MediaWiki API result

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            "*": "Subscribe to the mediawiki-api-announce mailing list at <https://lists.wikimedia.org/postorius/lists/mediawiki-api-announce.lists.wikimedia.org/> for notice of API deprecations and breaking changes."
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            "*": "Because \"rvslots\" was not specified, a legacy format has been used for the output. This format is deprecated, and in the future the new format will always be used."
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            "2131": {
                "pageid": 2131,
                "ns": 0,
                "title": "STorM32-Link",
                "revisions": [
                    {
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                        "*": "''The information on this page refers to firmware v2.49e and higher.''\n\nThe STorM32-Link refers to a communication link between the STorM32 gimbal controller and a drone's flight controller for exchanging low-level data, in order to achieve advanced performance which otherwise would not be possible. \n\nThe primary goal of the STorM32-Link is too overcome two general and hard-to-tackle issues with 3-axis gimbals, namely the drifting of the yaw axis and the tilting of the horizon in high-''g'' flight maneuvers such as high-speed turns. The respective mechanisms are called '''''Yaw Drift Compensation''''' and '''''Horizon Drift Compensation''''', and both are demonstrated in the videos below. The STorM32-Link may allow us to achieve further innovative features in the future, such as precision yaw pan modes or automatic recalibration at startup. \n\nMaybe confusingly, the physical connection used for the STorM32-Link is also used for exchanging the conventional serial commands for controlling and operating the gimbal (these commands are described in the article [[Serial Communication]]). However, although the same bus is shared, this communication must not be considered part of the STorM32-Link.\n\nWhat this means is that these two aspects of the communication should be distinguished:\n\n* '''''Control and operation of the gimbal''''': The serial communication allows us to control the orientation of the gimbal, such as the tilt and pan of the camera, with higher precision than possible with the standard inputs, and gives us access to all other features of the STorM32 controller, such as triggering a camera, executing on-board scripts, and so on. It also allows the STorM32 controller to feed back information to the flight controller and ground control station, such as the actual camera orientation. Advanced operation modes such as follow me, smart shots, or object tracking, also fall into this category.\n\n* '''''Improved performance''''': In addition, the serial link is used to transfer dedicated low-level data from the flight controller to the STorM32 controller, which helps it achieving better and more precise stabilization, and hence better videos. The two main features are the ''Yaw Drift Compensation'' and ''Horizon Drift Compensation'' mentioned before, but other innovative features may become possible in future.\n\nOnly the second aspect of the communication makes up the STorM32-Link.\n\nThe STorM32-Link support depends on the autopilot/flight-stack which is being used; for specific details please consult <!