separate folder for revo, revo voltage/current sensor setup

source/appendices/index.rst

@@ -6,6 +6,5 @@ Appendicies
    :maxdepth: 2
 
    bootloader
-   revo_sensors
    jst-sh
 

source/conf.py

@@ -59,7 +59,7 @@
 version = u'0.1'
 
 # The full version, including alpha/beta/rc tags.
-release = u'0.1.1'
+release = u'0.1.3'
 
 
 # The language for content autogenerated by Sphinx. Refer to documentation

source/user_manual/firmware.rst

@@ -50,5 +50,4 @@ your firmware is updated correctly:
 Next, Select your Flight Controller:
 
 * :doc:`CC - CC3D - Atom <cc3d>`
-* :doc:`Revolution <revo>`
-* :doc:`Revolution Nano <revo_nano>`
+* :doc:`Revolution <revo/index>`

source/user_manual/index.rst

@@ -7,9 +7,7 @@ OpenPilot User Manual
 
    gcs_install
    firmware
-   revo
-   revo_leds
-   revo_ext_leds
+   revo/index
    cc3d
    multirotor_hw
    multirotor_wizard

source/user_manual/revo_ext_leds.rst → source/user_manual/revo/ext_leds.rst

@@ -23,7 +23,7 @@ particularly useful.
 Hardware Connections
 --------------------
 
-.. image:: /img/ws2812.jpg
+.. image:: img/ws2812.jpg
 
 The OpenPilot firmware supports LEDs wired in both parallel and series
 configurations. A single LED is capable of displaying all of the data. Both
@@ -70,4 +70,4 @@ Light Codes
 The following graphic shows different notifications Revolution will display
 with the LED(s).
 
-.. image:: /img/Revo-External-Leds.png
+.. image:: img/Revo-External-Leds.png

source/user_manual/revo/index.rst

@@ -0,0 +1,12 @@
+****************
+Revolution Board
+****************
+
+.. toctree::
+   :maxdepth: 2
+
+   revo
+   leds
+   ext_leds
+   voltage_current
+   sensor_calibration

source/user_manual/revo.rst → source/user_manual/revo/revo.rst

@@ -24,9 +24,9 @@ The Revolution is a flight control computer with autopilot, intended for
 multirotors, helicopters and fixed wings. It is a full 10DOF with gyroscope,
 accelerometer, magnetometer and pressure sensors.
 
-.. image:: /img/Revolution_Side.jpg
+.. image:: img/Revolution_Side.jpg
 
-.. image:: /img/RevolutionBottom.jpg
+.. image:: img/RevolutionBottom.jpg
 
 Setting up your Revolution Board for the first time
 ---------------------------------------------------
@@ -48,7 +48,7 @@ the Ground Control Station (GCS) using the Vehicle Setup Wizard, follow the
 Sensor calibration
 ------------------
 
-:doc:`/appendices/revo_sensors`.
+:doc:`sensor_calibration`.
 
 Tuning your Revolution
 ----------------------
@@ -60,7 +60,7 @@ Connection diagram
 
 The diagram below summarizes how the overall Revolution system is connected.
 
-.. image:: /img/revo-full.jpg
+.. image:: img/revo-full.jpg
    :width: 600
 
 
@@ -89,7 +89,7 @@ function in the GCS (Ground Control Station).
 Modem
 ^^^^^
 
-The board features built-in 433MHz :doc:`OPLink Modem <oplink/index>`.
+The board features built-in 433MHz :doc:`OPLink Modem <../oplink/index>`.
 
 Dimensions
 ^^^^^^^^^^
@@ -99,12 +99,12 @@ dimensions and mounting holes as the OpenPilot Revo, GPS, OSD and PipX boards.
 
 *(All dimensions are in millimeters.)*
 
-.. image:: /img/RevoSchematic.jpg
+.. image:: img/RevoSchematic.jpg
 
 Ports
 ^^^^^
 
-.. image:: /img/RevoPorts.jpg
+.. image:: img/RevoPorts.jpg
 
 * **Servo 1-6**: These are the PWM outputs that go to servos or ESCs. Power is
   typically applied through these headers from only one of the ESCs. The
@@ -143,7 +143,7 @@ Ports
   development).
 
