diff --git a/esc/esc_programming.tex b/esc/esc_programming.tex
index f37b7d842472e9a205d9c08d776cd3435b7fe722..0cade996513ef5d1ab89b58168b9b3c728f7124c 100644
--- a/esc/esc_programming.tex
+++ b/esc/esc_programming.tex
@@ -33,6 +33,7 @@
\usepackage{booktabs} % Better looking tables
\usepackage[inline, marginclue]{fixme} % For fixme messages in text
\fxsetup{theme=color}
+\usepackage{lscape} % Landscape
% My custom packages (see ../style/)
\usepackage{definitions}
@@ -61,28 +62,36 @@ Speed Controller (ESC) \jetispin. These settings must be configured using the
the motor and provide the best reliability during the operation of the
\MR.
-Normally the ESC settings should only be modified at the very beginning of the
-\MR design usage and should stay the same during all the experiments. This
-report is just a way to trace everything should we start all over again or
+Normally the ESC settings should only be modified during the calibration and
+initial setup of the \MR and should stay the same during all the experiments.
+This report is just a way to trace everything should we start all over again or
re-use the ESC in a separate project.
\section{Safety precautions}
-\danger The \jetibox automatically switches in Telemetry mode if it detects any
-input from the throttle. This means that \textbf{the engine will start as in
-regular conditions even when connected to the \jetibox, if the Arduino send
-any signal}.
+\danger The \jetibox automatically switches in telemetry mode when it detects
+any input from the throttle. This means that \textbf{if the Arduino send any
+ signal, the engine will start as in regular conditions even when connected to
+the \jetibox}.
Connecting and using the \jetibox requires the operator to stand in direct
vicinity of the motor. It is therefore of paramount importance to ensure that
\begin{itemize}
- \item \textbf{the motor axis is not linked to any moving element}
-(gearbox, wings), or
-\item \textbf{the motor cannot be turned on inadvertently},
-by disconnecting the signal output from the Arduino.
+ \item \textbf{the motor axis is not linked to any moving element} (gearbox,
+ wings), or
+ \item \textbf{the motor cannot be turned on inadvertently}, by disconnecting
+ the signal output from the Arduino.
\end{itemize}
-Ideally both precautions should be followed in the same time.
+Ideally both precautions should be followed in the same time. Refer to the
+complete \MR Safety Assessment Report for further details.
-Please refer to the complete \MR Safety Assessment Report for further details.
+\subsection*{Danger zones}
+\textbf{The space in the rotation plane of the motor must be kept clear at all
+times}.
+
+The motor can spin at velocities above 6000 RPM. There is a real risk of parts
+being ejected from the housing or being caught up by the motor shaft.
+
+\fxwarning{Add zone schematics}
\section{Telemetry}
@@ -93,12 +102,13 @@ tunnel\footnote{Not really needed/useful and not enough space to put the
during the first programming steps of the ESC.
\subsection{Safety procedure}
-The telemetry can be used in live on the operating motor to check all its
-parameters. \textbf{This is the most dangerous way of operation} as it requires
-both the motor to be running and the operator to stand close to the system. To
-ensure maximal safety, this should be reserved for analysing the motor in
-isolation on a test bench, not integrated in the \MR.
+The telemetry can be used to get direct measurements on the operating motor.
+\textbf{This is the most dangerous way of operation} as it requires both the
+motor to be running and the operator to stand close to the system. To ensure
+maximal safety, this should be reserved for analysing the motor in isolation on
+a test bench, not integrated in the \MR.
+The following safety procedure should be observed for use in telemetry mode:
\begin{enumerate}
\item Unmount the motor from the \MR and secure it to a test rig (a vice);
\item Ensure the surroundings are clear of any loose object that may come
@@ -107,12 +117,12 @@ isolation on a test bench, not integrated in the \MR.
not aligned with the motor lateral direction.
\end{enumerate}
+It is also possible to plug the \jetibox to the ESC after a run is complete. In
+that case, the last motor run can be recovered and analyzed properly.