-- [[Using STorM32 with DJI]] and [[Using STorM32 with ArduPilot]]-->[[Using STorM32 with BetaPilot]].\n\nA comment on history: The STorM32-Link has a colorful development history. Originally conceived in early 2015, at a time when neither BaseCam/AlexMos nor Gremsy had such a feature, it never really took off besides being partially available since then (see [http://www.rcgroups.com/forums/showthread.php?t=2395475 STorM32-Link]). The game changed with the introduction of T-STorM32 in early 2017, since the more accurate data on the gimbal joint angles available with encoders help significantly in implementing the goals. And that is why the STorM32-Link features have been made available first for only T-STorM32. With firmware version v2.49e the STorM32-Link has become also available for conventional STorM32, besides the inherent limitations this implies.\n\n{{COMMENT|For T-STorM32 the STorM32-Link is fully tested and confirmed to work by the firmware author. This is not so however for the conventional STorM32; here STorM32-Link was added due to community request, and testing was left to the community. Please see [[https://www.rcgroups.com/forums/showthread.php?2055844-STorM32-BGC-32-bit-3-axis-brushless-gimbal-controller/page236&perpage=50#post43495807]].}}\n\n{{#ev:youtube|l8rz78kDWNY|480}}\n\n{{#ev:youtube|z03PkDf0R-0|480}}"
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            "6": {
                "pageid": 6,
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                "title": "STorM32 Boards",
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                        "*": "The technical specifications of various STorM32 boards are presented, as far as they are known. To find suppliers/vendors please go to [[Where to buy STorM32 boards]]. For a detailed description of the various connectors on the (original) boards see [[Pins and Connectors]].\n\n== \"Original\" STorM32 Boards ==\n\nAt present, board versions v1.3, v3.3 and v4.1 are in use and supported (v0.17/v1.0, v1.1, v1.2 and v2.4 boards are deprecated).\n{|\n|- valign=\"top\"\n* The characteristic of the v1.3 board is a linear voltage regulator and on-board TC4452 motor drivers. \n* The v3.3 board is specifically designed for NT and especially T-STorM32, and is available in different form factors. It is distinguished by a low-noise 5 V switching voltage regulator and a 2nd UART2 port, but it has no motor drivers on board.\n* The v4.1 board combines, so to say, the v1.3 and v3.3 boards; it is designed for NT and T-STorM32 but also provides DRV8839 motor drivers on board.\n|}\n\n=== STorM32-BGC v4.1 ===\n----\n[[File:Storm32-bgc-nt-v41-picture.jpg|thumb|caption|STorM32 board v4.1, for NT and T-STorM32, with on-board motor drivers and USB-C connector.]]\n{|\n|- valign=\"top\"\n|width=300px|\n* MCU: STM32F103RC at 72 MHz\n* motor drivers: DRV8839\n* voltage regulator: 5 V, 2 A (??) switching regulator\n* on-board IMU ICM42688P/ICM42688V, connected to SPI\n* 2x NT port and 1x NT-X port\n* UART2 port\n* on-board USB-TTL adapter CP2102, permits flashing per USB\n* USB-C connector\n* Futaba S-Bus, CRSF, Spektrum satellite\n* up to four PWM/Sum-PPM inputs/outputs\n* joystick port for two axes\n* 2 auxiliary ports, BUT port\n|\n* supply voltage: 6 - 12 V or 2 - 3S (with motor drivers enabled) <br/>'''''Comment''': The motor drivers are enabled by closing the JP1 solder bridge. When the solder bridge is open, the board can be used with voltages up to 20 V or 4S (??).''