 * **RF Socket**: Antenna connection socket for on-board
-  :doc:`OPLink Modem <oplink/index>`.
+  :doc:`OPLink Modem <../oplink/index>`.
 
 * **Pwr Sen/Sonar Port**: JST-SH 4-pin. This port can be configured to
   accommodate an Autopilot current sensor and a low cost Sonar sensor such as
@@ -169,7 +169,7 @@ Sensor suite
 MPU
 """
 
-.. image:: /img/mpu6000.png
+.. image:: img/mpu6000.png
 
 The MPU-6000 combines a 3-axis gyroscope and a 3-axis accelerometer on the same
 silicon die. This sensor can also be found on the CC3D and already has a proven
@@ -178,7 +178,7 @@ track record of great flight performance.
 Pressure Sensor/Altimeter
 """""""""""""""""""""""""
 
-.. image:: /img/MS5611.jpg
+.. image:: img/MS5611.jpg
 
 When it came time to select a barometric pressure sensor, there were many to
 choose from and many were not up to the task. For the Revolution, OpenPilot
@@ -208,18 +208,18 @@ Flexi-IO Port. A lot of thought went into creating a small device that’s
 flexible for use with multirotor platforms, helicopters and fixed wing aircraft,
 as well as making connectivity as future proof as possible.
 
-.. image:: /img/revo-ports-2.jpg
+.. image:: img/revo-ports-2.jpg
 
-.. image:: /img/RevoMainPort.jpg
+.. image:: img/RevoMainPort.jpg
    :alt: MainPort
 
-.. image:: /img/RevoFlexiPort.jpg
+.. image:: img/RevoFlexiPort.jpg
    :alt: FlexiPort
 
-.. image:: /img/RevoSWD.jpg
+.. image:: img/RevoSWD.jpg
    :alt: SWD Port
 
-.. image:: /img/RevoUSB.jpg
+.. image:: img/RevoUSB.jpg
    :alt: Flexi-IO & USB Ports
 
 Flexi-IO
@@ -370,6 +370,8 @@ purpose input/output port or as a one or two channel analog input port.
 |        |        | (5V Tolerant) |               |
 +--------+--------+---------------+---------------+
 
