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Various formatting and typographic fixes

This commit is contained in:
Pim van Pelt 2015-01-04 00:53:24 +01:00
parent a6d3f44979
commit bb5d22a8d2
24 changed files with 131 additions and 133 deletions
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12
docs/Autotune.md
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@ -7,7 +7,7 @@ Autotune helps to automatically tune your multirotor.
Autotune only works in HORIZON or ANGLE mode, before using auto-tune it's best you setup so there is as little drift as possible.
Autotuning is best on a full battery in good flying conditions, i.e. no or minimal wind.
Configure a two position switch on your transmitter to activate the AUTOTUNE and HORIZON or ANGLE modes using the auxilary configuration.
Configure a two position switch on your transmitter to activate the AUTOTUNE and (HORIZON or ANGLE) modes using the auxilary configuration.
You may find a momentary switch more suitable than a toggle switch.
@ -25,17 +25,17 @@ Turn off the autotune switch. If the autotune switch is on while not armed the
1. Turn off/release the switch while still flying to stop this phase of tuning. PID settings will have been updated for PITCH/YAW.
1. PIDS are updated, fly and see if it's better.
1. PIDs are updated, fly and see if it's better.
1. If it's worse, flip the switch again to restore previous pids that were present prior to arming.
1. If it's worse, flip the switch again to restore previous PIDs that were present prior to arming.
1. Land.
1. Verify results via an app while power still applied if desired. Cutting the power will loose the unsaved pids.
1. Verify results via an app with power still applied if desired. Cutting the power will lose the unsaved PIDs.
1. If you're happy with the pids then while disarmed flip the autotune switch again to save all settings then flip it back so you can arm again. A beeper will sound indicating the settings are saved.
1. If you're happy with the PIDs then while disarmed flip the autotune switch again to save all settings then flip it back so you can arm again. A beeper will sound indicating the settings are saved.
# References
* Brad Quick for the initial Autotune algorithm in BradWii.
* Brad Quick for the initial Autotune algorithm in BradWii.

17
docs/Battery.md
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@ -1,16 +1,16 @@
# Battery Monitoring
Cleanflight has battery monitoring capability. Battery voltage of the main battery can be measured by the system and used
Cleanflight has a battery monitoring feature. Battery voltage of the main battery can be measured by the system and used
to trigger a low-battery warning buzzer, on-board status LED flashing and LED strip patterns.
Low battery warnings can:
* help to ensure that you have time to safely land the aircraft.
* help maintain the life and safety of your LiPo/LiFe batteries which should not be discharged below manufactures recommendations.
* help maintain the life and safety of your LiPo/LiFe batteries which should not be discharged below manufacturers recommendations.
Minimum and maximum cell voltages can be set, these voltages are used to detect the amount of cells you are using.
Minimum and maximum cell voltages can be set, and these voltages are used to detect the amount of cells you are using.
Per-cell monitoring is not supported.
Per-cell monitoring is not supported, as we only use one ADC to read the battery voltage.
## Supported targets
@ -21,7 +21,8 @@ All targets support battery voltage monitoring unless status.
When dealing with batteries **ALWAYS CHECK POLARITY!**
Measure expected voltages first and then connect to flight controller, connecting to the flight controller with
incorrect voltage or reversed polarity will likely fry your flight controller.
incorrect voltage or reversed polarity will likely fry your flight controller. Ensure that your flight controller
has a voltage divider that is capable of measuring your particular battery voltage.
### Naze32
@ -60,7 +61,7 @@ set vbat_min_cell_voltage = 33
Current monitoring (Amperage) is supported by connecting a current meter to the appropriate current meter ADC input (See Board documentation).
When enabled Amps, mAh used and capacity remaining calculated and used by the telemetry and OLED display subsystems.
When enabled, Amps, mAh used and capacity remaining are calculated and used by the telemetry and OLED display subsystems.
## Configuration
@ -70,7 +71,7 @@ Enable current monitoring using the cli command
feature CURRENT_METER
```
Configure capacity using the `battery_capacity` setting, it takes a value in mAh.
Configure capacity using the `battery_capacity` setting, which takes a value in mAh.
The current meter may need to be configured so that the value read at the ADC input matches actual current draw. Just like you need a voltmeter to correctly calibrate your voltage reading you also need an ammeter to calibrate your current sensor.
@ -79,4 +80,4 @@ Use the following settings to adjust calibrtion.
`current_meter_scale`
`current_meter_offset`
If you're using an OSD that expects the multiwii current meter output value then set `multiwii_current_meter_output` to `1`.
If you're using an OSD that expects the multiwii current meter output value, then set `multiwii_current_meter_output` to `1`.

4
docs/Board - AlienWii32.md
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@ -1,6 +1,6 @@
# Board - AlienWii32
The AlienWii32 is actually in prototype stage only a few samples exist. There is some more field testing ongoing. The information below is preliminary and will be updated as needed.