\n* motor current: 1.0 A (??)\n* board dimensions: 40 mm x 28 mm, 35 mm bolt to bolt, holes \u00d83 mm\n|}\n\n{{COMMENT|This board is design of [https://www.krattworks.com/ KrattWorks], [https://bitbucket.org/teamkrattworks/hw_storm32_v4/src/master/release/storm32-nt-v4_1/].}}\n\n=== STorM32-BGC v3.3m, v3.3i ===\n----\n[[File:Storm32-v33m-thumb.jpg|thumb|caption|STorM32 board v3.3 specifically designed for NT and T-STorM32]]\n{|\n|- valign=\"top\"\n|width=300px|\n* MCU: STM32F103RC at 72 MHz\n* motor drivers: none\n* voltage regulator: 5 V, 0.6 A low-noise switching regulator\n* on-board IMU MPU9250 (v3.3m) or ICM42605/ICM42688P/ICM42688V (v3.3i), connected to SPI\n* 2x NT port and 1x NT-X port\n* UART2/ESP port\n* CAN bus port (obsolete as not supported anymore)\n* on-board USB-TTL adapter CP2102, permits flashing per USB\n* Futaba S-Bus, CRSF, Spektrum satellite\n* up to four PWM/Sum-PPM inputs/outputs\n* joystick port for two axes\n* 2 auxiliary ports, BUT port\n|\n* supply voltage: 6 - 27 V or 2 - 6S\n* motor current: depends on used NT motor modules\n* board dimensions: 40 mm x 25 mm, 35 mm bolt to bolt, holes \u00d83 mm\n|}\n\n{{COMMENT|The v3.3m version has a MPU9250 on-board IMU and the v3.3i version has a ICM42605/ICM42688P/ICM42688V on-board IMU.}}\n\n{{COMMENT|{{WARNING|This board has no motor drivers; NT motor modules are thus mandatorily required.}}}}\n<!--\n=== STorM32-BGC v2.4 ===\n----\n[[File:Storm32-bgc-nt-v24-picture.jpg|thumb|caption|STorM32-BGC board v2.4 specifically designed for NT]]\n{|\n|- valign=\"top\"\n|width=300px|\n* MCU: STM32F103RC at 72 MHz\n* motor drivers for yaw axis: TC4452\n* voltage regulator: linear resistive\n* on-board MPU9250 IMU\n* Futaba S-Bus\n* Spektrum satellite\n* up to four PWM/Sum-PPM inputs/outputs\n* joystick port for two axes\n* 2 auxiliary ports, one BUT port\n* 2x NT ports and 1x NT-X port\n|\n* supply voltage: 6 - 18 V or 2 - 4S\n* motor current: max. 1 A per motor\n* board dimensions: 40 mm x 25 mm, 35 mm bolt to bolt, holes \u00d83 mm\n|}\n\n{{COMMENT|{{WARNING|This board has been deprecated.}}}}-->\n\n=== Micro STorM32-BGC v3.3i ===\n----\n[[File:Storm32-micro-v33i-thumb.jpg|thumb|caption|Micro STorM32 board v3.3i]]\n{|\n|- valign=\"top\"\n|width=300px|\n* MCU: STM32F103RC at 72 MHz\n* motor drivers: none\n* voltage regulator: none\n* on-board IMU ICM42605/ICM42688P/ICM42688V, connected to SPI\n* 1x NT port and 1x NT-X port\n* UART2/ESP port\n* Futaba S-Bus, CRSF, Spektrum satellite\n* up to four PWM/Sum-PPM inputs/outputs\n* joystick port for two axes\n* 2 auxiliary ports, BUT port\n|\n* supply voltage: 5 V\n* motor current: depends on used NT motor modules\n* board dimensions: 26 mm x 26 mm, 20 mm bolt to bolt, holes \u00d82 mm\n|}\n\n{{COMMENT|{{WARNING|This board has no motor drivers; NT motor modules are thus mandatorily required.}}}}\n\n{{COMMENT|Also the STorM32 Raspberry Pi Hat v3.3i exists, which is essentially the Micro board in different form factor with some additional peripherals useful for Raspberry Pi applications.}}\n<!