After another turn at playing human pincushion today the wrist is doing much better. Since it was feeling better overall I was able to describe the pain more specifically today and she put at least twice as many pins in me as a result. Also got a new mouse and gel pad which I hope will help keep it from getting so bad again.
Brain board is in. It took me longer to get it mounted physically than it did for me to wire it up. Wiring it up went fairly easy, hardest part is that the motor numbering in Tau for hexes is totally different than on Naze32. I setup the RX port as PPM+UART+OUTPUTS which makes it:
8 - RX
7 - TX
6 - Output 6
5 - Output 5
4 - N/C
3 - PPM In
2 - V-Bat
1 - Gnd
The one thing I don't like about the Brain is having to use the pigtails instead of being able to just solder straight to the board. But with all the I/O this thing supports it's about the only way to go as solder pads would be too big. My plan is to swap over to my openLRS and try using the passthrough telemetry mode on there for wireless telemetry. Not sure how well it will work but I'm going to give it a try. So with this setup I use the first 3 pins to connect my RX, pins 5/6 go to ESC's 5/6 respectively and pins 7/8 for telemetry which will at first go to my BT module but eventually I'll be trying to pass through the openLRS setup.
The ESC wiring is a bit different than on Naze32.
On Naze32 the motor numbering is:
4 2
6 5
3 1
With motors 4/5/3 being CW and 1/2/6 being CCW and 4/2 in the front
On Tau the numbering is:
6 1
5 2
4 3
With 1/5/3 being CW and 6/2/4 being CCW and 6/1 in front
So the CW/CCW relationships are the same. But the numbering is different. Still not 100% sure I got the wires reconnected correctly...but thankfully in Tau it's super easy to remap outputs to different motor positions if I got it wrong.
I did the wiring kind of quickly over lunch and haven't been able to test it yet since my KISS ESC's are jumpered for oneshot and the official Brain firmware doesn't have oneshot added yet. Shred has merged the oneshot code on his git but hasn't done a binary release with it yet. So tonight I've been setting up a build environment for building the Brain version of Tau. I already have the FW built but am awaiting on my ancient notebook to finish building the GCS so I can flash it and set it up.
While I was waiting I finished the physical installation of the Brain board. As I said this took longer than wiring it since I had to take off the screws/nuts for all of the arms to get access to the holes for the two FC mounting posts I hadn't yet installed. I was REALLY tempted to drill some holes in the baseplate so I won't have to do that again....but didn't want to take time to drill the CF tonight. I also found the bag of screws Twitchity gave me with the quad for when I upgrade it to 2204 (or bigger?) motors and since that isn't going to happy for a little bit I stole two of them to replace the two I've lost on the hex. (One that fell out from the motor I forgot to tighten the screws on and one that I broke when tightening them...and probably why I forgot to tighten that last motor.)
Maybe if they called it gentleware I'd have more luck with not breaking aluminum hardware:
So for now I'm only using the RX port and the motor outputs on the brain board. With the 4 motor outputs direct soldered and power fed in on the motor 4 pads again direct soldered. The RX port I did use the provided pigtail but only the motor 5/6 pins and the RX pins are currently being used. The RX wiring is pretty darn ugly...I'm just using my homebrewed FlySky RX for now and it has a female header on it...the Brain harness also has a female header...so I just shoved them together with some pins until I swap over the LRS setup:
Once I have it flying I'll go ahead and wire up the AV port next for the OSD since I can't wait to play with it. Then add GPS on the flexport. And eventually I hope to pickup a voltage/current sensor to add to this build which will be connected to the SEN (sensors) port.
GCS has been building for about an hour so it should be done soon I hope....then the real fun can start
And yes, once this is fully wired with the final RX and video and everything I will clean the wiring up on this one. Just can't bring myself to cut the brain harness wires shorter just yet