The AlienWii32 is actually in prototype stage and only a few samples exist. There is some more field testing ongoing. The information below is preliminary and will be updated as needed.
Here are the hardware specifications:
@ -21,4 +21,4 @@ Here are the hardware specifications:
Deltang receivers in serial mode will work like any other Spektrum satellite receiver (10bit, 22ms) only the bind process will be different.
The pin layout is very similar as the NAZE32 or the related clones (MW32, Flip32, etc.). The hardware bind pin is connected to pin 41 (PB5). The AlienWii32 firmware will be built with TARGET=NAZE and OPTIONS="AlienWii32". The firmware image will come with alternative default settings which will give the user a plug and play experience. There is no computer needed to get this into the air with an small Quadcopter. An preconfigured custom mixer for an Octocopter is part of the default settings to allow clean straight wiring with the AlienWii32. The mixer can be activated with "mixer custom" in the CLI. To use the AlienWii32 in an Hexa- or Octocopter or to do some more tuning additional configuration changes can be done as usual in the CLI or the Cleanflight configurator.
The pin layout is very similar as the NAZE32 or the related clones (MW32, Flip32, etc.). The hardware bind pin is connected to pin 41 (PB5). The AlienWii32 firmware will be built with TARGET=NAZE and OPTIONS="AlienWii32". The firmware image will come with alternative default settings which will give the user a plug and play experience. There is no computer needed to get this into the air with an small Quadcopter. An preconfigured custom mixer for an Octocopter is part of the default settings to allow clean straight wiring with the AlienWii32. The mixer can be activated with "mixer custom" in the CLI. To use the AlienWii32 in an Hexa- or Octocopter or to do some more tuning additional configuration changes can be done as usual in the CLI or the Cleanflight configurator.

10
docs/Board - CC3D.md
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@ -2,8 +2,8 @@
The OpenPilot Copter Control 3D aka CC3D is a board more tuned to Acrobatic flying or GPS based
auto-piloting. It only has one sensor, the MPU6000 SPI based Accelerometer/Gyro.
It also features a 16mbit SPI based EEPROM chip. It has 6 ports labelled as inputs (one pin each)
and 6 ports labelled as motor/servo outputs (3 pins each).
It also features a 16Mbit SPI based EEPROM chip. It has 6 ports labeled as inputs (one pin each)
and 6 ports labeled as motor/servo outputs (3 pins each).
If issues are found with this board please report via the [github issue tracker](https://github.com/cleanflight/cleanflight/issues).
@ -11,11 +11,11 @@ The board has a USB port directly connected to the processor. Other boards like
have an on-board USB to uart adapter which connect to the processor's serial port instead.
Currently there is no support for virtual com port functionality on the CC3D which means that cleanflight
does not currently use the USB socket at all. So the communication with the board is achieved through a USB-UART adaptater connected to the Main port.
does not currently use the USB socket at all. Therefore, the communication with the board is achieved through a USB-UART adaptater connected to the Main port.
The board cannot currently be used for hexacopters/octocopters.
Tricopter & Airplane support is untested, please report success failure if you try it.
Tricopter & Airplane support is untested, please report success or failure if you try it.
# Pinouts
@ -71,7 +71,7 @@ The 6 pin RC_Output connector has the following pinouts when used in RX_PARALLEL
| Value | Identifier | Board Markings | Notes |
| ----- | ------------ | -------------- | -----------------------------------------|
| 1 | USART1 | MAIN PORT | Has a hardware inverter for SBUS |
| 1 | USART1 | MAIN PORT | Has a hardware inverter for S.BUS |
| 2 | USART3 | FLEX PORT | |
| 3 | SoftSerial | RC connector | Pins 4 and 5 (Tx and Rx respectively) |

18
docs/Board - Naze32.md
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@ -6,14 +6,14 @@ if found please report via the [github issue tracker](https://github.com/cleanfl
# Serial Ports
| Value | Identifier | RX | TX | Notes |
| ----- | ------------ | --------- | ------------------ | ------------------------------------------------------------------------------------------- |
| 1 | USART1 | RX / PA10 | TX / PA9 / TELEM | TELEM output is always inverted (for FrSky). Internally connected to USB port via CP2102 IC |
| 2 | USART2 | RC4 / PA3 | RC3 / PA2 | |
| 3 | SOFTSERIAL1 | RC5 / PA6 | RC6 / PA7 | |
| 4 | SOFTSERIAL2 | RC7 / PB0 | RC8 / PB1 | |
| Value | Identifier | RX | TX | Notes |
| ----- | ------------ | ---------- | ------------------ | ------------------------------------------------------------------------------------------- |
| 1 | USART1 | RX / PA10 | TX / PA9 / TELEM | TELEM output is always inverted (for FrSky). Internally connected to USB port via CP2102 IC |
| 2 | USART2 | RC4 / PA3 | RC3 / PA2 | |
| 3 | SOFTSERIAL1 | RC5 / PA6 | RC6 / PA7 | |
| 4 | SOFTSERIAL2 | RC7 / PB0 | RC8 / PB1 | |
* You cannot use USART1/TX/TX/TELEM pins at the same time.