\subsection{Telemetry procedure}
To begin a test run using the \jetibox for telemetry:
-\fxwarning{Need review}
-
\begin{enumerate}
\item Ensure the safety precautions are all conducted.
\item Connect the \jetibox to the ESC.
@@ -120,8 +130,8 @@ To begin a test run using the \jetibox for telemetry:
\item Turn on the Arduino.
\item Operate the motor as usual.
\end{enumerate}
-
-\fxnote{Is there also a specific procedure for after-run analysis?}
+The same procedure can be applied for \textit{live} telemetry or after-run
+analysis.
\section{ESC settings modifications}
This section concerns the modifications of the ESC settings using the \jetibox.
@@ -144,14 +154,17 @@ start.
\subsection{Setting procedure}
-\fxfatal{Write proper setting procedure}
\begin{enumerate}
- \item Connect
- \item Connect
- \item Turn on the power supply
+ \item Connect the \textbf{GND and VCC} wires from the Arduino to the ESC.
+ \newline
+ Make sure the data wire is \textbf{not} connected.
+ \item Connect the ESC to the motor.
+ \item Connect the \jetibox to the ESC.
+ \item Turn on the Arduino and the power supply (in that order).
\item Navigate the menus using the arrows on the \jetibox\footnote{The diagram
for the \jetibox menus is attached in appendix to ease navigation during
- the settings.}
+ the settings.}. See also the \jetispin manual for explanation of all the
+ settings.
\end{enumerate}
Once everything is properly set, disconnect the power supply, the \jetibox, and
@@ -166,90 +179,89 @@ operation.
\subsubsection{Auto Set}
In automatic setting, the only parameter to set is the operating mode. As the
-\MR is supposed to flap at a constant frequency under varying loads, the
-\fxwarning*{Are we sure?}{most suitable operating mode is \textbf{HELI
-Const.RPM}}.
+\MR is supposed to flap at a constant frequency under varying loads, the most suitable operating mode is \textbf{Const.RPM}.
This mode will ensure that the motor keeps the rotating speed imposed by the
controller (Arduino) no matter the load it is subjected to.
-\textit{The automatic mode should only be employed for preliminary testing and
-validation of the prototype, not for the aerodynamic test campaign in the Wing
-Tunnel. In that case, the more precise manual mode should be preferred}.
+\textit{The automatic mode should only be employed for preliminary testing on an
+ isolated motor. The RPM limits set automatically are much higher than the ones
+ suitable for the flapping system. Any run on the actual model may cause
+serious damages to the model and potentially to any one around it.}
\subsubsection{Manual Set}
In manual mode, individual settings can be tweaked. The following table
describes all the values that should be set for the proper operation of the
-engines in the \MR.
+motors in the \MR. All settings are properly described in the \jetispin user
+manual. The manual also contains recommendation for some of these settings.
\textit{The setting procedure will be conducted following the diagram provided
by \textsc{JETI}. As some settings are not part of the flowchart used for
\MR, they will be left out (e.g., number of battery cells, etc.).}
-\fxfatal{Complete table}
-
+\begin{landscape}
\begin{table}[ht]
- \caption{Values for the manual settings}
+ \caption{Values for the manual settings. Color indicates values changed from
+ the defaults.}
\label{tab:manualsettings}
\begin{center}
- \begin{tabular}{@{} p{0.22\linewidth} p{0.2\linewidth} p{0.55\linewidth}
- @{}}
