KKMulticopter Uçuş kontrol sistemi

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KKmulticopter uçuş kontrol sistemi ( multikopter flight controller )

KKmulticopter uçuş kontrol sistemi ( kkmulticontroller ) çeşitli firmalar tarafından gyro dahil olarak üretilmekte ve satılmaktadır. Tamamen açık kaynak kodlu olan bu sistem ilk zamanlarda bu konuda anlatıldığı gibi tamamen el yapımı idi ve kullanıcılar kendisi sistemlerini oluşturuyorlardı. Artık satışda olan kkmulticopter kartları ile lehim vs uğraşmadan kolayca multikopter yapabileceksiniz. 

İşte kkmulticontroller versiyonları

 

Desteklediği Multikopter sistemleri:

  • KKTriCopter             : 3 Rotor
  • KKQuadroCopters    : 4 Rotor
  • KKSexyCopters       : 6 Rotor 
  • KKy6copters           : 6 Rotor ( Y şeklinde gövde de her bir kolda alt ve üstte olmak üzere 2 motor ve toplamda 6 motor )

Bu uçuş kontrol sistemi basit ve ucuz bir seçenek olarak ilk sırada yer alıyor bana göre. Kullanılan gyroscope lar Hobbyking firmasının 12,79 Dolarlık fiyatıyla satışda olan HK401B gyroların içinde kullanılan piezo gyrolar. Bu gyrolardan 3 Adet kullanılıyor. İşlemci olarak atmega 48/88/128 kullanıyor. Sistemle ilgili tüm veriler ve yazılım web sitesinde mevcut. Kendi PCB nizi yapıp bir atmega programlayıcı ile yazılımı mkroişlemci ye yükleyerek uçuş kontrol sisteminizi oluşturabiliyorsunuz.

 

                                                                      KKmulticopter pcb board

kkmultikopter board   

 

 

Resimdeki programlayıcı ile ATMEL / ATMEGA işlemilerini programlayabilirsiniz. ( Link için resme tıklayınız.)

Desteklediği işlemciler

51 Series:

AT89S51、AT89S52、AT89S8252、

 

AVR Series:

ATTiny12(L)、ATTiny13(V)、ATTiny15(L)、ATTiny24(V)

ATTiny25(V)、ATTiny26(L)、ATTiny2313(V)、ATTiny44(V)

ATTiny45(V)、ATTiny84(V)、ATTiny85(V)、AT90S2313(L)、AT90S2323(L)

AT90S2343(L)、AT90S1200(L)、AT90S8515(L)、AT90S8535(L)

ATMEGA48(V)、ATMEGA8(L)、ATMEGA88(V)、ATMEGA8515(L)

ATMEGA8535(L)、ATMEGA16(L)、ATMEGA162(V)、ATMEGA163(L)

ATMEGA164(V)、ATMEGA165(V)、ATMEGA168(V)、ATMEGA169(V)

ATMEGA169P(V)、ATMEGA32(L)、ATMEGA324(V)、ATMEGA325(V)

ATMEGA3250(V)、ATMEGA329(V)、ATMEGA3290(V)、ATMEGA64(L)

ATMEGA640(V)、ATMEGA644(V)、ATMEGA645(V)、ATMEGA6450(V)

ATMEGA649(V)、ATMEGA6490(V)、ATMEGA128(L)、ATMEGA1280(V)

ATMEGA1281(V)、ATMEGA2560(V)、ATMEGA2561(V)、AT90CAN32

AT90CAN64、AT90CAN128、AT90PWM2(B)、AT90PWM3(B) etc.

V6 PCB için elektronik komponent listesi şöyle

IC1: Atmega48/88/168/328 (DIL28)

IC3: LM317LZ (TO-92)

 

R1: 100 Ohm (1/4 Watt)

R2: 100 Ohm (1/4 Watt)

R3: 100 Ohm (1/4 Watt)

R4: 4.7 Ohm (1/4 Watt)

R5: 10 kOhm Potmeter (Bourns 3362P)

R6: 10 kOhm Potmeter (Bourns 3362P)

R7: 680 Ohm (1/4 Watt)

R8: 10 kOhm Potmeter (Bourns 3362P)

R9: 220 Ohm (1/4 Watt)

R10: 68 Ohm (1/4 Watt)

R11: 4.7 kOhm (1/4 Watt)

R12: 4.7 Ohm (1/4 Watt)

 

C1: 10 uF (Tantalum, at least 6V, 2.54mm pin spacing)

C2: 10 uF (Tantalum, at least 6V, 2.54mm pin spacing)