+See also: :doc:`voltage_current`
+
 PWM output headers
 ^^^^^^^^^^^^^^^^^^
 

source/user_manual/revo/voltage_current.rst

@@ -0,0 +1,166 @@
+Revo - Current/Voltage Sensor Setup
+===================================
+
+Overview
+--------
+
+This page describes how to setup a voltage/current sensor using a Revolution
+or Revolution Nano board.
+
+Hardware Connections
+--------------------
+
+.. image:: img/voltage_current_connector.png
+
++--------+---------------+---------------+---------------+
+| Color  | Connector pin | Description   | AttoPilot pin |
+|        | (board)       |               | (sensor)      |
++========+===============+===============+===============+
+| Black  | 1             | GND           | GND           |
++--------+---------------+---------------+---------------+
+| Red    | 2             | Vcc           | Not used      |
++--------+---------------+---------------+---------------+
+| Blue   | 3             | Current input | I             |
++--------+---------------+---------------+---------------+
+| Orange | 4             | Voltage input | V             |
++--------+---------------+---------------+---------------+
+
+Basic voltage sensor
+--------------------
+
+A basic voltage divider can be used, two resistors connected between
+**ground** and **plus** from battery.
+
+.. image:: img/voltage_divider.png
+
+.. image:: img/basic_voltagesensor_connection_revo.png
+
+For a 4S battery (16.8Volts) the following values can be used:
+
+* R1: 2,2 KOhms
+* R2: 10 KOhms
+
+With Vbattery = 16.8V, Vout = (16.8 * 2.2) / (10 + 2.2) =  3,03V
+
+See also `<http://en.wikipedia.org/wiki/Voltage_divider>`_
+
+Current / Voltage sensor
+------------------------
+
+.. image:: img/CurrentVoltagesensor_connection_revo.png
+
+Here is a list of common Attopilot sensors that can be used:
+
++---------------------+----------------------+---------------+---------------+-------------+-------------+
+| Module Type         | Sensitivity          | VoltageFactor | CurrentFactor | VoltageZero | CurrentZero |
++=====================+======================+===============+===============+=============+=============+
+| Attopilot 13.6V/45A | 242.3mV/V, 73.20mV/A | 4.127         | 13.661        | 0           | 0           |
++---------------------+----------------------+---------------+---------------+-------------+-------------+
+| Attopilot 50V/90A,  | 63.69mV/V, 36.60mV/A | 15.701        | 27.322        | 0           | 0           |
+| RCTIMER 90A         |                      |               |               |             |             |
++---------------------+----------------------+---------------+---------------+-------------+-------------+
+| Attopilot 50V/180A  | 63.69mV/V, 18.30mV/A | 15.701        | 54.645        | 0           | 0           |
++---------------------+----------------------+---------------+---------------+-------------+-------------+
+
+For custom sensor see the :ref:`calc_sensor_calibration` section.
+
+Hardware settings
+-----------------
+
+The first thing to do is to configure the hardware settings:
+
+#. Connect the board to your computer and got to the **System tab** in your
+   GCS
+
+#. Browse the first part (Settings) and find the **HwSettings** UAVObject
+
+#. Enable the Battery module: **OptionalModules** > **Battery** >
+   **Enable**
+
+#. Set the analog input pins for voltage and current:
+   * **ADCRouting** > **adc0** > **BatteryCurrent**
+   * **ADCRouting** > **adc1** > **BatteryVoltage**
+
+#. Save changes, click Upload button
+
+#. Reboot your board: disconnect **all power sources** and reconnect to
+   your computer.
+
+.. image:: img/uavobrowser_HwSettings.png
+
+Calibrate sensor
+----------------
+
+Now connect the battery to the battery sensor, if changes are done and
+battery module enabled you can see the display on PFD:
+
+.. image:: img/PFD_volt_amp_display.png
+
+But values displayed are not accurate, we need to calibrate sensor!
+
+.. _calc_sensor_calibration:
+
+Calculate SensorCalibration values
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+To configure the battery monitor, you need to calculate the
+**SensorCalibration** values.
+
+For example, the documentation for Attopilot current sensor specifies
+the following information for each sensor type:
+
++-----------+--------------+---------------+
+| Sensor    | Voltage      | Current       |
+| type      | sensitivity  | sensitivity   |
++===========+==============+===============+
+| 50V/180A  | 63.69mV/Volt | 18.30mV / Amp |
++-----------+--------------+---------------+
+| 50V/90A   | 63.69mV/Volt | 36.60mV / Amp |
++-----------+--------------+---------------+
+| 13.6V/45A | 242.3mV/Volt | 73.20mV / Amp |
++-----------+--------------+---------------+
+
+In order to use 50V/90A you'll have to do the following:
+
+* Convert everything to Volt, so Volt/Volt and Volt/Amp:
+
+   * 63.69mV/V / 1000 = 0.06369 V/V
+   * 36.60mV/A / 1000 = 0.0366 V/A
+
+* Then calculate the values to insert in **Voltage** and **Current Factors**:
+
+   * **VoltageFactor** = 1 / 0.06369 = 15.701
+   * **CurrentFactor** = 1 / 0.0366 = 27.322
+
+Those factors are start values that can be adjusted later from readings,
+generally sensor's sensitivity are not so accurate.
+
+Setting FlightBatterySettings Properties
+----------------------------------------
+
+#. Connect the board to your computer and go to the **System tab** in your GCS
+
+#. Browse the first part (Settings) and find the **FlightBatterySettings**
+   UAVObject
+
+#. Set the **VoltageFactor** and **CurrentFactor** as in the previous section.
+
+#. Set the cell **Capacity** if you want a warning to be issued when there are
+   less than 2 minutes of flight time available; otherwise, set to 0.
+
+#. Set **NbCells** with the number of cells in series (2 for 2S, 3 for 3S, 3
+   for 3S2P)
+
+#. Set the **Warning** and **Alarm** thresholds if you would like a warning
+   or critical alarm to be issued when going under the values that you specify.
+
+#. Save changes, click **Upload** button.
+
+.. image:: img/Uavbrowser_FlightbatterySettings.png
+
+.. note:: Sometimes sensor are not accurate with small readings, especially
+   for current. A **CurrentZero** setting can be set: without any load change
+   this value to obtain a 0 ampers display.
+
+
+