hlokahalang.
- Hokela ESC ka 'ngoe le lithapo tse khubelu / tse ntšo tse kenyellelitsoeng ho KDECAN-KIT
- Kenya sehanyetsi sa ho emisa sa 120-ohm (ho tloha ho KDECAN-KIT) ho isa ho ESC ea ho qetela Beseng.
Tlhokomediso: Wiring e fosahetseng e ka baka tšenyo ho molaoli oa sefofane kapa ESC.
Setšoantšo sa 1: Pixhawk 2.1 (CUBE) & ESC wiring pins.
Hlokomela: Li-transceivers tsa 3.3V CAN li sebelisana ka ho feletseng le li-transceivers tsa 5V CAN.
Hlokomela: Haeba u sebelisa Pixhawk 2.1, hokela ho port CAN2 kaha likou li ngotsoe hampe.
Ntlafatsa li-ESC 'me u fane ka li-ID
Matha setsi sa morao-rao sa KDE Device Manager (V1.38.4) 'me u hokele ESC ho PC ka thapo ea USB e fanoeng le ESC. Nchafatsa ESC ho firmware ea morao-rao inthaneteng (D460341.dfu). Ebe u fetola litlhophiso tse latelang:
- Beha Mokhoa oa ho Calibration oa Throttle ho RANGE le min le max ho 1000-2000
- Beha ID ea CAN BUS NODE ho boleng bo ikhethang
- Beha TAolo ea CAN BUS ho DRONECAN
- Beha ID ea DRONECAN MOTOR koloing eo e hokahaneng le eona (mohlala, 1-4 bakeng sa QuadCopter)
- Beha POLE ea DRONECAN palo ea lipalo tsa makenete ho enjene
Tobetsa konopo ea "Romela Litlhophiso" 'me u tsoele pele ho pheta mehato e ka holimo bakeng sa ESC e' ngoe le e 'ngoe, ho etsa bonnete ba hore u eketsa CAN BUS NODE ID le DRONECAN MOTOR ID.
Setšoantšo sa 3: KDE Device Manager DRONECAN setting
E le hore taolo ea throttle e sebetse hantle ka DRONECAN, pele u lokela ho seta CAN_P1_DRIVER ho 1 'me u qalise molaoli oa sefofaneng (likarolo tsohle tse hlokang hore likaroloana tsa memori li qale li etsoa hang ha u qala). Ka mor'a moo, u lokela ho beha CAN_D1_UC_ESC_BM palo ea li-ESC tseo u li sebelisang ho Mission Planner. Bakeng sa mohlalaample, haeba u sebelisa QUAD X foreime, joale u tla khetha ESC 1, ESC 2, ESC 3, le ESC 4 ho etsa hore liphetho tsa motlakase li romelloe.
Setšoantšo sa 4: Mission Planner CAN_D1_UC_ESC_BM example. 
U boetse u hloka ho hlophisa sena ho ESC ka 'ngoe u sebelisa KDE Direct Device Manager le eona. Bakeng sa mohlalaample, haeba u sebelisa QUAD X, koloi e ka holimo ka ho le letšehali ke ID 3 kahoo ESC e laolang koloi e ka holimo ka ho le letšehali e hloka ho ba le DRONECAN MOTOR ID e behiloeng ho 03. U tla hloka ho beha MOTOR ID bakeng sa ESC ka 'ngoe e hokahaneng.
Setšoantšo sa 5: KDE Device Manager MOTOR ID. 
Viewka Live Telemetry
Hona joale Pixhawk e tla fumana melaetsa ea DRONECAN. Haeba e sa sebetse, khutlela morao ka mehato 'me u netefatse hore litlhophiso tsohle le litekanyetso li behiloe ka nepo. * Tlhokomeliso: Mission Planner e ke ke ea ntlafatsa maemo a ESC ntle le haeba enjene e ntse e bilika.
Ha e ntse e hokahane le MAVLink 2 ka koung ea COM, ESC live telemetry e ka ba viewed ka "Lintlha tsa Sefofane" ->
"Boemo". ESC ka 'ngoe e na le likarolo tse ngata tse tšoailoeng (escX_volt, escX_curr, joalo-joalo) 'me X e bonts'a ID ea DRONECAN MOTOR. Libaka li bonts'a karolo ea ESCstage, hona joale, rpm, le mocheso. Ho view telemetry ka mokhoa o hlakileng, tobetsa lebokose la "Tuning", tobetsa habeli kerafo e se nang letho, ebe u khetha liparamente tse fihlang ho tse leshome ho tlatsa kerafo.
Setšoantšo sa 7: fensetere ea telemetry ea Mission Planner. 
Bakeng sa firmware ea PX4 Autopilot e nang le QGroundControl:
- seta Setupo sa Koloi -> Lintho tse hlahisoang ke Actuator -> Lokisa: "Sensors and Actuators (ESCs) Automatic Config" beha Setupo sa Likoloi -> ESCs 1-4 mosebetsi oa ho hlahisa Motors 1-4
- U ka khona hona joale view molaetsa oa ESC_STATUS ho Analyse Tools -> MAVLink Inspector
Litokomane / Lisebelisoa
 |
KDE Direct UVC letoto la ESC [pdf] Bukana ea Mosebelisi KDE-UAS125UVC-HE, KDE-UAS125UVC-HE UVC series ESC, KDE-UAS125UVC-HE, UVC series ESC, series ESC, ESC |
