BARNARD MICROSYSTEMS LIMITED

helping you keep an eye on things...

unmanned air ...

avionics

Flight Management Unit (FMU)

• FMS block diagram
• NXP ARM-based LPC2148 microprocessor
• The Ascending Technologies Research Pilot
• Paparazzi Tiny 2.11 Flight Control Unit  
• FMS from Abat
• The AutoPilot  from Cloud Cap Tech
• FMS from MicroPilot
• The Procerus AutoPilot
• The UAV Systems Inc AutoPilot

Example of a microprocessor controlled UAV flight management system

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
• standard JTAG connector with ARM 2x10 pin layout for programming/debugging with ARM-JTAG
• USB connector, USB link LED
• Two channel RS232 interface and drivers
• SD/MMC card connector
• two buttons
• trimpot connected to ADC
• two status LEDs
• Buzzer
• UEXT - 10 pin extension connector for Olimex addon peripherials like MP3, RF2.4Ghz, RFID etc. modules
• 2x SPI connectors
• I²C connector
• on board voltage regulator 3.3V with up to 800mA current
• single power supply: 6V AC or DC required
• power supply LED
• power supply filtering capacitor
• RESET circuit with exterman control of Philips ISP utility via RS232
• RESET button
• DBG, BSL slide switch
• JRST jumper for enable/disable external RESET vontrol by RS232
• 12 MHz crystal on socket
• 32768 Hz crystal and RTC backup battery connector
• extension headers for all uC ports
• PCB: FR-4, 1.5 mm (0,062"), green soldermask, white silkscreen component print
• 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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- 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

• Compatible to the X-Base
• LPC2146 ARM7 processor operating at 60 MHz
• Three gyroscopes
• High precision pressure sensor with 24 Bit ADC
• PC connectivity with the X-USB module
• Several connections for extension modules (I2C, SPI, 2x Servo)
• Option: X-ACC as three axis accelerometer
• JTAG debug and programming connector for the OpenSourcePilot-Software
• Exisiting "X-3D-BL Scientific" vehicles can be easily upgraded by replacing the X-3D-Scientific with the ResearchPilot

Software features

• High performance attitude control @ 1kHz update rate
• All controller parameters can be set by the user
• Four different controller sets selectable by jumper
• Pressure based height stabilization; controllable by R/C

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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:

1. Boot Code Programming.
2. Configure the GPS Module.
3. 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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Autopilot from http://www.abat.co.za/autopilot.html

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from www.CloudCapTech.com

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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

From www.micropilot.com

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Figure 102 Procerus Kestrel 2.2 IMU circuit from www.procerusuav.com

FEATURES

• 3-Axis Angular Rate & Acceleration Measurement.
• Magnetometer (2 and 3-Axis).
• 20 Point Sensor Temperature Compensation.
• External Power @ 3.3V & 5V, 500mA.
• Efficient Switching Power Regulation.
• Battery Voltage and Current Monitor.
• 29MHz Processor w/ 512K RAM & FLASH.
• 4 Serial Ports (Std.,SPI,I2C) w/ Digital Clock or I/O.
• 4 Onboard Servo Ports, 8 External Servo Ports.
• Flapperon, v-tail, elevon, ruddervator, custom servo mixing.
• 12 Digital I/O (6 bi-directional, 3 input, 3 output).
• 3 Analog Inputs @ 12bit resolution.
• Optional Piggy-Back Modem Header.
• Wind Estimation – good to 5% on speed & 2% on heading.
• Auto-trim.
• Multiple Fail safes including LOL, Loss of GPS, Low Battery, and Collision with Terrain. (uses terrain elevation data)
• Multi-UAV and Convoy Following Support.
• GPS-denied operation – gracefully handles GPS outages using dead-reckoning filter.
• Altitude can be referenced to sea level and can be initialized using onboard GPS, Ground GPS, or entered manually.
• Configurable IO support, including modem-mirror and serial pass-through to allow easy interface to external CPU or payload.
• 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.

• Selectable units (Metric, English, Nautical).
• Absolute vs relative waypoints (legal waypoints).
• Robust built-in support for 2-axis gimbal with zoom.
• RSSI using Maxstream modems.

APPLICATIONS

• Autonomous GPS navigation of small UAVs and MAVs
• Multiple vehicle operations
• Inertial Measure Unit
• Slave Processing Unit and Data logger
• 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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- from http://www.uavflight.com/AP50.htm

The new AP50XL autopilot. From http://www.uavflight.com/Products.htm .

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© Barnard Microsystems Limited 2006 - 2008