Update:
nieuwe firmware beschikbaar
HW Version 2.1
SW Version 1.11S2 With Spektrum (R) Satellite Support
Steveis
Self level now working but you really need to run with a gyro setting of 250 or 500 if you want to use it. Any higher and it works but will probably let you flip and roll. I couldn't get it working as I wanted at 1000 and 2000 degrees per second as the numbers got too small for the 8.24 maths.
Changes since HK V1.6 for KK2.1
Default MPU6050 settings now 500 deg/sec and 4g which are close to KK2.0 so P&I and Stick Scale values should be close to those used on KK2.0
If you fly aggressive acro, you will need to increase the gyro rate to 2000 deg/sec and multiply up the P&I settings by a factor of 4.
Warnings:
i) Firmware will reset all settings
ii) P&I gains need to be changed if you change the MPU6050 setting (See Note 2 below)
Critical bug(s) corrected:
i) Corrected pin assignment for Output 5 and Output 6
ii) Initialisation settings didn't get written to the MPU6050 so it was stuck on 250 deg/sec and 2g
Minor bug(s) corrected:
i) Updated KK1_6_MPU6050 to remove unused code for menu button press (thanks RC911)
ii) Updated KK1_6_MPU6050 to correct Meny code to disable OCR1A and B interrupt (thanks RC911)
iii)Changed/Corrected I2C routines so they actually work now
iV) Tidied up I2C routine for burst reading of sensor data
v) More accurate battery voltage - adjusted to read the same as my KK2.0 (thanks HappySundays)
vi) Corrected low voltage alarm calculation
vii)Correct constants are now used in imu.asm and trigonometry.asm depending on acc and gyro setting so no problems with self level
viii)Stick Scaling does not need to be modified (except for fine tuning) when changing gyro rate
ix) RC911 bug fix in the Number Editor (original firmware) that allowed setting a value to zero (CLR) when the lower limit was higher.
x) RC911 bug fix in the original firmware that kept the "Link Roll Pitch" flag from being updated until the user returned to the SAFE screen.
Addition(s):
i) Debug Menu (added back) plus some extra values displayed
ii) Version Menu
iii)Sensor Max Min Menu (records max and min gyro and acc values when armed and SL is off)
iv) MPU6050 Settings Menu (view and change gyro deg/sec, acc g and digital low pass filter - see Note 3 below)
v) MPU6050 Temperature shown on SAFE screen
vi) Receiver Sliders Menu that shows you the msec value and sliders for the receiver inputs - for info, not calibrated
vii)Output Sliders Menu that shows you the msec value and sliders for the motor/servo outputs - for info, not calibrated
v) Acc Bubble Level Menu for accelerometers
vi) Gyro Bubble Level Menu for gyros (could be good for dynamic balancing)
vii)Added support for Spektrum (R) Satellite and clones (See Note 1 below)
viii)Configurable accelerometer software filter in Misc Settings (See Note 4 below)
Changes in operation:
i) Defaults to AUX for Self Level On/Off
ii) All mixing resets to zero when you do a factory reset so you have to select a motor layout
iii)Changed default stick scaling and default P&I gains for default MPU6050 settings
iv) See note 5 below for self level settings
Note 1 (Many thanks to David Thompson of OpenAero(2) fame for this feature)
Supports Spektrum(R) satellite with Tarot cable
Tested with Spektrum AR7/8000 DSM2 satellite and Orange R100 Satellite
Only supports 10 bit with all data in 1 frame
Only supports 7 channels
Uses Throttle input for Tarot cable
Hold buttons 2&3 on power up to enter binding mode
If you switch between CPPM, Sat or normal receivers, power cycle the KK2.1
Debug lists 16 frame bytes from satellite - you'll know if there are 2 frames of data (so bind again).
KK2.1 Settings: -
You will need to set "Sat or CPPM" to "Yes" in Mode Settings
You will need to assign the channels correctly in Sat-CPPM Channels as A=2,E=3,T=1,R=4,Aux=5
Note 2
The default PI settings are for a gyro setting of 500 dps. If you change to: -
2000 dps, multiply P&I values by 4
1000 dps, multiply P&I values by 2
250 dps, divide P&I values by 2
I have left it like this as it allows better resolution for tuning at 2000 dps.
However, I have now set the defaults to better reflect the KK2.0 settings for beginners.
Be very careful with the Self Level P gain value. I forgot to change it and it resulted in a huge oscillation - and a crash
Note 3 (MPU Settings)
Set gyro rate and acc rate high if you like acro and low if you like sedate/fpv flying
If you exceed the gyro rate when flying, it will spin/flip/roll really fast.
Set the filter to a lower value to filter out vibrations in your frame - try to leave on default if you can as too low slows the control loop down and results in oscillations.
Note 4 (Acc Software Filter)
Default is 8. Best to leave this as it is.
Note 5 (Self level)
Self level works best at 250 deg per second and reasonably well for 500 deg per second. At 2000 deg per second, it sort of works but you could loop and roll.
The gyros are used for calculating changes in angles in the SL algorithm however, the higher rate gyro settings result in very small numbers that are too small for the accuracy of the 8.24 and 16.8 maths registers.