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Re: [Paparazzi-devel] Proposed change on Booz I2C clock timing for MKK a

From: Felix Ruess
Subject: Re: [Paparazzi-devel] Proposed change on Booz I2C clock timing for MKK actuators
Date: Tue, 28 Dec 2010 00:04:03 +0100

Hi Thomas,

we will keep the 150 as default value because most people fly with quads and there it is enough.

But you can configure this in your airframe file now when specifying the subsystem like this:
  <subsystem name="actuators"     type="mkk">
      <configure name="MKK_I2C_SCL_TIME" value="150"/><!-- this is optional, 150 is default, e.g. use 50 for 8 motors-->

Most parameters like this just get set to default values in the headers if not already otherwise defined.

Were you thinking on a wiki page on exactly this issue or all the parameters in general (that would be a lot... ;-)

Cheers, Felix

On Mon, Dec 27, 2010 at 12:39 AM, Thomas Wuensche <address@hidden> wrote:
Hi all,

Trying to adapt the booz platform to my new octocopter based
on mikrokopter airframe I ran into problems with the i2c clock
rate for parameter supply to the bl-controllers. Only the first
five motors were running reliable, the rest started and stopped
unregularly. The effect was caused by too low clock rate for the
i2c bus, resulting in bus overload and hence lost motor commands.

The issue was solved by changing the clock timing for both SCLL
and SCLH to 50. I therefor suggest to change this parameter as
default after others have verified my settings to be valid.

Being a newbie it was a little bit difficult to search myself
to the point where this parameter was set to the effective
value. I tried to change it in the i2c header file, but this
change was without effect. Finally I found it is set in the
makefile. In fact I find it difficult to know which parameters
are available at all, what the effect of the parameters is and
where they are set. Therefor I suggest to make a wiki document
on that issue, which will be the place for such descriptions.
With this I'm willing to help, but for sure can not manage that

Regards, Thomas Wuensche
EMS Dr. Thomas Wuensche e.K.
Sonnenhang 3
85304 Ilmmuenster
HRA Neuburg a.d. Donau, HR-Nr. 70.106
Phone: +49-8441-490260
Fax  : +49-8441-81860

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