* You cannot use USART1/TX/TELEM pins at the same time.
* You may encounter flashing problems if you have something connected to the RX/TX pins. Try disconnecting RX/TX.
# Pinouts
@ -33,11 +33,11 @@ The 10 pin RC I/O connector has the following pinouts when used in RX_PPM/RX_SER
| 9 | 7 | unused | |
| 10 | 8 | CURRENT | Enable `feature CURRENT_METER` Connect to the output of a current sensor, 0v-3.3v input |
When SOFTSERIAL is enabled, LED_STRIP and CURRENT_METER are unavailable, but two softserial ports are made available to use instead.
When SOFTSERIAL is enabled, LED_STRIP and CURRENT_METER are unavailable, but two SoftSerial ports are made available to use instead.
| Pin | Identifier | Function | Notes |
| --- | ---------- | -------------- | -------------------------------- |
| 7 | 5 | SOFTSERIAL1 RX | Enable `feature SOFTSERIAL`|
| 7 | 5 | SOFTSERIAL1 RX | Enable `feature SOFTSERIAL` |
| 8 | 6 | SOFTSERIAL1 TX | |
| 9 | 7 | SOFTSERIAL2 RX | |
| 10 | 8 | SOFTSERIAL2 TX | |

4
docs/Board - Sparky.md
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@ -3,7 +3,7 @@
The Sparky is a very low cost and very powerful board.
* 3 hardware serial ports.
* Built-in serial port inverters which allows SBUS receivers to be used without external inverters.
* Built-in serial port inverters which allows S.BUS receivers to be used without external inverters.
* USB (can be used at the same time as the serial ports).
* 10 PWM outputs.
* Dedicated PPM/SerialRX input pin.
@ -17,7 +17,7 @@ Flyable!
Tested with revision 1 board.
## TODO
* Baro - detection works but getting bad readings, disabled for now.
* Baro - detection works but sending bad readings, disabled for now.
* Led Strip
* ADC
* Sonar

12
docs/Buzzer.md
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@ -2,19 +2,19 @@
Cleanflight supports a buzzer which is used for the following purposes, and more:
Low Battery alarm (when battery monitoring enabled)
Notification of calibration complete status.
AUX operated beeping - useful for locating your aircraft after a crash.
Failsafe status.
* Low Battery alarm (when battery monitoring enabled)
* Notification of calibration complete status.
* AUX operated beeping - useful for locating your aircraft after a crash.
* Failsafe status.
Buzzer is enabled by default on platforms that have buzzer connections.
## Types of buzzer supported
The buzzers are enabled/disabled by simply enabling or disabling a GPIO output pin on the board.
This means the buzzer must be able to generate it's own tone simply by having power applied to it.
This means the buzzer must be able to generate its own tone simply by having power applied to it.
Buzzers that need an analogue or PWM signal do not work and will make clicking noises or no sound at all.
Buzzers that need an analog or PWM signal do not work and will make clicking noises or no sound at all.
Examples of a known-working buzzers.

12
docs/Configuration.md
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@ -3,8 +3,8 @@
Cleanflight is configured primarilty using the Cleanflight Configurator GUI.
Both the command line interface and gui are accessible by connecting to a serial port on the target,
be it a USB virtual serial port, physical hardware UART port or a softserial port.
Both the command line interface and GUI are accessible by connecting to a serial port on the target,
be it a USB virtual serial port, physical hardware UART port or a SoftSerial port.
The GUI cannot currently configure all aspects of the system, the CLI must be used to enable or configure
some features and settings.
@ -29,10 +29,10 @@ Cleanflight can also be configured by a command line interface.
The CLI can be accessed via the GUI tool or by sending a single '#' character to the main serial port.
To exit the CLI without saving power off the flight controller or type in 'exit'.
To exit the CLI without saving, power off the flight controller or type in `exit`.
To see a list of commands type in 'help' and press return.
To see a list of commands type in `help` and press return.
To dump your configuration (including the current profile), use the 'dump' command.
To dump your configuration (including the current profile), use the `dump` command.
See the other documentation sections for details of the cli commands and settings that are available.
See the other documentation sections for details of the CLI commands and settings that are available.

2
docs/Controls.md
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@ -4,7 +4,7 @@
When armed the aircraft is ready to fly and any motors attached will spin when throttle is applied.
By default arming and disarming is done using stick positions. This is disabled when using a switch to arm.
By default arming and disarming is done using stick positions. Alternatively, you can use a switch to arm.
## Stick positions

11
docs/Display.md
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@ -2,12 +2,11 @@
Cleanflight supports displays to provide information to you about your aircraft and cleanflight state.