C3: 10 uF (Tantalum, at least 6V, 2.54mm pin spacing)

C4: 10 uF (Tantalum, at least 6V, 2.54mm pin spacing)

C5: 0.68 uF (Tantalum, at least 6V, 2.54mm pin spacing)

C6: 0.68 uF (Tantalum, at least 6V, 2.54mm pin spacing)

C7: 33 uF (Tantalum, at least 6V, 2.54mm pin spacing)

C8: 0.68 uF (Tantalum, at least 6V, 2.54mm pin spacing)

C9: 33 uF (Tantalum, at least 6V, 2.54mm pin spacing)

C10: 10 uF (Tantalum, at least 6V, 2.54mm pin spacing)

C11: 10 uF (Tantalum, at least 6V, 2.54mm pin spacing)

 

LED1: any 5mm LED

3 HobbyCity HK401B gyros

4 Male servo leads for connecting to RX

4 or 6 Female servo leads or 3-way pin connector for connecting to the ESC’s

 

Alternative Components:

C1,2,3,4,9,10,11: 100nF ceramic capacitor.

C7: electrolyte or tantalum with a value of 10uF and upwards.

C5,6,8: 0.68uF Tantalum.

PCB için gerekli eagle dosyası ve açıklamaları indirmek için tıklayınız

HK401B gyro montajı.

hk401bnew001 hk401bnew002 hk401bnew003 hk401bnew004

gyro_pinout IMG_0319


Resmi sitesi : www.kkmulticopter.com

 

ÖNEMLİ NOT: Hobbyking HK401B gyroların içerisinde bulunan sensörleri değiştirmiş ve son zamanlarda satılan gyrolarda murata sensörler yerine değişik bir sensör kullanıldığı görülmüştür. Bu sensörler ile KKmulticopter kartını kullanmak için Kaptein KUK tarafından bir konu yayınlanmıştır.

 

Yeni Tip HK401B gyro fotoğrafı:

yeni_gyro

 

Yeni Tip HK401B gyro ile KKmultikopter sistemini kullanmak için :

How to fit the new type HK401 gyro sensor to a KK board.

I have finally looked at the new gyro sensor in the HK401B gyro. It is located on a small PCB soldered to the bigger gyro sub-PCB, apparently serving as a drop in replacement for the old Murata sensor. The gyro sub-PCB is identical to the one used with the old sensor, with the same 6.8 kOhm output resistor, and the same pinout.

However, there is a important difference. The output resistance of the old gyro sub-PCB is about 6.8 kOhm, and the new one is measured to about 17 kOhm. The output resistance is the R (resistance) part of the RC low pass filter on the KK board. 
By just using the new gyro as it is, the frequency of the low pass filter is decreased from 34 to 14 Hz. This may change the performance of the KK board. (I have not tested that yet)

Luckily this is easy to fix: On the smaller PCB with the gyro sensor itself, located on the gyro sub-PCB, there is a 10 kOhm resistor (marked with 103). It is connected in series with the 6.8 kOhm resistor (marked with 682) on the bigger PCB. Just remove the 10 kOhm resistor and jumper the pads with a thin wire or solder blob.

UPDATE: Another way is to leave the gyro as is, and replace the 0.68uF filter capacitors with 0.27uF. It will give the same cut off frequency.

Another difference is that the output signal from the new gyro is about 3 times (Peak-to-peak) larger than the old one.

This is not a problem.

The new gyro needs 3V supply. I have tried it on 5V, it worked, the current only rose from 6.3mA to 7.1mA, and since the output is ratiometric, the output signal got even larger. But since I do not have more data on the new sensor, we have to settle to 3V.

Its no-movement output of about 1.5V, coupled with the need for a larger Vref for the ADC since the output signal is bigger, means that we can also use a Vref of 3V, simplifying the conversion.

Change the R10 from 68 to 330 Ohm to get 3.1V and supply the gyros with this voltage through one 10 Ohm resistor per gyro. That is, replace the R1,R2 and R3 with a 10 Ohm resistors, leave their input pin in the air and tie them together, and solder them to the output pin of the voltage regulator.

Upon flight testing with unmodified firmware, the gain potmeters had to be reduced 50% due to the new gyros larger output signal. There where no difference in the behavior of the KK board compared to one with the old gyros. A modification of the firmwares gain potmeter scaling value can be done, but it is not necessary.

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2010 yılından bugüne kadar çeşitli multikopterler tasarladım, yaptım, geliştirdim, araştırdım. Artık Drone Doktoru olarak sizlerleyim. Drone larla ilgili tüm sorunlarınızda bize danışmaktan çekinmeyin.

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