--\n=== STorM32 Raspberry Pi Hat v3.3i ===\n----\n[[File:Storm32-rpihat-v33i-thumb.jpg|thumb|caption|STorM32 RPi Hat]]\n{|\n|- valign=\"top\"\n|width=300px|\n* MCU: STM32F103RC at 72 MHz\n* motor drivers: none\n* voltage regulator: none\n* on-board IMU ICM42605/ICM42688P/ICM42688V, connected to SPI\n* 1x NT port and 1x NT-X port\n* UART2/ESP port\n* Futaba S-Bus, CRSF, Spektrum satellite\n* up to three PWM/Sum-PPM inputs/outputs\n* joystick port for two axes\n* 2 auxiliary ports, BUT port\n* Dual UART expander SC16IS762, connected to SPI\n* RPi Uart and RPi I2C on 6-pin JST-GH connector, DroneCode compatible\n* UART expander Uart on 6-pin JST-GH connector, DroneCode compatible\n* LED, controllable by RPi\n* extension board for dual 5.3V/3.5A power supply available\n|\n* supply voltage: 5 V\n* motor current: depends on used NT motor modules\n* board dimensions: RaspberryPi micro hat\n|}\n\n{{COMMENT|{{WARNING|This board has no motor drivers; NT motor modules are thus mandatorily required.}}}}\n<br clear=\"all\" />\n-->\n\n=== STorM32-BGC v1.3 ===\n----\n[[File:Joepaisley-storm32-bgc-v13-board-wiki.jpg|thumb|caption|STorM32-BGC board v1.3 with motor drivers in SOIC package]]\n<!--[[File:Storm32 bgc v120 board dfn mpu-01-wp01.jpg|thumb|caption|STorM32-BGC board v1.2 with motor drivers in DFN package]]\n[[File:Storm32-bgc-v110-board-top-01-wp01.jpg|thumb|caption|STorM32-BGC board v1.1 with motor drivers in SOIC package]]-->\n{|\n|- valign=\"top\"\n|width=300px|\n* MCU: STM32F103RC at 72 MHz\n* motor drivers: TC4452\n* voltage regulator: linear resistive\n* on-board Bluetooth (optional)\n* on-board IMU (MPU6050)\n* IR led\n* Futaba S-Bus, CRSF, Spektrum satellite\n* up to seven PWM/Sum-PPM inputs/outputs\n* joystick ports for three axes\n* additional I2C port (I2C#2)\n* 3 auxiliary ports \n* BUT port\n|\n* supply voltage: 6 - 18 V or 2 - 4S\n* motor current: max. 1.5 A per motor<br/>'''''Comment''': This is not yet fully exploited and also depends on the package, with DFN packages motors with resistances of 12 Ohm or larger have been tested to be well handled at 4S, motors with 10 Ohm may be handled with care; for the latest summary see [http://www.rcgroups.com/forums/showpost.php?p=30564101&postcount=3166 here] (for details see also [//www.rcgroups.com/forums/showthread.php?t=2055844&page=2&pp=50#post27515444 here], [//www.rcgroups.com/forums/showthread.php?t=2055844&page=15&pp=50#post28578479 here]), [http://www.rcgroups.com/forums/showpost.php?p=28825482&postcount=947 here] and [http://www.rcgroups.com/forums/showpost.php?p=28852888&postcount=953 here])''.\n* board dimensions: 50 mm x 50 mm, 45 mm bolt to bolt, holes \u00d83 mm\n|}\n\n{{COMMENT|This board was designed in cooperation with Martinez.}}\n\n\n<!--=== STorM32-BGC v1.2 ===\n----\nDifferences to the v1.3 board:\n* voltage regulator: smaller SOT223 package\n* only 2 auxiliary ports \n\n=== STorM32-BGC v1.1 ===\n----\nDifferences to the v1.3 board:\n* no Futaba S-bus support\n* Spektrum satellite is supported, but no extra Spektrum connector on board\n* no extra USB voltage protection diode\n* voltage regulator: smaller SOT223 package\n* only 2 auxiliary ports \n\n''{{WARNING|'''WARNING:''' The pins of connector I2C#2 are in reverse order to those of connector I2C, which implies also reversed voltage polarity. Pay attention to that before connecting a second IMU to the I2C#2 port.}}'' -->\n\n<br clear=\"all\" />\n\n== Descendants ==\n\nThe STorM32 boards listed here are designs of third parties, which are based on or derived from the \"original\" board designs, but modified in some ways.