When the aircraft is armed the display does not update so flight is not affected. When disarmed the display
cycles between various pages.
When the aircraft is armed the display does not update so flight is not affected. When disarmed the display cycles between various pages.
There is currently no way to change the information on the pages, the list of pages or the time between pages - Code submissions via pull-requests are welcomed!
##Supported Hardware
## Supported Hardware
At this time no other displays are supported other than the SSD1306 / UG-2864HSWEG01.
@ -28,18 +27,18 @@ This makes it ideal for aircraft use.
There are various models of SSD1306 boards out there, they are not all equal and some require addtional modifications
before they work. Choose wisely!
Links to screens:
Links to displays:
* [banggood.com](http://www.banggood.com/0_96-Inch-I2C-IIC-SPI-Serial-128-X-64-OLED-LCD-LED-Display-Module-p-922246.html) 0.96 Inch I2C IIC Serial 128 x 64 OLED LCD
* [wide.hk](http://www.wide.hk/products.php?product=I2C-0.96%22-OLED-display-module-%28-compatible-Arduino-%29) I2C 0.96" OLED display module
* [witespyquad.gostorego.com](http://witespyquad.gostorego.com/accessories/readytofly-1-oled-128x64-pid-tuning-display-i2c.html) ReadyToFlyQuads 1" OLED Display
* [multiwiicopter.com](http://www.multiwiicopter.com/products/1-oled) PARIS 1" OLED 128x64 PID tuning screen AIR
The banggood.com screen is the cheapest at the time fo writing and will correctly send I2C ACK signals.
The banggood.com display is the cheapest at the time fo writing and will correctly send I2C ACK signals.
#### Crius CO-16
This screen is best avoided but will work if you modify it.
This display is best avoided but will work if you modify it.
Step 1

4
docs/Failsafe.md
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@ -18,7 +18,7 @@ The failsafe system is not activated until 5 seconds after the flight controller
After the failsafe has been forced a landing, the flight controller cannot be armed and has to be reset.
The failsafe system attempts to detect when your receiver looses signal. It then attempts to prevent your aircraft from flying away uncontrollably.
The failsafe system attempts to detect when your receiver loses signal. It then attempts to prevent your aircraft from flying away uncontrollably.
The failsafe is activated when:
@ -67,4 +67,4 @@ Only valid when using Parallel PWM or PPM receivers.
This setting helps catch when your RX stops sending any data when the RX looses signal.
With a Graupner GR-24 configured for PWM output with failsafe on channels 1-4 set to OFF in the receiver settings
then this setting, at it's default value, will allow failsafe to be activated.
then this setting, at its default value, will allow failsafe to be activated.

4
docs/Gps.md
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@ -1,6 +1,6 @@
# GPS
Two GPS protocols are supported. NMEA text and UBLOX Binary.
Two GPS protocols are supported. NMEA text and UBLOX binary.
## Configuration
@ -58,7 +58,7 @@ UBlox GPS units can either be configured using the FC or manually.
### UBlox GPS manual configuration
Use UBox U-Center and connect your GPS to your computer. The cli `gpspassthough` command may be of use if you do not have a spare USART to USB adapter.
Use UBox U-Center and connect your GPS to your computer. The CLI `gpspassthough` command may be of use if you do not have a spare USART to USB adapter.
Display the Packet Console (so you can see what messages your receiver is sending to your computer).

10
docs/Inflight Adjustments.md
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@ -32,8 +32,8 @@ The following adjustments can be made, in flight, as well as on the ground.
* Yaw P I and D
Example scenarios:
Up to 4 3 position switches or pots can be used to adjust 4 different settings at the same time.
A single 2/3/4/5/6/x position switches can be used to make one 3 position switch adjust one setting at a time.
Up to 4 3-position switches or pots can be used to adjust 4 different settings at the same time.
A single 2/3/4/5/6/x position switche can be used to make one 3 position switch adjust one setting at a time.
Any combination of switches and pots can be used. So you could have 6 POS switch.
@ -55,7 +55,7 @@ Hint: With OpenTX transmitters you can combine two momentary OFF-ON switches to
## Configuration
The cli command `adjrange` is used to configure adjustment ranges.
The CLI command `adjrange` is used to configure adjustment ranges.
12 adjustment ranges can be defined.
4 adjustments can be made at the same time, each simultaneous adjustment requires an adjustment slot.
@ -87,8 +87,8 @@ Normally Range Channel and Slot values are grouped together over multiple adjust
The Range Channel and the Adjustment Channel can be the same channel. This is useful when you want a single 3 Position switch to be dedicated
to a single adjustment function regardless of other switch positions.
The adjustment functions is applied to the adjustment channel when range channel between the range values.
The adjustment is made when the adjustment channel is in the high or low position. high = midrc + 200, low = midrc - 200. by default this is 1700 and 1300 respectively.
The adjustment function is applied to the adjustment channel when range channel is between the range values.
