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Example of a microprocessor controlled Unmanned Aircraft Flight Control Unit
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The NXP ARM-based LPC2148 microprocessor
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from
http://www.olimex.com/dev/index.html
The NXP / Philips ARM-based LPC2148 microprocessor (shown above in an Olimex
evaluation board) is a candidate for use in the Flight Management Unit. Thanks
to Josh Levine for pointing this out.
Features:
-
MCU:
LPC2148
16/32 bit ARM7TDMI-S™ with 512K Bytes Program Flash, 42K Bytes RAM, USB 2.0,
RTC, 10 bit ADC 2.44 uS, 2x UARTs, 2x I2C, SPI, 2x 32bit TIMERS, 6x PWM, 8x CCR,
1x DAC, WDT, 5V tolerant I/O, up to 60MHz operation
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standard JTAG connector with ARM 2x10 pin layout for programming/debugging with
ARM-JTAG
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USB connector, USB link LED
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Two channel RS232 interface and drivers
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SD/MMC card connector
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two buttons
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trimpot connected to ADC
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two status LEDs
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Buzzer
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UEXT - 10 pin extension connector for Olimex addon peripherials like MP3,
RF2.4Ghz, RFID etc. modules
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2x SPI connectors
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I
2
C connector
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on board voltage regulator 3.3V with up to 800mA current
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single power supply: 6V AC or DC required
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power supply LED
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power supply filtering capacitor
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RESET circuit with exterman control of Philips ISP utility via RS232
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RESET button
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DBG, BSL slide switch
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JRST jumper for enable/disable external RESET vontrol by RS232
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12 MHz crystal on socket
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32768 Hz crystal and RTC backup battery connector
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extension headers for all uC ports
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PCB: FR-4, 1.5 mm (0,062"), green soldermask, white silkscreen component print
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Dimensions: 110 x 100 mm (4.3 x 3.9 ")
See
http://www.nxp.com/
for more info on the NXP LPC 2148 microprocessor
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The Ascending Technologies Research Pilot
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- from
http://www.asctec.de/main/index.php?id=8&pid=7&lang=en&cat=pro
The AscTec ResearchPilot is the successor of the X-3D-Scientific. The
ResearchPilot offers a similar high-level serial interface as the
X-3D-Scientific which sends important IMU data (angles, angular velocities,
height) and accepts control commands. The high-level interface can be connected
to any other processor-board or serial data link. Compared to the
X-3D-Scientific the ResearchPilot features a much faster processor and a high
precision pressure sensor. ResearchPilot and X-3D-Scientific are pin compatible.
Thus, an already existing vehicle with X-Base and X-BL brushless motors can be
upgraded with the ResearchPilot.
Hardware features
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Compatible to the
X-Base
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LPC2146 ARM7 processor operating at 60 MHz
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Three gyroscopes
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High precision pressure sensor with 24 Bit ADC
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PC connectivity with the X-USB module
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Several connections for extension modules (I2C, SPI, 2x Servo)
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Option:
X-ACC
as three axis accelerometer
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JTAG debug and programming connector for the
OpenSourcePilot
-Software
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Exisiting "X-3D-BL Scientific" vehicles can be easily upgraded by replacing the
X-3D-Scientific with the ResearchPilot
Software features
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High performance attitude control @ 1kHz update rate
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All controller parameters can be set by the user
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Four different controller sets selectable by jumper
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Pressure based height stabilization; controllable by R/C
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Paparazzi Tiny 2.11 Flight Control Unit
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- from
http://ppzuav.com/osc/catalog/product_info.php?cPath=4_2&products_id=35&osCsid=9f589ee61de1ff851f2edebe22f2eb86
Tiny 2.11 Fully Assembled (pre-programmed + USB cable)
Assembled Tiny 2.11 from Paparazzi Project files. Finally a completely assembled
(see NOTE below) Tiny2.11 for the Paparazzi Project Projects. Factory assembled
using robotic pick and place machine, re-flow soldered. We also load the boot
loader and program the GPS. This includes:
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Boot Code Programming.
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Configure the GPS Module.
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USB programming cable adapter.
NOTES: We strongly advise you to select either UPS or Flat Rate (Fed Ex Intl)
for these. USPS does NOT insure more than 45.00. Fine for PCB but not okay for
an expensive Autopilot.
$ 305 as on 29 May 2008
Thanks to Josh Levine for pointing this interesting autopilot out to us.
