Command summary
| Command name | Command string | Parameters | Comments |
|---|---|---|---|
| Heartbeat | $E*FF | none | or $E*45 or $e*65 |
| Set Position (Scott Edwards) |
$E,FF,XX,YY*FF | XX=Servo number [00 to 7F], YY=Servo position [00 to FE] |
|
| Read EEPROM Address | $E,80,00,XX*FF | XX=EEPROM address to read [00 to 7F] |
Firmware versions 1.22 and above. |
| Set Speed (Pololu) |
$E,80,01,01,XX,YY*FF | XX=Servo number [00 to 7F], YY=Servo speed [00 to 7F] |
Default is 00 (maximum speed) |
| Set Position Absolute (Pololu) |
$E,80,01,04,XX,YY,ZZ*FF | XX=Servo number [00 to 7F], YY,ZZ=Servo position MSB,LSB [00 to 7F] |
Minimum: 750 (0.6ms) Maximum: 3000 (2.4ms) |
| Set Failsafe Position (Pololu) |
$E,80,01,05,XX,YY,ZZ*FF | XX=Servo number [00 to 7F], YY,ZZ=Servo position MSB,LSB [00 to 7F] |
Minimum: 750 (0.6ms) Maximum: 3000 (2.4ms) |
| Change Servo Numbers (Pololu) |
$E,80,02,XX*FF | XX=Servo group number [00 to 0F] |
Default is 00 (servo numbers 00 to 07) |
| Set Baudrate | $E,80,03,XX*FF | XX=00: 2400 baud XX=01: 9600 baud XX=02: 14.4 kbaud XX=03: 19.2 kbaud XX=04: 28.8 kbaud XX=05: 38.4 kbaud XX=06: 57.6 kbaud XX=07: 115.2 kbaud |
Default is 9600 baud. Cycle the power for changes to take effect. |
| Set Failsafe Timeout Period |
$E,80,04,XX*FF | XX=Timeout period in 0.5 second increments [00 to 7F] |
00 for instantaneous flight termination. 7F to disable timeout. |
| Set Failsafe Heartbeat String |
$E,80,05,STRING*FF | STRING=Heartbeat string [10 characters max.] |
STRING must not begin with "$" |
| Set Fail Status String | $E,80,06,STRING*FF | STRING=Fail status string [10 characters max.] |
Set PCB jumper to enable |
| Configure Programming Connector |
$E,80,07,BITFIELD*FF | BITFIELD=20 to enable hardware heartbeat input |
Firmware versions 1.22 and above. |