The adjustment is made when the adjustment channel is in the high or low position. high = mid_rc + 200, low = mid_rc - 200. by default this is 1700 and 1300 respectively.
### Adjustment function

30
docs/LedStrip.md
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@ -1,4 +1,4 @@
# Led Strip
# LED Strip
Cleanflight supports the use of addressable LED strips. Addressable LED strips allow each LED in the strip to
be programmed with a unique and independant color. This is far more advanced than the normal RGB strips which
@ -22,7 +22,7 @@ Likewise, support for more than 32 LEDs is possible, it just requires additional
## Supported hardware
Only strips of 32 WS2812 LEDs are supported currently. If the strip is longer than 32 leds it does not matter,
Only strips of 32 WS2812 LEDs are supported currently. If the strip is longer than 32 LEDs it does not matter,
but only the first 32 are used.
WS2812 LEDs require an 800khz signal and precise timings and thus requires the use of a dedicated hardware timer.
@ -51,14 +51,14 @@ uses. e.g. ESC1/BEC1 -> FC, ESC2/BEC2 -> LED strip. It's also possible to pow
from another BEC. Just ensure that the GROUND is the same for all BEC outputs and LEDs.
| Target | Pin | Led Strip | Signal |
| Target | Pin | LED Strip | Signal |
| --------------------- | --- | --------- | -------|
| Naze/Olimexino | RC5 | Data In | PA6 |
| CC3D | ??? | Data In | PB4 |
| ChebuzzF3/F3Discovery | PB8 | Data In | PB8 |
Since RC5 is also used for SoftSerial on the Naze/Olimexino it means that you cannot use softserial and led strips at the same time.
Since RC5 is also used for SoftSerial on the Naze/Olimexino it means that you cannot use SoftSerial and led strips at the same time.
Additionally, since RC5 is also used for Parallel PWM RC input on both the Naze, Chebuzz and STM32F3Discovery targets, led strips
can not be used at the same time at Parallel PWM.
@ -131,9 +131,9 @@ led 4 0,0::
#### Warning
This mode simply uses the leds to flash when warnings occur.
This mode simply uses the LEDs to flash when warnings occur.
| Warning | Led Pattern | Notes |
| Warning | LED Pattern | Notes |
|---------|-------------|-------|
| Arm-lock enabled | flash between green and off | occurs calibration or when unarmed and the aircraft is tilted too much |
| Low Battery | flash red and off | battery monitoring must be enabled. May trigger temporarily under high-throttle due to voltage drop |
@ -145,14 +145,14 @@ Flash patterns appear in order, so that it's clear which warnings are enabled.
This mode shows the flight mode and orientation.
When flight modes are active then the leds are updated to show different colors depending on the mode, placement on the grid and direction.
When flight modes are active then the LEDs are updated to show different colors depending on the mode, placement on the grid and direction.
Leds are set in a specific order:
* Leds that marked as facing up or down.
* Leds that marked as facing west or east AND are on the west or east side of the grid.
* Leds that marked as facing north or south AND are on the north or south side of the grid.
LEDs are set in a specific order:
* LEDs that marked as facing up or down.
* LEDs that marked as facing west or east AND are on the west or east side of the grid.
* LEDs that marked as facing north or south AND are on the north or south side of the grid.
That is, south facing leds have priority.
That is, south facing LEDs have priority.
#### Indicator
@ -214,7 +214,7 @@ LEDs 2, 4, 6 and 8 should be positioned so the face east/north/west/south, respe
LEDs 9-10 should be placed facing down, in the middle
LEDs 11-12 should be placed facing up, in the middle
This is the default so that if you don't want to place LEDs top and bottom in the middle just connect the first 8 leds.
This is the default so that if you don't want to place LEDs top and bottom in the middle just connect the first 8 LEDs.
### Example 16 LED config
@ -314,8 +314,8 @@ This configuration is specifically designed for the [Alien Spider AQ50D PRO 250m
## Troubleshooting
On initial power up the LEDs on the strip will be set to WHITE. This means you can attach a current meter to verify
the current draw if your measurement equipment is fast enough. This also means that you can make sure that each R,G and B LED
in each LED module on the strip is also functioning.
the current draw if your measurement equipment is fast enough. Most 5050 LEDs will draw 0.3 Watts a piece.
This also means that you can make sure that each R,G and B LED in each LED module on the strip is also functioning.
After a short delay the LEDs will show the unarmed color sequence and or low-battery warning sequence.

2
docs/Migrating from baseflight.md
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@ -100,4 +100,4 @@ reason: renamed to `3d_deadband_throttle` for consistency
reason: renamed to `3d_neutral` for consistency
### alt_hold_throttle_neutral
reason: renamed to 'alt_hold_deadband'
reason: renamed to `alt_hold_deadband` for consistency

12
docs/Modes.md
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@ -42,9 +42,9 @@ WORK-IN-PROGRESS. This mode is not reliable yet, please share your experiences
In this mode the aircraft attempts to return to the GPS position recorded when the aircraft was armed.
