replace flight controller with autopilot

blimp/source/docs/building-a-blimp.rst

@@ -13,24 +13,24 @@ These instructions are specifically for building a ~50cm diameter spherical blim
 Parts
 ------
 
-#. Flight controller. This is the most complex part to find due to the very specific limitations. Due to the very low weight limit, none of the usual high-end flight controllers are suitable, as they are much too heavy. The most suitable flight controllers are the single-pcb type, such as the Matek F405-STD, which has had extensive testing with ArduPilot:Blimp. It includes a microSD card slot and has good rc input and pwm outputs, which make it highly convenient, especially for development, but it still weighs 9 grams. Using a flight controller like this one which is designed to be powered from 5v rather than battery power is optimal, as flight controllers that can be powered from battery usually require a minimum of 2S or 3S voltage, and the only servos small enough for this application can only run from 5v or less. There are some other flight controllers available which weigh closer to 2-3 grams which would allow for more payload, although they generally have a dataflash chip instead of a microSD card slot (among other things) which is less convenient. :ref:`This page <common-choosing-a-flight-controller>` gives some further information on what to consider in an ArduPilot flight controller.
+#. Autopilot. This is the most complex part to find due to the very specific limitations. Due to the very low weight limit, none of the usual high-end autopilots are suitable, as they are much too heavy. The most suitable autopilots are the single-pcb type, such as the Matek F405-STD, which has had extensive testing with ArduPilot:Blimp. It includes a microSD card slot and has good rc input and pwm outputs, which make it highly convenient, especially for development, but it still weighs 9 grams. Using a autopilot like this one which is designed to be powered from 5v rather than battery power is optimal, as autopilots that can be powered from battery usually require a minimum of 2S or 3S voltage, and the only servos small enough for this application can only run from 5v or less. There are some other autopilots available which weigh closer to 2-3 grams which would allow for more payload, although they generally have a dataflash chip instead of a microSD card slot (among other things) which is less convenient. :ref:`This page <common-choosing-a-autopilot>` gives some further information on what to consider in an ArduPilot autopilot.
 #. Envelope to be filled with helium. The ~50 cm spherical foil party balloons work quite well for indoor use.
 #. Four servos. The 1.7g micro servos are suggested.
 #. Approx. 1-2mm thick sheets of balsa wood and plastic freezer bags for making the fins.
 #. Very thin wires.
 #. Battery. For this size of blimp, 150-300mAh 1S is generally most suitable.
 #. Telemetry module. Unfortunately, the usual SiK telemetry modules are too heavy for this case. The smallest versions of the ESP8266 modules, such as the ESP-01 or ESP-07 are most suitable.
 #. For RC control, again, finding a tiny RC receiver is neccessary. The OrangeRx Nano DSM2/DSMX receiver is a great option as it only weighs 0.5 grams.
-#. A 5V Step-Up Voltage Regulator for powering the flight controller from 1S. In tests it was found that the flight controller could be powered from the battery directly, however it browned out at around 3.6v (i.e. rebooted repeatedly due to low voltage) which means you would not be able to use the full battery capacity if you do not use one of these.
+#. A 5V Step-Up Voltage Regulator for powering the autopilot from 1S. In tests it was found that the autopilot could be powered from the battery directly, however it browned out at around 3.6v (i.e. rebooted repeatedly due to low voltage) which means you would not be able to use the full battery capacity if you do not use one of these.
 
 Wiring
 ------
 
-The 5v step-up converter is added to allow the flight controller to run from a 1S battery. Its input comes from directly from the battery, and the output goes to the flight-controller's 5v pin.
+The 5v step-up converter is added to allow the autopilot to run from a 1S battery. Its input comes from directly from the battery, and the output goes to the autopilot's 5v pin.
 
-If a MatekF405-STD flight controller is used, the RC receiver is powered from one of the 4.5v pins on the flight controller. Otherwise, any 5v pin on the board can be used. This is because the 4.5v pins are also powered when the flight controller is powered via USB, thus allowing setup and RC calibration without a battery connected. Its CPPM output is connected to the RX2 input of the flight controller.
+If a MatekF405-STD autopilot is used, the RC receiver is powered from one of the 4.5v pins on the autopilot. Otherwise, any 5v pin on the board can be used. This is because the 4.5v pins are also powered when the autopilot is powered via USB, thus allowing setup and RC calibration without a battery connected. Its CPPM output is connected to the RX2 input of the autopilot.
 
-The Wi-Fi module is powered directly from the battery. Its TX and RX pins are connected to the RX3 and TX3 pins on the flight controller.
+The Wi-Fi module is powered directly from the battery. Its TX and RX pins are connected to the RX3 and TX3 pins on the autopilot.
 
 The four servos are connected to four of the servo/motor outputs on the board, and are powered directly from the battery.
 

blimp/source/docs/getting-started.rst

@@ -34,9 +34,9 @@ Autopilot
 Blimp requires an autopilot for control and autonomous flight.
 
 Building an indoor blimp such as this, weight will usually be the primary consideration,
-thus the "single board" type of flight controllers are likely to be most suitable, especially the "mini" (20x20mm or 16x16mm) versions.
+thus the "single board" type of autopilots are likely to be most suitable, especially the "mini" (20x20mm or 16x16mm) versions.
 
-For more options, see the topic :ref:`common-choosing-a-flight-controller` and :ref:`common-autopilots`.
+For more options, see the topic :ref:`common-choosing-a-autopilot` and :ref:`common-autopilots`.
 
 Four outputs are required for the actuators. Autopilot inputs for RC, telemetry, GPS or Position Sensor, and Compass are also required. Main battery voltage, and perhaps current sensing, are very useful also.
 
@@ -115,7 +115,7 @@ For control and propulsion, the Flapping Fin Blimp uses micro servos, such as`th
 .. toctree::
     :hidden:
 
-    common-choosing-a-flight-controller
+    common-choosing-a-autopilot
     common-autopilots
     common-choosing-a-ground-station
     common-installing-3dr-ublox-gps-compass-module