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The flight control unit from Abat
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Autopilot from
http://www.abat.co.za/autopilot.html
40Hz Control loop
User definable aircraft configuration:vtail, elavons, Aileron/elevator
user definable servo triggers at waypoints
1000 waypoints
user definable servo setup: Reversing, travel adjustment, Function assignment
2 serial ports
8 Servos
9 Receiver inputs
switchable between Radio control and autopilot mode
onboard GPS
3 turn rate gyros - maximum 300 degrees per second turn rate
2g 3axis accelerometer
2 battery monitors
Airspeed
barometric altimeter
3 axis magnetometer
requires 6 volts to 12 volts
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Piccolo Plus Autopilot from Cloud Cap Tech
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from
http://www.cloudcaptech.com
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The Kestrel Flight Control Unit
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As seen at the AUVSI Conference 2008 in San Diego.
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The Flight Control Unit from Micropilot
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Figure 104 Micropilot 2128 IMU and UAV guidance and control electronics for
around $4,000 from
www.micropilot.com
Specifications - MP2128
g
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Servos & Mixing
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MP2128
g
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elevon
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yes
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flaperons
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yes
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4 servo flap/aileron
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yes
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separate flaps
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yes
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v-tail
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yes
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x-tail
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yes
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split aileron
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yes
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rudder throttle
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yes
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split rudders
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yes
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number of servos
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8/16/24
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servo update rate
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50 hz
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separate servo and main battery power supply
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yes
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separate voltage monitor for main and servo battery power supplies
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yes
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integrated RC override
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yes
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servo resolution
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11 bit
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extra ADC channels and 3-axis magnetometer available
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yes
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Control System
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MP2128
g
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gain scheduling for optimum performance
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yes
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rudder aileron feed forward for improved turn performance
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yes
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aileron elevator feed forward for improved altitude hold during turns
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yes
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autonomous takeoff and landing
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yes
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user definable PID feedback loops
(for camera stabilization etc)
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8
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user definable table lookup functions
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8
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MP plugin compatible
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yes
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Sensors
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MP2128
g
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airspeed sensor range
(kph)
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500
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altimeter range
(meters above launch point)
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12000
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3-axis rate gyro
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yes
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Navigation
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MP2128
g
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1Hz GPS update rate
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yes
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optional 4 Hz GPS update rate
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yes
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move servo at waypoint
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yes
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change altitude at waypoint
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yes
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change airspeed at waypoint
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yes
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user definable holding patterns
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yes
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user definable error handlers
(loss of GPS, low battery etc.)
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yes
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RPV and UAV modes
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yes
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supports DGPS accuracy
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yes
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waypoints
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1,000
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Telemetry, Datalog & Video
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MP2128
g
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telemetry
(user defined fields transmitted each second)
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100
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telemetry update rate
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5hz
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video overlay
(number of user definable fields)
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16
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Ground control station
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MP2128
g
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HORIZON
mp
2128 ground control software included with system
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yes
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MP2028
g
autopilot simulator for operator training
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yes
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ground control station developer's kit
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yes
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gains can be adjusted in-flight
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yes
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change waypoints in-flight
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yes
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payload servos controlled from ground station
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yes
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fly in RC mode via datalink
(both stabilized and normal)
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yes
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point-and-click waypoint editor
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yes
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Physical Characteristics
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MP2128
g
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weight
(including GPS receiver, gyros, and sensors)
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26 grams
(not including GPS antenna)
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power
(including GPS receiver, gyros, all sensors and GPS antenna)
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140 mA @ 6.5V
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supply Voltage
(volts)
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4.2 - 26V
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size - length
(cm)
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10.0 cm
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size - width
(cm)
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4.0 cm
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size - height
(cm)
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1.5 cm
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software upgradable in the field
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yes
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From
www.micropilot.com
Example of triple unit MicroPilot FCU to ensure resilience to the failure of any
unit.
return to top
Figure 102 Procerus Kestrel 2.2 IMU circuit from
www.procerusuav.com
Features
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3-Axis Angular Rate & Acceleration Measurement.
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Magnetometer (2 and 3-Axis).
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20 Point Sensor Temperature Compensation.
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External Power @ 3.3V & 5V, 500mA.
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Efficient Switching Power Regulation.
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Battery Voltage and Current Monitor.
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29MHz Processor w/ 512K RAM & FLASH.
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4 Serial Ports (Std.,SPI,I2C) w/ Digital Clock or I/O.