This mode should be enabled in conjunction with Angle or Horizion modes and an Altitude hold mode.
This mode should be enabled in conjunction with Angle or Horizon modes and an Altitude hold mode.
Requires a 3D GPS fix and minimum of 5 satallites in view.
Requires a 3D GPS fix and minimum of 5 satellites in view.
## GPS Position Hold
@ -54,15 +54,15 @@ In this mode the aircraft attempts to stay at the same GPS position, as recorded
Disabling and re-enabling the mode will reset the GPS hold position.
This mode should be enabled in conjunction with Angle or Horizion modes and an Altitude hold mode.
This mode should be enabled in conjunction with Angle or Horizon modes and an Altitude hold mode.
Requires a 3D GPS fix and minimum of 5 satallites in view.
Requires a 3D GPS fix and minimum of 5 satellites in view.
## Auxillary Configuration
Spare auxillary receiver channels can be used to enable/disable modes. Some modes can only be enabled this way.
Configure your transmitter so that switches or dial (pots) send channel data on channels 5 upwards.
Configure your transmitter so that switches or dial (pots) send channel data on channels 5 and upwards.
e.g. You can configure a 3 position switch to send 1000 when the switch is low, 1500 when the switch is in the middle and 2000 when the switch is high.
Configure your tx/rx channel limits to use values between 1000 and 2000.
@ -89,5 +89,5 @@ Configure AUX range slot 0 to enable ARM when AUX1 is withing 1700 and 2100.
```aux 0 0 0 1700 2100```
You can display the aux configuration by using the `aux` command with no arguments.
You can display the AUX configuration by using the `aux` command with no arguments.

2
docs/Oneshot.md
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@ -58,4 +58,4 @@ The process for calibrating oneshot ESCs is the same as any other ESC.
## References
* FlyDuino (<a href="http://flyduino.net/">http://flyduino.net/</a>)
* FlyDuino (<a href="http://flyduino.net/">http://flyduino.net/</a>)

6
docs/Profiles.md
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@ -2,7 +2,7 @@
A profile is a set of configuration settings.
Current 3 profiles are supported, The default profile is profile `0`.
Currently three profiles are supported. The default profile is profile `0`.
## Changing profiles
@ -14,7 +14,7 @@ Profiles can be slected using a GUI or the following stick combinations
| 1 | Down | Left | Up | Middle |
| 2 | Down | Left | Middle | Right |
The cli `profile` command can also be used:
The CLI `profile` command can also be used:
```
profile <index>
@ -26,7 +26,7 @@ Cleanflight supports rate profiles in addition to regular profiles.
Rate profiles contain settings that adjust how your craft behaves based on control input.
3 rate profiles are supported.
Three rate profiles are supported.
Rate profiles can be selected while flying using the inflight adjustments feature.

14
docs/Rssi.md
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@ -1,21 +1,21 @@
# RSSI
RSSI is a measurement of signal strength. RSSI is very handy so you know when you are going out of range or there is interference.
RSSI is a measurement of signal strength and is very handy so you know when your aircraft isw going out of range or if it is suffering RF interference.
Some receivers have RSSI outputs. 3 types are supported.
1. RSSI via PPM channel
2. RSSI via Parallel PWM channel
3. RSSI via ADC with PPM RC that has an RSSI output - aka RSSI ADC
1. RSSI via Parallel PWM channel
1. RSSI via ADC with PPM RC that has an RSSI output - aka RSSI ADC
## RSSI via PPM
Configure your receiver to output RSSI on a spare channel, then select the channel used via the cli.
Configure your receiver to output RSSI on a spare channel, then select the channel used via the CLI.
e.g. if you used channel 1 then you would set:
e.g. if you used channel 9 then you would set:
```
set rssi_channel = 1
set rssi_channel = 9
```
## RSSI via Parallel PWM channel
@ -29,7 +29,7 @@ Use inline resistors to lower voltage if required; inline smoothing capacitors m
A simple PPM->RSSI conditioner can easily be made. See the PPM-RSSI conditioning.pdf for details.
Under CLI :
- enable using the RSSI_ADC feature : feature RSSI_ADC
- enable using the RSSI_ADC feature : `feature RSSI_ADC`
- set the RSSI_SCALE parameter (between 1 and 255) to adjust RSSI level according to your configuration.

29
docs/Rx.md
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@ -1,14 +1,13 @@
# Receivers (RX)
## Parallel PWM
8 channel support, 1 channel per input pin. On some platforms using parallel input will disable the use of serial ports
and softserial making it hard to use telemetry or gps features.
and SoftSerial making it hard to use telemetry or GPS features.
## PPM (PPM SUM)
## PPM (PPM SUM or CPPM)
12 channels via a single input pin, not as accurate or jitter free as methods that use serial communications.
12 channels via a single input pin, not as accurate or jitter free as methods that use serial communications, but readily available.