\n\n=== Ensys STorM32 v3.3 ===\n----\n[[File:Ensys storm32 33 persp.png|thumb|caption|Ensys STorM32 v3.3]]\n{|\n|- valign=\"top\"\n|width=300px|\n* MCU: STM32F103RC at 72 MHz\n* motor drivers: none\n* voltage regulator: 5.5 V, 1 A switching regulator\n* on-board MPU9250, connected to SPI\n* 2x NT ports and 1x NT-X port\n* UART2/ESP port\n* CAN bus port (obsolete as not supported anymore)\n* on-board CH340, enables flashing per USB\n* Futaba S-Bus, CRSF, Spektrum satellite\n* up to four PWM/Sum-PPM inputs/outputs\n* joystick port for two axes\n* 2 auxiliary ports, one BUT port\n|\n* supply voltage: 6 - 17 V or 2 - 4S\n* motor current: depends on used NT motor modules\n* board dimensions: 40 mm x 25 mm, 35 mm bolt to bolt, holes \u00d83 mm\n|}\n\n{{COMMENT|{{WARNING|This board has no motor drivers; NT motor modules are thus mandatorily required.}}}}\n\n=== GLB STorM32 v1.31 ===\n----\n[[File:Sku 110143 1.jpg|thumb|caption|STorM32-BGC board v1.31 with DRV8313 motor drivers]]\n{|\n|- valign=\"top\"\n|width=300px|\n* MCU: STM32F103RC at 72 MHz\n* motor drivers: DRV8313\n* voltage regulator: switched step-down\n* on-board Bluetooth (optional)\n* on-board 6DOF IMU (MPU6050)\n* IR led\n* Futaba S-Bus\n* Spektrum satellite\n* up to seven PWM/Sum-PPM inputs/outputs\n* joystick ports for all three axes\n* additional I2C port (I2C#2)\n* 3 auxiliary ports \n* BUT port\n|\n* supply voltage: 9 - 25 V or 3 - 6S (according to the specs given by GLB, not yet confirmed in practice)\n* motor current: 1.5 A<br/>'''''Comment''': The board uses the same motor drivers as the BaseCam SimpleBGC 32-bit board, and the same spec can hence be expected, but the real capability has not yet been tested in practice''.\n* board dimensions: 50 mm x 50 mm, 45 mm bolt to bolt, holes \u00d83 mm\n|}\n\n{{COMMENT|{{WARNING|The 3.3V power on this board seems to be quite weak, and has caused repeatedly issues with powering NT modules. One single NT IMU seems to be ok, but not more. See also [[https://www.rcgroups.com/forums/showpost.php?p=36049535&postcount=9117]].}}}}\n\n{{COMMENT|{{WARNING|There had been cases with a problem with EMI noise on the 433/915 MHz band from this board, see [[https://www.rcgroups.com/forums/showpost.php?p=34132760&postcount=579]]. For solutions see [[https://www.rcgroups.com/forums/showpost.php?p=34139984&postcount=585]]. EMI noise seems not to be a problem in general, however, see [[https://github.com/ArduPilot/ardupilot_wiki/pull/885]].}}}}\n\n=== STorM32 v1.32 ===\n----\n[[File:Storm32-BGC-32Bit-3-Axis-Brushless-Gimbal-Controller-V1-31-ESC-Alexmos32-RC-Gimbal-RC-Quadcopter.jpg|thumb|caption|STorM32-BGC board v1.32 with DRV8313 motor drivers]]\n{|\n|- valign=\"top\"\n|width=300px|\n* MCU: STM32F103RC at 72 MHz\n* motor drivers: DRV8313\n* voltage regulator: linear\n* on-board Bluetooth (optional)\n* on-board 6DOF IMU (MPU6050)\n* IR led\n* Futaba S-Bus\n* Spektrum satellite\n* up to seven PWM/Sum-PPM inputs/outputs\n* joystick ports for all three axes\n* additional I2C port (I2C#2)\n* 3 auxiliary ports \n* BUT port\n|\n* supply voltage: 9 - 18 V or 3 - 4S\n* motor current: 1.5 A<br/>'''''Comment''': The board uses the same motor drivers as the BaseCam SimpleBGC 32-bit board, and the same spec can hence be expected, but the real capability has not yet been tested in practice''.