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Versions comparison chart

Regular,
Tiny
Extended,
Extended Long
CAN_MCU Pro
High-end encoders
Zettlex IncOder
CAN-bus interface to the modules
CAN_IMU, CAN_Driver
Dedicated SPI and PWM ports for encoders connection shared with other I/O pins
External high-grade IMU - other vendors
(Vectornav VN100/VN200, Inertialsense uAHRS)
External IMU - gyroscope biases online calibrations
Advanced calibrations of gyroscope and accelerometer
Automatic multipoint accelerometer calibration
Collect summary usage statistics in EEPROM
Motor cogging effect calibration
Support of 4th axis to align frame to optimal position
Electronic main power switch, power control and protection
Functions common for all boards:
I2C magnetometer
Encoder-enabled firmware available
I2C_Drv - external motor driver via I2C bus
MavLink-connected autopilot used for gimbal control and main IMU correction
External high-grade IMU - Basecam GPS IMU

Encoder-enabled vs regular version of firmware

Regular Encoder-enabled
Encoders installation YAW axis (optional) on each motor
Encoder interfaces: I2C, PWM, Analog
Encoder interfaces: SPI
Motor control algorithm synchronous field-oriented
Energy-efficient motor control
Operation in "Follow" mode not reliable: may loose synchronization; not precise never loose synchronization; precise
Unlimited range of working positions (upside-down, rolled to 90, brief-case mode)
Does not requires 2nd IMU on the frame for normal operation
Support of tilted middle or outer motor
Use external high-grade IMU located on the frame for a correction of the main IMU
Set the software-limited range of rotation for each motor
Camera goes to home position at startup and can detect hardware limits (required for working range >360°)

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