## MultiWii serial protocol (MSP)
@ -16,26 +15,28 @@ Allows you to use MSP commands as the RC input. Only 8 channel support to maint
## Spektrum
12 channels via serial currently supported.
8 channels via serial currently supported.
## SBUS
## S.BUS
16 channels via serial currently supported.
## XBus
## XBUS
The firmware currently supports the MODE B version of the XBus protocol.
Make sure to set your TX to use "MODE B" for XBUS in the TX menus!
See here for info on JR's XBus protocol: http://www.jrpropo.com/english/propo/XBus/
See here for info on JR's XBUS protocol: http://www.jrpropo.com/english/propo/XBus/
Tested hardware: JR XG14 + RG731BX with NAZE32 (rev4)
With the current CLI configuration:
`set serialrx_provider=5`
`set serial_port_2_scenario=3`
`feature RX_SERIAL`
```
set serialrx_provider=5
set serial_port_2_scenario=3
feature RX_SERIAL
```
This will set the FW to use serial RX, with XBUS_MODE_B as provider and finally the scenario to be used for serial port 2.
Please note that your config may vary depending on hw used.
This will set the controller to use serial RX, with XBUS_MODE_B as provider and finally the scenario to be used for serial port 2.
Please note that your config may vary depending on the Board used.
### OpenTX configuration
@ -75,7 +76,7 @@ For Serial RX enable `RX_SERIAL` and set the `serialrx_provider` cli setting as
Hardware input filtering can be enabled if you are experiencing interference on the signal sent via your PWM/PPM RX.
Use the `input_filtering_mode` cli setting to select a mode.
Use the `input_filtering_mode` CLI setting to select a mode.
| Value | Meaning |
| ----- | --------- |

34
docs/Serial.md
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@ -1,9 +1,9 @@
# Serial
Cleanflight has enhanced serial port flexibility and configuration is slightly more complex as a result.
Cleanflight has enhanced serial port flexibility but configuration is slightly more complex as a result.
Cleanflight has the concept of a function (MSP, GPS, Serial RX, etc) and a port (VCP, UARTx, SoftSerial x).
Not all functions can be used on all ports due to hardware pin mapping, conflicting features, hardware and software
Not all functions can be used on all ports due to hardware pin mapping, conflicting features, hardware, and software
constraints.
## Serial port types
@ -14,11 +14,11 @@ a dedicated USB to UART adapter. VCP does not 'use' a physical UART port.
* SoftSerial - A pair of hardware transmit and receive pins with signal detection and generation done in software.
UART is the most efficent in terms of CPU usage.
SoftSerial is the least efficient and slowest, softserial should only be used for low-bandwith usages, such as telemetry transmission.
SoftSerial is the least efficient and slowest, SoftSerial should only be used for low-bandwith usages, such as telemetry transmission.
UART ports are sometimes exposed via on-board USB to UART converters, such as the CP2102 as found on the Naze and Flip32 boards.
If the flight controller does not have an onboard USB to UART converter and doesn't support VCP then an external USB to UART board is required.
These are sometimes referred to as FTDI boards. FTDI is just a common manufacter of a chip (the FT232RL) used on USB to UART boards.
These are sometimes referred to as FTDI boards. FTDI is just a common manufacturer of a chip (the FT232RL) used on USB to UART boards.
When selecting a USB to UART converter choose one that has DTR exposed as well as a selector for 3.3v and 5v since they are more useful.
@ -31,7 +31,7 @@ Both SoftSerial and UART ports can be connected to your computer via USB to UART
## Serial Configuration
To make configuration easier common usage scenarios are listed below.
To make configuration easier, common usage scenarios are listed below.
### Serial port scenarios
@ -50,7 +50,7 @@ To make configuration easier common usage scenarios are listed below.
### Constraints
If the configuration is invalid the serial port configuration will reset to it's defaults and features may be disabled.
If the configuration is invalid the serial port configuration will reset to its defaults and features may be disabled.
* There must always be a port available to use for MSP
* There must always be a port available to use for CLI
@ -58,12 +58,12 @@ If the configuration is invalid the serial port configuration will reset to it's
* There is a maximum of 2 MSP ports.
* To use a port for a function, the function's corresponding feature must be also be enabled.
e.g. after configuring a port for GPS enable the GPS feature.
* If softserial is used both softserial ports must use the same baudrate.
* If SoftSerial is used, then all SoftSerial ports must use the same baudrate.
