Versions comparison chart
Regular, Tiny |
Regular+, Tiny+ |
Extended, Extended Long, OEM |
CAN_MCU | Pro | |
---|---|---|---|---|---|
Functions common for all boards: | |||||
Serial API for gimbal control and monitoring | • | • | • | • | • |
I2C magnetometer | • | • | • | • | • |
Encoders (rotaty position sensors) support | • | • | • | • | • |
I2C_Drv — external motor driver via I2C bus | • | • | • | • | • |
MavLink v1.0 autopilot used for gimbal control and IMU corrections | • | • | • | • | • |
Basecam |
• | • | • | • | • |
Functions which differ: | |||||
Zettlex IncOder, RLS Aksim2, Netzer VLx, |
− | − | • | via CAN_Driver | • |
CAN_IMU, CAN_Driver |
− | − | • | • | • |
Dedicated SPI and PWM ports for encoders connection | shared with other I/O pins | shared with other I/O pins | • | − | • |
(Vectornav VN100/VN200/VN300, Inertialsense uAHRS, STIM210) |
− | − | • | • | • |
External IMU — gyroscope biases online calibrations | − | − | • | • | • |
Basecam |
− | − | • | • | • |
MavLink V2.0 with extra messages | − | • | • | • | • |
Advanced calibrations of gyroscope and accelerometer | − | • | • | • | • |
Automatic multipoint accelerometer calibration | − | • | • | • | • |
Collect summary usage statistics in EEPROM; Log realtime data to SD card in |
− | • | • | • | • |
Motor cogging effect calibration | − | − | • | • | • |
Encoder |
− | • | • | • | • |
Support of 4th axis to align frame to optimal position | − | − | • | • | • |
Electronic main power switch, power control and protection | − | − | − | • | − |
Advanced functions in scripts (loops, variables) | − | • | • | • | • |
Encoder-enabled vs regular version of firmware
Regular | ||
---|---|---|
Encoders installation | YAW axis (optional) | on each motor |
Encoder interfaces: I2C, PWM, Analog | • | • |
Encoder interfaces: SPI | − | • |
Motor control algorithm | synchronous | |
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, |
− | • |
Does not requires 2nd IMU on the frame for normal operation | − | • |
Support of tilted middle or outer motor | − | • |
Use external |
◦ | • |
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°) | Center YAW axis only (need YAW encoder) |
Center all axes + search harware limits |