M4CAN + rOsewhite Rachel

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M4CAN + rOsewhite Rachel

Postby aBUGSworstnightmare » Wed Feb 25, 2015 7:30 pm

Hey guys,

had a hard time dealing with some ESC32V3 samples but now everything looks promising 8-)

Re-build my rOsewhite Rachel frame with a new setup:

Frame: rOsewhite Rachel (http://www.rosewhite.de/en/rachel)
ESC: ESC32V3 protoytpes, connected via CAN
Flightcontroller: M4 on M4CAN expansion board (viewtopic.php?f=40&t=3857&start=70#p30957)
Motors: T-Motor AirGear 350 set, AIR2213/920KV, will use it with the stock T9545 props (http://www.rctigermotor.com/html/2014/C ... 0/279.html)
Battery: 3S

Here are some pictures!
SANY0148.JPG
M4 on M4CAN expansion board, ESC32V3 prototypes

SANY0150.JPG
closeup of ESC32V3, CAN connection soldered, 5V operation

SANY0152.JPG
mounted everything on the Rachel frame

SANY0157.JPG
after some more time ...

SANY0158.JPG
finished quad with 35x35mm active GNNS antenna, Bluetooth still missing

SANY0159.JPG
front view - four ports mounted on the CAN distribution. FC is a black M4r6 (not the red one shown above; this will go into the CamCruiser)

SANY0160.JPG
side view, added some foam unter the RECOM, heat shrink tubing cut open to keep USB ports on the ESC32V3 accessible

SANY0161.JPG
close-up of an AIR2213/920 motor. Two of them configured to speak *lol*


more to come ...
Last edited by aBUGSworstnightmare on Thu Feb 26, 2015 9:57 am, edited 2 times in total.
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Re: M4CAN + rOsewhite Rachel

Postby kinderkram » Wed Feb 25, 2015 7:50 pm

Nice setup, Joerg!


btw: if you don´t get a GPS fix, this might be the reason why:

bent-plug.jpg
bent-plug.jpg (271.14 KiB) Viewed 5291 times


Better run the antenna cable in another way, e.g. on the outer corner instead of through tha hole...
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Re: M4CAN + rOsewhite Rachel

Postby aBUGSworstnightmare » Wed Feb 25, 2015 8:06 pm

kinderkram wrote:Nice setup, Joerg!


btw: if you don´t get a GPS fix, this might be the reason why:

bent-plug.jpg


Better run the antenna cable in another way, e.g. on the outer corner instead of through tha hole...


Hi Norbert,

Well, need to partially disassemble her again because my DX10t doesn't bind to the Cypress end will re-route the GPS wire.
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Re: M4CAN + rOsewhite Rachel

Postby aBUGSworstnightmare » Thu Feb 26, 2015 2:33 pm

Here are the ESC32V3 parameters (Motor 4)
Code: Select all
PARAMETERS REPLACED
Last edited by aBUGSworstnightmare on Sun May 31, 2015 1:04 pm, edited 2 times in total.
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Re: M4CAN + rOsewhite Rachel - Ready for DUTY

Postby aBUGSworstnightmare » Fri Feb 27, 2015 9:47 am

There she is: Ready for Duty!
AUW with 3S2200mAh LiPo is 820g
SANY0162.JPG
BBR - Big Bad Rachel


As you can tell from the pic there's not much gap between the tips of the props. Maybe I need to get hands on 9x3 CFK props later .... let's see

The only problem now is her 'male voice'! Maybe too much steroids :P
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Re: M4CAN + rOsewhite Rachel

Postby kinderkram » Fri Feb 27, 2015 10:00 am

Adam had posted some female voice samples for the v3 some time ago - might fit the girl named Rachel better. ;)
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Re: M4CAN + rOsewhite Rachel

Postby aBUGSworstnightmare » Fri Feb 27, 2015 10:42 am

kinderkram wrote:Adam had posted some female voice samples for the v3 some time ago - might fit the girl named Rachel better. ;)


Here is her 'male' voice


Yep, a female would be nice, but how to exchange the voice files???
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Re: M4CAN + rOsewhite Rachel

Postby aBUGSworstnightmare » Sun May 31, 2015 8:35 am

Now that the ESC32V3 series production is at the doorstep I've started to replace the prototypes by series production.
The supplied 470uF cap is good for 6S but it's a little bulky so I had to find a new place for it. The V3 version I'm using comes without the micro USB socket --> USB2UART needs to be used (as with ESC32V2).
SANY0062.jpg
3.5mm bullet connectors were soldered to the motor connection pads. Connector on the I/O is a MicroMatch 10-pin. My primary interface is CAN --> wires were added in addition.

A MicroMatch 10-pin connector (i.e. Digikey A110869CT-ND) is added to the I/O pins. The connector needs some 'hacking' (bending the pins on one side by using a plier) to make it fit. It allows to use the UART (only 5 pins were needed (DTR is NC)), PWM and CAN interface from a cimpable connector (i.e. Digikey A107014CT-ND).
SANY0063.jpg

SANY0064.jpg
I've stared with soldering the UART side, then bend the contacts on the CAN/PWM side to mate the solder pads and soldered them in place finally. You can clearly see this ESC32V3 version has no USB socket mounted.

SANY0059.jpg
470uF/50V cap is wrapped in heat shrink and placed on the ESC32V3

SANY0061.jpg
Picture shows how I bend the connector leads.

SANY0060.jpg
Bottom view with cap soldered.

SANY0065.jpg
ESC32V3 wrapped in heat shrink, ready for mounting


Also started to prepare a .XML-file for QUATOS. With a AUW < 1kg this Rachel config can be used with the FOC QUATOS license that comes with the M4.
Thanks to Fred we now have a tool to visualize .XML files in 3D (refer to viewtopic.php?f=48&t=4456 for the total story as well as the tool itself). This is very helpful for finding errors in the config file.
Here is what the Rachel's .XML look like:
rachel.jpg
3D visualization of the Rachel .XML-file

rachel_0r2.xml.zip
Rachel .XML file 0r2
(2.23 KiB) Downloaded 176 times

rachel_0r2.pdf
interactive 3D file
(41.3 KiB) Downloaded 186 times
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Re: M4CAN + rOsewhite Rachel

Postby aBUGSworstnightmare » Sun May 31, 2015 1:08 pm

Finished the ESC32V3 calibration for the AirGear 350 set:
Code: Select all
Final ESC32V3 parameters for AirGear350 + T9545 Prop @ 3S
FF1TERM              = +4.521509e-08
FF2TERM              = +9.591050e-04
ADVANCE              = 21.00 Degs
MAX_CURRENT          = 16.00 Amps
START_CURRENT        = 0.85 Amps
SWITCH_FREQ          = 36.0 KHz
MOTOR_POLES          = 12
PWM_RPM_SCALE        = 7800 RPM

esc32v3_airgear350-T9545_36kHz3S.jpg
RPM vs Voltage for AIR2213/920 @ 3S


Code: Select all
Final ESC32V3 parameters for AirGear350 + T9545 Prop @ 4S
FF1TERM              = +5.61263e-08
FF2TERM              = +8.90216e-04
ADVANCE              = 21.00 Degs
MAX_CURRENT          = 18.00 Amps
START_CURRENT        = 0.85 Amps
SWITCH_FREQ          = 36.0 KHz
MOTOR_POLES          = 12
PWM_RPM_SCALE        = 10350 RPM

esc32v3_airgear350-T9545_36kHz4S.jpg
RPM vs Voltage for AIR2213/920 @ 4S


Thrust curve to follow 8-)
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