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Old Aug 08, 2012, 07:33 PM
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OpenAero2 open-source stabilisation software for KK2 boards

OpenAero2Serial V1.0 Alpha 6 for KK2 boards is now released

This is the serial in, serial out version of OpenAero2.

Version 1.0 Alpha 6
- CPPM, S.Bus, Satellite and Extreme serial formats IN
- S.Bus, Satellite and Extreme serial formats OUT
- All improvements from OpenAeroVTOL V1.4 Beta 2

File OpenAero2Serial_V1_0_A6_KK20.hex is for KK2.0 boards
File OpenAero2Serial_V1_0_A6_KK21.hex is for KK2.1 boards

Note 1: This code is largely untested so please DON'T fly with it until you have tested it on the ground.

OpenAero2Serial User Guide (GoogleCode)

OpenAero2 V1.4 Beta 2 for KK2 boards is now released

Version 1.4 Beta 2
- High-speed PWM outputs when using serial (S.Bus, Satellite and Xtreme) RX
- Per-output PWM speed setting (A.Servo, D.Servo and MOTOR)
- All improvements from OpenAeroVTOL V1.1

File OpenAero2_2_0.hex is for KK2.0 boards
File OpenAero2_2_1.hex is for KK2.1 boards
File OpenAero2_2_1_Mini.hex is for KK2.1 Mini boards

Note 1: This code is largely untested so please DON'T fly with it until you have tested it on the ground.
Note 2: The User Guides have not yet been created to support the very large differences between this release and V1.2.

Version 1.2 Beta 10 is still the official STABLE build.

Version 1.2 Beta 10
Please ensure you read the following manuals.Version 1.1 Final Release
Please ensure you read the manuals in the following order.
  1. Frequently Ask Questions (GoogleCode) or (GitHub)
  2. Getting Started Guide or (GitHub)
  3. Aeroplane - Quick Setup Guide or (GitHub)
  4. Aeroplane - Advanced User Guide or (GitHub)
  5. Camera - Standalone Guide or (GitHub)
  6. Camera - Receiver Control Guide or (GitHub)
Version 1.0 - Final ReleaseVersion 1.4 B2 - Major updates from V1.2 B10
- High-speed PWM outputs
- Per-output PWM speed setting (A.Servo, D.Servo and MOTOR)
- Contrast bug fixed.
- Axis lock stick rate now calibrated to 10, 20, 40, 80, 160, 320 and 640 deg/sec.
- Servo limits corrected to accurately move to the stated position.
- Fixed the balance meter display for all orientations.
- Battery voltage calculation faster and more accurate.
- Added Manual mixer option.
- Removed Source Mix setting as per OpenAero VTOL.
- Balance meter uses AccSmooth, so now shows an approximation of the Acc LPF.
- Saved code space in the CPPM section thanks to Edgar.
- Gyro calibrate on initialisation waits for stability, reboot if still moving.
- Add new menu item for selecting PWM sync source. Now all five PWM inputs can be selectable as a sync source.
- Fixed MPU6050 setup codes. Now actually correct! Currently 500 deg/sec and 4G full-scale.
- Edge-clip bug fixed in fillcircle().
- Ported to AVR Studio 6 with automated KK2.0 and KK2.1 support.
- Incorporated latest updates from OpenAeroVTOL V1.1 B3.
- Reversed sense of dynamic gain control.
- Fixed CPPM mis-detection bug.
- Profile triggers now hard-coded.
- Mixer presets redone to mimic conventional channel order.
- Display wizard improved so that bad RX selection doesn't read as stick inputs.
- Sped up slow flaps to suit new code.
- Made failsafe work with new high-speed code.
- Fixed inverted cal for KK2.0.

Version 1.2 B10 - Major updates from V1.2
- Added support for KK2.1 board.
- Logo splash supported if board is a KK2.1
- Camstab freakout bug investigated and fixed.
- Switched to hardware TWI driver.
- Fixed all invert calibrate bugs and retested every board orientation.
- Camstab offset bug also fixed.

