Getting Started with Vertiq’s Servo Firmware with IQ Control Center

Note

This guide focuses on setting parameters on your Vertiq modules. Please refer to your hardware’s documentation (flight controller, radio, etc.) for more details on its specific configuration. For example, refer to the PX4 documentation for integrating with a PX4 flight controller.

Before completing the following getting started guide, please ensure that you have read and completed our IQ Control Center guide. It walks you through Control Center installation, module configuration, and basic testing options available to all Vertiq modules and firmware types. The following document is meant to provide additional configurations and testing options available only on Vertiq’s servo firmware.

Note

The following images are captured using IQ Control Center version 1.5.2 as connected to a Vertiq 40-06 Gen 2

Warning

Before setting any parameters, ensure that the module is held in place securely. If the module is unsecured it could move unexpectedly when it starts to spin. This could damage the module, its connectors, or any nearby observers.

Angle Controls and Maximum Angular Velocity

Vertiq’s servo firmware provides several methods for commanding your module to specific positions. The most basic method is a direct angle command. Angle commands tell the module to spin to a specific position at the velocity specified by the Maximum Angular Velocity. To learn more about angle controls, see Control Displacements.

The Control Center’s angle control testing parameter is available through the Testing tab, and the Maximum Angular Velocity parameter in the General tab.

To test angle control with the Control Center:

  1. Connect your module to the Control Center

  2. Navigate to the General tab, and find the Maximum Angular Velocity parameter

../_images/servo_max_angular_velo.png

  1. Set Maximum Angular Velocity to 3.14 rad/s. For more information about the Maximum Angular Velocity parameter, see Maximum Angular Speed.

../_images/servo_config_max_velo.png

  1. Navigate to the Testing tab, and find the Angle parameter

../_images/servo_test_angle.png

  1. Set Angle to 0, and hit the down (set) arrow. This ensures that the module is starting at the position taken as zero displacement. You’ll notice that if you attempt to spin your module by hand, it will resist spinning. This is because the module is holding its position at 0 displacement

  2. Now, set Angle to 3.14. You’ll notice that the module will spin counterclockwise for about one second (with our Maximum Angular Velocity at 3.14 rad/s), then stop and hold the position

  3. Now, set Maximum Angular Velocity to 6.28 rad/s, and set Angle back to 0. You’ll notice the module returns to its original position, this time getting there in about half a second

  4. Set Coast to release the module’s hold

Trajectory Control

Vertiq’s servo firmware provides a method of minimum jerk position planning through trajectory control. The module can hold a queue of up to 32 commanded trajectories to complete depending on the Trajectory Queue Mode parameter available in the General tab.

../_images/servo_traj_queue_mode.png

If Trajectory Queue Mode is set to Append, a trajectory sent while a trajectory is in progress will append to the end of the queue, and will be completed immediately after the previous trajectory completes. If Queue Mode is set to Overwrite, a trajectory sent while a trajectory is in progress will immediately take over, and the trajectory in progress is stopped. More information about both trajectories in general as well as trajectory queue modes can be found here.

Note

You must set a trajectory displacement before setting either an average speed or duration. Failure to do so will result in an invalid trajectory command, and no motion will occur.

To test trajectory controls with the Control Center:

  1. Connect your module with the Control Center

  2. In the General tab, set Maximum Angular Velocity to 50 rad/s

  3. In the Testing tab, set Angle to 0 to make sure we are starting from 0 radians of displacement

  4. In the General tab, set Trajectory Queue Mode to Append

  5. Navigate to the Testing tab, and find the Trajectory testing parameters

../_images/servo_traj_testing.png

  1. For this example, we will set only a duration and displacement. Set Trajectory Angular Displacement to 12.56 rad

  2. Set Trajectory Duration to 15s, and you will see the module start to spin

  3. While the module is still spinning, set Trajectory Angular Displacement to 0 rad, and Trajectory Duration to 1s. This will queue a second trajectory bringing the module back to its initial position

Communication Configuration

Vertiq’s servo firmware supports all supported Hobby Protocols. Your module’s target communication protocol can be configured in the General tab under the Communication parameter.

../_images/servo_comms_param.png

The module’s behavior when controlled with hobby protocols is defined by the Servo Mode, Unit maximum, and Unit minimum parameters, all available in the General tab.

../_images/servo_servo_config.png

Servo communication configuration and behavior are covered in more detail at Control With Duration Based Signals (PWM, DShot, OneShot, Etc.).

Next Steps

Now, you are ready to learn about all of what your module can do. Please return to your module’s family page for a full list of supported features and tutorials.