\n* board dimensions: 50 mm x 50 mm, 45 mm bolt to bolt, holes \u00d83 mm\n|}\n\n{{COMMENT|For NT setups this board might be preferred over the v1.31 board, since it uses the same linear regulator as the v1.3 and not the weak switching regulator of the v1.31. For older I2C-based setups it's probably better to get a v1.31, which tends to be cheaper and especially offers a switching voltage regulator.}}\n\n=== Witespy STorM32-BGC v1.1 Mosfet Version ===\n----\n[[File:Witespy-v11-mosfet.jpg|thumb|caption|Witespy STorM32-BGC v1.1 board with mosfet motor drivers]]\n{|\n|- valign=\"top\"\n|width=300px|\n* MCU: STM32F103RC at 72 MHz\n* motor drivers: mosfet\n* voltage regulator: linear\n|\n* supply voltage: ? (no specs given by witespy)\n* motor current: ? (no specs given by wiitespy)\n* board dimensions: 50 mm x 50 mm, 45 mm bolt to bolt, holes \u00d83 mm\n|}<br clear=\"all\" />\n\n== Third-Party Boards ==\n\nThe terms of usage of the STorM32 project allows, and in fact encourages, making own hardware, for both DIY and commercial purposes, without restrictions. The STorM32 boards listed here are independent designs by third-parties.\n\n=== Micro STorM32 BGC ===\n----\n[[File:HTB1REO1IpXXXXXjXpXXq6xXFXXX3-kl.jpg|thumb|caption|Micro STorM32-BGC board]]\n{|\n|- valign=\"top\"\n|width=300px|\n* MCU: STM32F103RC at 72 MHz\n* motor drivers: TC4452\n* voltage regulator: linear (LG33)\n|\n* supply voltage: 7.4 - 16.8 V or 2 - 4S\n* motor current: 1.5 A (according to the given specs, whatever this means)\n* board dimensions: 40 mm x 22 mm, no mounting holes\n* no BOOT0 and RESET buttons\n|}\n\n{{COMMENT|{{WARNING| This board is suitable only for 2S (see [[http://www.rcgroups.com/forums/showpost.php?p=33480082&postcount=7004]]), with higher voltages it gets quite hot and may malfunction. Read also this: [[http://www.rcgroups.com/forums/showthread.php?t=2055844&page=144&pp=50#post33773254]]. The board can only be flashed with a ST-Link adapter via SWD, it cannot be flashed via the \"usual\" procedure. Many pins/ports are not available. Overall, this board cannot be recommended, except for special applications.}}}} \n<br clear=\"all\" />\n\n=== GLB Mini STorM32 BGC ===\n----\n[[File:Sku 113113 1.jpg|thumb|caption|GLB Mini STorM32-BGC board with L6230 motor drivers]]\n{|\n|- valign=\"top\"\n|width=300px|\n* MCU: STM32F103RC at 72 MHz\n* motor drivers: L6230\n* voltage regulator: switched step-down\n|\n* supply voltage: 7 - 25 V or 3 - 6S (according to the specs given by GLB, whatever this means)\n* motor current: 1.5 A (according to the specs given by GLB, whatever this means)\n* board dimensions: 42 mm x 30 mm, ? mm bolt to bolt, holes \u00d8? mm\n|}<br clear=\"all\" />\n\n=== AliExpress Mini STorM32 BGC ===\n----\n[[File:Aliexpress-min-storm32.jpg|thumb|caption|AliExpress Mini STorM32-BGC board]]\n{|\n|- valign=\"top\"\n|width=300px|\n* MCU: STM32F103RC at 72 MHz\n* motor drivers: DRV8313\n* voltage regulator: linear\n|\n* supply voltage: 7.4 - 16.8 V or 2 - 4S (according to the specs given by AE, whatever this means)\n* motor current: 1.5 A\n* board dimensions: 40 mm x 30 mm, 43 mm pitch ??, holes \u00d82 mm\n|}\n\n{{COMMENT|{{WARNING|The info given on some pages is definitely wrong in some aspects.}}}} ''What we know so far (see also [http://www.rcgroups.com/forums/showpost.php?p=32058700&postcount=5525 here] and followup posts):''\n* DRV8313 motor drivers do not allow 2S operation\n* only the RC port is available\n* SBus is not supported\n* BT module cannot be installed on-board"
                    }
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