4in / 4out Mixer
for Quadrocopter / Quadcopter
16F84A V1.13 DIY
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LD HUng from Viet Nam give me some idea about the mixer, he use three 2in/2out mixers to control a Quadcopter
and the mixers functional as:
So, We came out together to this 4in/4out mixer, use only one PIC16F84A, resolution is 6.6uS.
final schema for V1.13 : Mod. by LD HUng, V1.1 add initiation of Gyro esky 0704.
Here is LD HUng 's thread (Vietnamese)
http://www.clbmohinh.com/forum/tm.aspx?m=382664
vedio links:
fly : http://www.youtube.com/watch?v=W_B1ciAcq4Q
hover: http://www.youtube.com/watch?v=PDuhl7WgeIc
Crash:
http://www.youtube.com/watch?v=5YUzbi_UWoA
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2010/09/20 Update
(V1.13) Mod. by LD HUng, V1.1 add initiation of Gyro esky 0704.
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Input: A0 (rudder), A1 (throttle), A2 (Eleon/Elevator), A3 (Aileon).
Output: B0 (motor left), B1(motor right), B2 (motor forward), B3 (motor back).
(V1.12) small action Why V1.1x ?
make direction, yaw control more easy.
B0 = A1 - ŁGA0/2 + ŁGA3/2
B1 = A1 - ŁGA0/2 - ŁGA3/2
B2 = A1 + ŁGA0/2 - ŁGA2/2
B3 = A1 + ŁGA0/2 + ŁGA2/2
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(V1.1) function formula
B0 = A1 - ŁGA0 + ŁGA3
B1 = A1 - ŁGA0 - ŁGA3
B2 = A1 + ŁGA0 - ŁGA2
B3 = A1 + ŁGA0 + ŁGA2
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Attention:
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This mixer read input PWM one by one, is designed for receivers use shift
register (such as 54164,74164, 4015) as output, most of PPM receivers are this
type, but PCM receiver may not.
Some gyro may cause PWM delay unpredictable, if you connect gyro between
receiver and mixer.
Gyro after mixer won't cause any trouble.
The LED light when receive a set of PWM, normally it blinking 50 times/second
(Futaba compatable PPM system), normally it look like steady light.
If the LED blink slowly, try to reset the mixer's power by disconnect it from
ESC, and connect again, if still can't get steady light,
DO NOT use this mixer in your system.
Always power on your transmitter first, before power on receiver .
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V1.13 PIC16F84A.C PIC16F84A.HEX
V1.12 PIC16F84A.C PIC16F84A.HEX
V1.1 PIC16F84A.C PIC16F84A.HEX
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You MAY duplicate, modify, give away or sell the original files in the web site or anything you derive from it.
ATTENTION : It is your own responsibility, if any damage cause by using the web site.
Philip Sun / TAIWAN
copy right 2004
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