Getting started

From Gluonpilot

Getting the code

• Download Microchip MpLab for editing and compiling the firmware
• Download the C30 compiler for MpLab
• Download Visual C# Express for the configuration tool
• Get the code:
  • The "hottest" code from the SVN server
  • The latest release from the download page:

Open "Firmware\rtos_pilot\rtos_pilot.mcw" to view the complete autopilot code. Open "Software\Gluonpilot\Gluonpilot.sln" to view the Configuration tool's code, or execute it using "Software\Gluonpilot\Gluonpilot\bin\Debug\Gluonpilot.exe"

Programming your gluonpilot

Here you have 2 options:

• Using the ds30 Bootloader
• Using ICD2

I prefer ICD2 because it is build into MpLab.

Calibrating the sensors

Start up the gluon configuration tool and use the Config_sensors tab page to calibrate the sensors. If this is the first time you configure the module. First "Connect", then press "Default" to load a default configuration to the module and finish with "Burn" to write the configuration from memory to flash. For more info go to the Gluonpilot configuration tool page.

Open the 3D cube representation (rightmost icon on the toolbar). Put the module on a flat surface and press the button on the module. Now you resetted the values to their original values at 0 degrees. Verify that the attitude on the screen changes with the orientation of the module.

Adding PWM servo-outputs

Solder 3-pin headers to the 6 servo-outputs of the gluon module. Take a look at the backside of the board: you need to decide whether you want to power the servos using the same 5V that feeds the board or not.

• Short circuit SJ2 & SJ3 if you want to use the same 5V power source. Noise coming from moving servos might affect the stability of the sensors!
• Keep SJ2 & SJ3 open if you want to use a serperate 5V power source for the servos.

The GND side of the connectors is the pin on the border of the module.

Adding RC-transmitter inputs

PPM pulse train taken from transmitter and connected to the gluon module

Here you can make the choice:

• You use the PPM pulse train. To do this, you need to solder a 3 wire servo cable to the correct pin on your transmitter. This is only for advanced users! Then you can plug it PPM1. Look on the mikrokopter wiki for an overview of receivers supporting this.
• Solder a 3-wire (Ground + 5V + Signal) servo wire to PPM1. This is your first channel input. Solder 4 1-wire servo cables (signal or white pin) to each input of PPM2. With this setup, you'll have 5 PWM-inputs!

Go to the "RC input" tabpage and select PWM or PPM input, depending on your choice made above. When everything is working, assign which channel is roll, pitch, yaw, motor and used for enabling the AutoPilot mode (don't forget to Write and Burn!).

Now you should be able to manually control the servos using your RC-transmitter.

Adding the GPS

Locosys

You will need a 4-wire connector to connect the GPS to the gluon board. Carefully check the datasheet to make sure you connect it properly. On the gluon board you can see the pins: + (3V3), - (GND), I (input), O (output).

EB-85

The EB-85 GPS uses a specific connector. If your board doesn't have one yes, you can order it at sparkfun. Not all GPS modules come preconfigured with the same output baudrate. You might need to try different settings in the gluon config tool. For some quick experimentation: Open the gps_test/ code and change the input baudrate. When you found the correct input baudrate, you can configure it in the gluon config tool (Config_Gps) and burn it to flash.