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Re: [Paparazzi-devel] Hexacopter

From: Felix Ruess
Subject: Re: [Paparazzi-devel] Hexacopter
Date: Wed, 4 Apr 2012 10:08:47 +0200

Beware that the h_hex.xml is for a H shaped hexa and not a normal one.
See for how to compute it..

On Wed, Apr 4, 2012 at 8:44 AM, Christophe De Wagter <address@hidden> wrote:
Sounds correct: the hard way would be the find out where the 6 PWM pins of the FBW are routed on the Tiny, and update the frequency. 

Conclusion: A tiny + IMU + Barometer = Booz autopilot. 

sidenote: the current I2C aspirin driver for LPC works at "only" 100Hz... for small quads that would be rather "slow". So either you can get a SPI aspirin 2.X version or you need to tweak the code a bit. 


2012/4/4 Cédric Marzer (privé) <address@hidden>


So if I want to stick to the LPC I can go the lazy way and order 6 mikrokopter ESC or the hard way and connect the esc to some spare ADC connectors of the tiny and do some coding…

Is that correct ?



De : paparazzi-devel-bounces+spam1=address@hidden [mailto:paparazzi-devel-bounces+spam1=address@hidden] De la part de Christophe De Wagter
Envoyé : mercredi 4 avril 2012 07:42
À : address@hidden
Objet : Re: [Paparazzi-devel] Hexacopter


In order to have fast enough motor commands you need to bypass the decade encoder and use direct pwm like on the classix. Stm32 has only direct pwm pins and can therefore make 400hz servo commands on all servos. The default config of the tiny is 50hz servos.

On Apr 4, 2012 7:08 AM, "Cedric Marzer" <address@hidden> wrote:

Thank you for your answer and for the link.

I am still wondering why it is written that the pwm actuator is for stm32 only.

Is it because there is a timing problem with the LPC ?

Or is it just because nobody has taken the time to write it ?

Or is there another subsystem to drive the ESC with PWM ?

Is there an expert that could answer that question ?

Thanks in advance





Le 4 avr. 2012 à 00:06, Simon Wilks a écrit :

I don't know about it's suitability in general but to get around the PWM problem you could use an I2C to PWM converter like this


If you are using the DJI ESCs they will be fast enough to make the setup probably still fast enough given the 2-3ms delay in the conversion step.

Here is a sample hexa airframe config with the matrix:




On Tue, Apr 3, 2012 at 11:00 PM, Cedric Marzer <address@hidden> wrote:

Hi all,
I am putting together some of my old hardware and some new one to make an hexacopter.
I have a new DJI F550 frame with the pwm esc.
My old autopilot board is a tiny.
I just ordered an aspirin IMU.
Is there a chance I can make it work ? I read that the pwm is just for STM32. Is there a way to make the DJI ESC work with the tiny ?
By the way does anyone of you have the matrix for a regular Hexa ?
Thanks in advance
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