Version 1.2 - Major updates from V1.1
- Added support for XPS Xtreme serial protocol
- Added support for Spektrum serial protocol
- Added support for Futaba S-bus serial protocol
- RC inputs display now shows all eight RC channels.
- Removed logo, added new faster startup messages.
- Added master/slave binding for Spektrum Satellite RXs at power-up
- Three configurable flight modes with PID etc.
- Added axis-specific gyro modes
- Auto-presets when changing gyro modes
- Completely reworked/simplified PID gyro input code for I-terms
- Added flap deployment speed (0 = normal, 20 = super slow)
- Added RC deadband adjustment.
- Sensors now have three states - OFF/ON/REV
- Added four phantom channels (PSU9 to PSU12) for mixing tricks
- Stick rate changed to "Lock rate" and only affects Axis lock mode.
- Fixed bug where M8 could not go to 125%. Output code now covers -135% to 135%.
- Completely changed the value editing menu code so that servos are (almost) continually updated.

Version 1.1 - Major updates from V1.0
Based on OpenAero2 Beta 4.1 code
- Stability and Autolevel switch setpoint adjustment
- Main mixers can now cross-mix up to four channels
- Launch delay mode
- Added HANDSFREE autolevel modes (autolevel at centered sticks)
- Added working differential mode
- Added IMU fixes for inverted flight. New inverted calibration mode
- New I-term modes: Normal, Auto and 3D.
- Completely changed PID loop to take sticks into account.
- Added Dynamic gain setting.
- Added "Upside down" orientation.
- 3D-mode RC input scaling now menu settable.
- New failsafe menu and items.
- Restore submenu position if going back into the same submenu.
- Changed Flying Wing mixing to on-board only.
- Add IMU mode switch (Normal/Advanced.)
- Added primary channel reversing in RC setup menu.
- Changed mixer order and added "Source mix" manual option.
- Fixed flap handling in stabilised modes.
- Linked local G measurement with IMU calculation to solve negative G and coordinated turn issues.
- Increased autolevel trim response x 4
- New servo menus added, menus edited.
- Added real-time servo updating for min/max/trim adjustment.
- Added unused RAM usage meter in status screen.
- Added basic aileron differential setting to RC menu
- Level meter responds properly in all orientations
- Added stick calibration screen for people who won't read manuals
- Added second aileron reversing independent of main aileron and added success confirmation.
- Battery alarm can be reset by cellcount = 0
- Added "Sideways" orientation.
- Dropped default min cell voltage to 3.3V
- Adjustable launch delay added. Launch resettable if throttle cut within the launch delay.
- Updated PWM output driver to have XPS-style staggered outputs
- Allow real-time servo position setting of failsafe positions.
- Integrated ninja-level PWM code generation concept suggested by Jim Drew of Xtreme Power Systems
- Increased inter-PWM spacing to 128us and recalibrated all PWM routines.
- Fixed lack of throw in Flying Wing mode.

Known bugs
V1.1 - Servo trim and limit real-time adjustment broken. See V1.1.1 for fix.
V1.1.1 - OUT 7 and 8 (M7 and M8) may not be able to honour 125% servo travel and may suddenly reverse is asked to do so.
Fixed in V1.2 betas

Introduction
OpenAero2 is an open source aeroplane stabilising software for the KK2 board.
It has every function and setting you could think of to use the hardware of the KK2.0 board available from HobbyKing and designed by Rolf Bakke.
OpenAero2 provides stability and autolevel functions and contains an extremely flexible mixer that can allow the board to stabilise and control literally *anything*.
Enterprising users have set up CCPM controllers for flybarless helis. Others have successfully set up VTOL Osprey-type aircraft.
A fully heading-locked 3D mode allows greater control of 3D flight.

Spektrum Satellite setup


Futaba S.bus setup


Status menu:
The status screen gives you a continually updated display of the battery status, flight modes and any error messages.


Main menu:


New stick polarity setup screen:


Random pictures:




Source code:
For those interested in the code, you can see it at the following repo.
https://github.com/happyhappysundays/nextcopterplus/

Videos
Maguro's test flight
OpenAero2 Test Flight (2 min 12 sec)


Camera stability test
New IMU for OpenAero2 - Camstab demo (1 min 6 sec)


Spektrum satellite binding
Using Spektrum/OrangeRx Satellite receivers with OpenAero2 V1.2 Beta (1 min 41 sec)


Futaba S.Bus demo
OpenAero2 V1.2 Beta S-Bus interface demo (1 min 24 sec)


Typical installation


Files
Attached below and also at the file repo here.