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4 Onboard Servo Ports, 8 External Servo Ports.
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Flapperon, v-tail, elevon, ruddervator, custom servo mixing.
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12 Digital I/O (6 bi-directional, 3 input, 3 output).
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3 Analog Inputs @ 12bit resolution.
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Optional Piggy-Back Modem Header.
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Wind Estimation – good to 5% on speed & 2% on heading.
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Auto-trim.
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Multiple Fail safes including LOL, Loss of GPS, Low Battery, and Collision with
Terrain. (uses terrain elevation data)
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Multi-UAV and Convoy Following Support.
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GPS-denied operation – gracefully handles GPS outages using dead-reckoning
filter.
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Altitude can be referenced to sea level and can be initialized using onboard
GPS, Ground GPS, or entered manually.
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Configurable IO support, including modem-mirror and serial pass-through to allow
easy interface to external CPU or payload.
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Smart loiters
Camera Centric – Geo-locates center pixel of fixed or gimbaled camera FOV and
initiates loiter around that point.
With fixed camera, autopilot calculates optimal loiter radius and eccentricity
based on wind and altitude to keep geolocated target in camera FOV.
If gimbal is present, autopilot will stabilized gimbal and point at geo-located
target.
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Selectable units (Metric, English, Nautical).
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Absolute vs relative waypoints (legal waypoints).
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Robust built-in support for 2-axis gimbal with zoom.
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RSSI using Maxstream modems.
Applications
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Autonomous GPS navigation of small UAVs and MAVs
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Multiple vehicle operations
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Inertial Measure Unit
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Slave Processing Unit and Data logger
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Payload Communication & Control Support
Description
The Kestrel TM Autopilot v2.22 is designed for autonomous flight control of
small UAVs and MAVs. At 16.7 grams, it is the smallest (2” x 1.37” x .47”) and
lightest full-featured autopilot on the market - ideal for all surveillance and
reconnaissance applications. The Virtual Cockpit ground control software makes
“click N’ fly” operation easy while providing powerful mission planning,
monitoring, and in-flight adjustment. New “piggy-back” header allows the modem
to be plugged directly into the autopilot.
The magnetometer can either be on board the autopilot or off board. Its IMU is
composed of 3-axis rate gyros and accelerometers. Absolute and differential
pressure sensors provide barometric pressure and aircraft air speed. 3
temperature sensors combined with a 20 point temperature compensation algorithm
reduce sensor drift improving aircraft state measurement and estimation.
Switching power regulation achieves high efficiency, drawing only 0.77 Watts
while running cooler and consuming less power. External payloads can be powered
at 3.3V and 5V, 500mA each. Battery voltage and current monitoring provides
battery life information. 4 serial ports allow for support of payload
inter-communication and control. Serial interfaces allow for the use of standard
off-the-shelf digital modems and GPS units. External servo board supported for
additional servo output.
From
www.procerusuav.com
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AP50 Autopilot from UAV Systems Inc
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- from
http://www.uavflight.com/AP50.htm
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Feature Specification
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value
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units
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Size
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144 x 47 x 28
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mm
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Weight
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50
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grams
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Power
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120 mA @ 5.4 to 8V
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|
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Power Monitor
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√
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Auxiliary Power Monitor
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√
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Pitch Gyro
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√
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Roll Gyro
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√
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Yaw Gyro
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√
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X Accelerometer
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√
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Y Accelerometer
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√
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Barometric Altimeter
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√
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GPS Altimeter
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√
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Pitot Airspeed Sensor
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√
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Groundspeed Mode (GPS-derived)
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√
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Sensor Auto Trim
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√
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Aileron control
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√
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Elevator control
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√
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Throttle control
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√
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Rudder control
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√
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Flaps control
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√
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Servo Mixing (elevon, flaperon, v-tail)
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√
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Servo Rate
|
20
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ms
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Mission Servos
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3
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Mission Control Outputs (TTL)
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3
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Data Logger (flight parameters)
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√
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A/D Channels, 8-bit (external input)
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2
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Embedded Setup Port
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√
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GCS Port (wireless UAV in-flight control/monitor)
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√
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Waypoints (may be updated in-flight)
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24
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|
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WP Holding Patterns (user-defined)
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8
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WP Hold Time
|
255
|
minutes
|
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Loop Rate
|
30
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x / sec
|
The new AP50XL autopilot. From
http://www.uavflight.com/Products.htm
.
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