### Examples
All examples assume default configuration (via cli `defaults` command)
All examples assume default configuration (via CLI `defaults` command)
a) Parallel PWM, GPS and FrSky TELEMETRY (when armed)
@ -96,9 +96,9 @@ set serial_port_3_scenario = 4
save
```
c) PPM RX, GPS and FrSky TELEMETRY via softserial
c) PPM RX, GPS and FrSky TELEMETRY via SoftSerial
- MSP,CLI,GPS PASSTHROUGH on UART1
- MSP, CLI, GPS PASSTHROUGH on UART1
- GPS on UART2
- TELEMETRY on SOFTSERIAL1
@ -113,7 +113,7 @@ set serial_port_2_scenario = 2
set serial_port_3_scenario = 4
save
```
d) RX SERIAL, GPS and TELEMETRY (when armed) MSP/CLI via softserial
d) RX SERIAL, GPS and TELEMETRY (when armed) MSP/CLI via SoftSerial
- GPS on UART1
- RX SERIAL on UART2
@ -166,9 +166,9 @@ set telemetry_provider = 1
save
```
g) SBus RX SERIAL
g) S.BUS RX SERIAL
- TELEMETRY,MSP,CLI,GPS PASSTHROUGH on UART1
- TELEMETRY, MSP, CLI, GPS PASSTHROUGH on UART1
- RX SERIAL on UART2
```
@ -181,7 +181,7 @@ save
h) Spektrum RX SERIAL
- TELEMETRY,MSP,CLI,GPS PASSTHROUGH on UART1
- TELEMETRY, MSP, CLI, GPS PASSTHROUGH on UART1
- RX SERIAL on UART2
```
@ -194,9 +194,9 @@ save
i) MSP via USART1 and SoftSerial 1
- TELEMETRY,MSP,CLI,GPS PASSTHROUGH on UART1
- MSP on SPFTSERIAL1
- Both ports will be at 19200 (limited by softserial)
- TELEMETRY, MSP, CLI, GPS PASSTHROUGH on UART1
- MSP on SOFTSERIAL1
- Both ports will be at 19200 (limited by SoftSerial)
- USART2 can still be used for GPS/SerialRX/Telemetry, etc.
```

5
docs/Sonar.md
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@ -4,9 +4,8 @@ A sonar sensor can be used to measure altitude for use with BARO and SONAR altit
hold modes.
The sonar sensor is used instead of the pressure sensor (barometer) at low altitudes.
The sonar sensor is only used when the aircraft inclination angle is small.
The sonar sensor is only used when the aircraft inclination angle (attitude) is small.
## Hardware
Currently the only supported sensor is the HCSR04 sensor.
@ -28,4 +27,4 @@ Current meter cannot be used in conjunction with Parallel PWM and Sonar.
| ------------- | ------------- | ------------------- |
| PB0 / RC7 | PB1 / RC8 | YES (3.3v input) |
Current meter cannot be used in conjunction sonar.
Current meter cannot be used in conjunction with sonar.

2
docs/Spektrum bind.md
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@ -20,7 +20,7 @@ This is to activate the hardware bind plug feature
## Hardware
The hardware bind plug will be enabled via defining HARDWARE_BIND_PLUG during building of the firmware. BINDPLUG_PORT and BINDPLUG_PIN also need to be defined (please see above). This is done automatically if the AlienWii32 firmware is build. The hardware bind plug is expected between the defined bind pin and ground.
The hardware bind plug will be enabled via defining HARDWARE_BIND_PLUG during building of the firmware. BINDPLUG_PORT and BINDPLUG_PIN also need to be defined (please see above). This is done automatically if the AlienWii32 firmware is built. The hardware bind plug is expected between the defined bind pin and ground.
## Function

8
docs/Telemetry.md
View File

@ -41,7 +41,7 @@ FrSky telemetry signals are inverted. To connect a cleanflight capable board to
For 1, just connect your inverter to a usart or software serial port.
For 2 and 3 use the cli command as follows:
For 2 and 3 use the CLI command as follows:
```
set telemetry_inversion = 1
@ -51,7 +51,7 @@ set telemetry_inversion = 1
RPM shows throttle output when armed.
RPM shows when diarmed.
TEMP2 shows Satallite Signal Quality when GPS is enabled.
TEMP2 shows Satellite Signal Quality when GPS is enabled.
RPM requires that the 'blades' setting is set to 12 on your receiver/display - tested with Taranis/OpenTX.
@ -77,7 +77,7 @@ The diode should be arranged to allow the data signals to flow the right way
As noticed by Skrebber the GR-12 (and probably GR-16/24, too) are based on a PIC 24FJ64GA-002, which has 5V tolerant digital pins.
Note: The softserial ports are not listed as 5V tolerant in the STM32F103xx data sheet pinouts and pin description section. Verify if you require a 5v/3.3v level shifters.
Note: The SoftSerial ports are not listed as 5V tolerant in the STM32F103xx data sheet pinouts and pin description section. Verify if you require a 5v/3.3v level shifters.
## MultiWii Serial Protocol (MSP)
@ -92,5 +92,3 @@ Smartport is a telemetry system used by newer FrSky transmitters and receivers s
Smartport telemetry is currently experimental, more information can be found here: https://github.com/frank26080115/cleanflight/wiki/Using-Smart-Port
In time this documentation will be updated with further details.