Your Support
OpenAero2 is a open-source project and is free, however it is also the result of many hundreds of hours of hard work.
If you feel motivated to donate to the project please feel free. I'm always happy to make special versions for people.

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Last edited by HappySundays; Jun 07, 2015 at 05:28 PM.
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Old Aug 08, 2012, 07:44 PM
HappySundays is online now
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Old Aug 08, 2012, 08:29 PM
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Great. Looks like it is finally time for me to get another KK Board. Nice work Happy my boy.

Rob...
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Old Aug 09, 2012, 12:07 AM
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Fine job, Happy, I just can't wait to try your FW.
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Old Aug 09, 2012, 01:11 AM
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Woot. Just tested Beta 1 on both CPPM and PWM modes - both with full flaperon control working fine.

The Beta 1 .hex file is located inside the first post.

Now to sleep....
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Old Aug 09, 2012, 01:35 AM
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Beta 1 is in the repository of kkflashtool now.

Good N8

Christian here it is 8 o'clock in the morning, going to get a coffee ;-)
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Old Aug 09, 2012, 01:40 AM
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Nice.. I'm keen to give it a go. Has anyone successfully ripped the original KK2 firmware available so we can go back?
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Old Aug 09, 2012, 01:41 AM
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Hi Chris, I cannot start your tool on winxp sp3.....Downloaded zip from your site, unzipped and clicked on kkMulticopterFlashTool.cmd and nothing.....just a short CMD window opening and then nothing.....How can I start the flash tool?
Thanks
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Old Aug 09, 2012, 01:49 AM
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Quote:
Originally Posted by serjuro View Post
Hi Chris, I cannot start your tool on winxp sp3.....Downloaded zip from your site, unzipped and clicked on kkMulticopterFlashTool.cmd and nothing.....just a short CMD window opening and then nothing.....How can I start the flash tool?
Thanks
Can you edit the cmd and add a pause to the end of the file. So it stays open and you can post the error.

KK2.0 firmware V1.1 is in the repository, so no problem to go back.

Christian
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Old Aug 09, 2012, 02:03 AM
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so by all mean if i flashed openaero I can go back to KK2 original? if yes that would be awwwsomee as I only have 1 board
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Old Aug 09, 2012, 02:07 AM
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Quote:
Originally Posted by LazyZero View Post
Can you edit the cmd and add a pause to the end of the file. So it stays open and you can post the error.

KK2.0 firmware V1.1 is in the repository, so no problem to go back.

Christian
I know how to edit the cmd file but it has already a ,,-p" argument to the end of the file.....
At the cmd prompt I get ,,javaw is not recongnised as a internal or external command..."
What is this, please?
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Old Aug 09, 2012, 02:16 AM
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Great work Happy

Subscribing :-)
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Old Aug 09, 2012, 02:35 AM
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Quote:
Originally Posted by skellator View Post
so by all mean if i flashed openaero I can go back to KK2 original? if yes that would be awwwsomee as I only have 1 board
Just read the warning about having to do a factory reset when you go back to the KK firmware. I haven't tried myself but apparently you get a blank screen until you do the reset.
I think Rolf had to strip a lot out to get these changes in.
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Old Aug 09, 2012, 02:37 AM
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Quote:
Originally Posted by serjuro View Post
I know how to edit the cmd file but it has already a ,,-p" argument to the end of the file.....
At the cmd prompt I get ,,javaw is not recongnised as a internal or external command..."
What is this, please?
I'm guessing it means you don't have Java RTL installed, but I'm not sure.
Did you try googling that error message?
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Old Aug 09, 2012, 02:39 AM
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Quote:
Originally Posted by serjuro View Post
I know how to edit the cmd file but it has already a ,,-p" argument to the end of the file.....
At the cmd prompt I get ,,javaw is not recongnised as a internal or external command..."
What is this, please?
Your java is not installed properly or you need java 64bit if you run a 64bit OS.

Christian
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