Versions Comparison Chart

Functions common for all boards:
	Regular, Tiny rev.A,B (not rec. for new design)	Regular+, Tiny+ (Rev.C,D)	Tiny+ Extended (Rev.D with «Extended» firmware)	Extended, Extended Long, OEM	CAN_MCU	Pro
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 GPS IMU via UART as a secondary (external) IMU for corrections	•	•	•	•	•	•
Functions which differ:
High-end encoders Zettlex IncOder, RLS Aksim2, Netzer VLx, iC-Haus iC-MU	—	—	•	•	via CAN_Driver	•
CAN-bus interface to the modules CAN_IMU, CAN_Driver	—	—	•	•	•	•
Serial-over-CAN to transmit Serial API messages or arbitrary serial data between UART ports in modules	—	—	•	•	•	•
Dedicated SPI and PWM ports for encoders connection	shared with other I/O pins	shared with other I/O pins	shared with other I/O pins	•	—	•
High-grade IMU — as a secondary (external) IMU for corrections (Vectornav VN100/VN200/VN300, Inertialsense uAHRS, STIM210)	—	—	•	•	•	•
External IMU — gyroscope biases online calibrations	—	—	•	•	•	•
Basecam GPS IMU via CAN bus as a main IMU; Basecam GPS IMU Split (Satellite & Sensor) as main IMU	—	—	•	•	•	•
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 GPS IMU module	—	•	•	•	•	•
Motor cogging effect calibration	—	—	•	•	•	•
Encoder non-linearity and IMU-to-motor alignment calibrations	—	•	•	•	•	•
Support of 4th axis to align frame to optimal position	—	—	•	•	•	•
Electronic main power switch, power control and protection	—	—	—	—	•	—
Advanced functions in scripts (loops, variables)	—	•	•	•	•	•
Gimbal control in motor coordinates («servo mode»)	—	•	•	•	•	•
«Retracted position» — send and hold gimbal in a pre-defined position	—	—	•	•	•	•
«Shake generator» — generate random motion patterns	—	—	•	•	•	•
Control gimbal in quaternions	—	—	•	•	•	•

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°)	Center YAW axis only (need YAW encoder)	Center all axes + search hardware limits