+ \begin{tabular}{@{} p{0.25\linewidth} p{0.15\linewidth} p{0.1\linewidth}
+ p{0.48\linewidth} @{}}
\toprule
- \textbf{Setting} & \textbf{Value} & \textbf{Description} \\
+ \textbf{Setting} & \textbf{Value} & \textbf{Default} & \textbf{Comment} \\
\midrule
- \textbf{Temperature protection} & & \\
- \hline
- \textbf{Brake} & & \\
+ \textbf{Temp. protection} & \newval{90} & 100 & To be extra sure \\
\hline
- \textbf{Operation Mode} & Hell Normal & Could be Hell Auto or Hell
- canst.RPM \\
+ \textbf{Brake} & \newval{Soft} & Off & Avoid abrupt changed \\
\hline
- \textbf{Motor pole No.} & & \\
+ \textbf{Operation Mode} & \newval{Constant RPM} & Normal & RPM must stay
+ constant for \MR \\
\hline
- \textbf{Gear} & & \\
+ \textbf{Motor Pole No.} & \newval{20} & 6 & Taken from Plettenberg data sheet \\
\hline
- \textbf{Set Max. Rotor RPM} & & \\
+ \textbf{Gear} & 1 & 1 & Must be kept to 1 to work properly with other
+ settings \\
\hline
- \textbf{Set Min. Rotor RPM} & & \\
+ \textbf{Set MaxRotor RPM} & \newval{2000} & 2000 & Corresponds to 3~Hz \\
\hline
- \textbf{Sensitivity} & & \\
+ \textbf{Set MinRotor RPM} & \newval{500} & 1000 & Lowest value possible \\
\hline
- \textbf{Autorotation} & & \\
+ \textbf{Sensitivity} & 04 & 04 & Unsure, keep default \\
\hline
- \textbf{Autorotation Acceleration} & & \\
+ \textbf{Autorotation} & Off & Off & Not needed as not proper helicopter\\
\hline
- \textbf{Timing Auto 0$^\circ$-30$^\circ$} & & \\
+ \textbf{Timing} & 0 & 0 & Unsure, kept default \\
\hline
- \textbf{Frequency} & & \\
+ \textbf{Frequency} & 8~kHz & 8~kHz & DO NOT CHANGE according to manual \\
\hline
- \textbf{Acceleration} & & \\
+ \textbf{Acceleration} & \newval{10~s} & 5~s & Very smooth start \\
\hline
- \textbf{Accumulator Type} & Direct Voltage & DC power supply \\
+ \textbf{Accumulator Type} & \newval{Direct Voltage} & LiPo & DC power
+ supply used \\
\hline
- \textbf{Off Voltage Set} & & \\
+ \textbf{Off Voltage Set} & 11.99V & 11.99V & Not really useful with DC
+ power supply \\
\hline
- \textbf{Cut off} & & \\
+ \textbf{Cut OFF} & Slow down & Slow down & Avoid abrupt change \\
\hline
- \textbf{Initial point auto} & & \\
+ \textbf{Initial Point} & Auto & Auto & Unsure, kept default \\
\hline
- \textbf{End Point} & & \\
+ \textbf{END Point} & 1.8~ms & 1.8~ms & Unsure, kept default \\
\hline
- \textbf{Auto inc. End point ON from...} & & \\
+ \textbf{AutoInc.END Point} & 1.8~ms & 1.8~ms & Unsure, kept default \\
\hline
- \textbf{Throttle curve} & & \\
+ \textbf{Throttle curve} & Linear & Linear & Not really useful here \\
\hline
- \textbf{Rotation} & & \\
+ \textbf{Rotation} & Left & Left & Not really useful here (?) \\
\hline
- \textbf{Start-up Power} & & \\
+ \textbf{Start-up Power} & Auto & Auto & Unsure, kept default \\
\hline
- \textbf{Timing Monitor} & & \\
- \hline
- \textbf{Setting thru R/C} & & \\
+ \textbf{Setting th. R/C} & Off & Off & Unsure, kept default \\
\bottomrule
\end{tabular}
\end{center}
\end{table}
-
+\end{landscape}
\end{document}
diff --git a/style/definitions.sty b/style/definitions.sty
index 9d1bff659de64b9e60f961322d4838ce1dd2ab63..e3758805a947d2ed980781b6e4814b1f7adebb23 100644
--- a/style/definitions.sty
+++ b/style/definitions.sty
@@ -35,6 +35,7 @@
\newcommand{\ie}{\latin{i.e.},\xspace}
\newcommand{\eg}{\latin{e.g.},\xspace}
\newcommand{\etal}{\latin{et~al.}\xspace}
+\newcommand{\newval}[1]{\textbf{#1}}
% --- Pictograms ---------------------------------------------------------------