Barnard Microsystems Limited

Developing Unmanned Aircraft Systems to benefit Mankind

Flight Control Unit (FCU) - Flight Management

InView coming in to land

Above: an InView coming in to land, Fowler flaps deployed, on a grassy field
Example of a microprocessor controlled Unmanned Aircraft Flight Control Unit

Flight management

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
  • 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
  • I 2 C 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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The Ascending Technologies Research Pilot

- from http://www.asctec.de/main/index.php?id=8&pid=7&lang=en&cat=pro

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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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Paparazzi Tiny 2.11 Flight Control Unit

- from http://ppzuav.com/osc/catalog/product_info.php?cPath=4_2&products_id=35&osCsid=9f589ee61de1ff851f2edebe22f2eb86

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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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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

    Servos & Mixing

    MP2128 g

    elevon

    yes

    flaperons

    yes

    4 servo flap/aileron

    yes

    separate flaps

    yes

    v-tail

    yes

    x-tail

    yes

    split aileron

    yes

    rudder throttle

    yes

    split rudders

    yes

    number of servos

    8/16/24

    servo update rate

    50 hz

    separate servo and main battery power supply

    yes

    separate voltage monitor for main and servo battery power supplies

    yes

    integrated RC override

    yes

    servo resolution

    11 bit

    extra ADC channels and 3-axis magnetometer available

    yes

    Control System

    MP2128 g

    gain scheduling for optimum performance

    yes

    rudder aileron feed forward for improved turn performance

    yes

    aileron elevator feed forward for improved altitude hold during turns

    yes

    autonomous takeoff and landing

    yes

    user definable PID feedback loops (for camera stabilization etc)

    8

    user definable table lookup functions

    8

    MP plugin compatible

    yes

    Sensors

    MP2128 g

    airspeed sensor range (kph)

    500

    altimeter range (meters above launch point)

    12000

    3-axis rate gyro

    yes

    Navigation

    MP2128 g

    1Hz GPS update rate

    yes

    optional 4 Hz GPS update rate

    yes

    move servo at waypoint

    yes

    change altitude at waypoint

    yes

    change airspeed at waypoint

    yes

    user definable holding patterns

    yes

    user definable error handlers (loss of GPS, low battery etc.)

    yes

    RPV and UAV modes

    yes

    supports DGPS accuracy

    yes

    waypoints

    1,000

    Telemetry, Datalog & Video

    MP2128 g

    telemetry (user defined fields transmitted each second)

    100

    telemetry update rate

    5hz

    video overlay (number of user definable fields)

    16

    Ground control station

    MP2128 g

    HORIZON mp 2128 ground control software included with system

    yes

    MP2028 g autopilot simulator for operator training

    yes

    ground control station developer's kit

    yes

    gains can be adjusted in-flight

    yes

    change waypoints in-flight

    yes

    payload servos controlled from ground station

    yes

    fly in RC mode via datalink (both stabilized and normal)

    yes

    point-and-click waypoint editor

    yes

    Physical Characteristics

    MP2128 g

    weight (including GPS receiver, gyros, and sensors)

    26 grams (not including GPS antenna)

    power (including GPS receiver, gyros, all sensors and GPS antenna)

    140 mA @ 6.5V

    supply Voltage (volts)

    4.2 - 26V

    size - length (cm)

    10.0 cm

    size - width (cm)

    4.0 cm

    size - height (cm)

    1.5 cm

    software upgradable in the field

    yes

    From www.micropilot.com

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    Example of triple unit MicroPilot FCU to ensure resilience to the failure of any unit.

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    The Procerus Autopilot

    Flight management

    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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    AP50 Autopilot from UAV Systems Inc

    Flight management

    - from http://www.uavflight.com/AP50.htm

    Feature Specification

    value

    units

    Size

    144 x 47 x 28

    mm

    Weight

    50

    grams

    Power

    120 mA @ 5.4 to 8V

    Power Monitor

    √

    Auxiliary Power Monitor

    √

    Pitch Gyro

    √

    Roll Gyro

    √

    Yaw Gyro

    √

    X Accelerometer

    √

    Y Accelerometer

    √

    Barometric Altimeter

    √

    GPS Altimeter

    √

    Pitot Airspeed Sensor

    √

    Groundspeed Mode (GPS-derived)

    √

    Sensor Auto Trim

    √

    Aileron control

    √

    Elevator control

    √

    Throttle control

    √

    Rudder control

    √

    Flaps control

    √

    Servo Mixing (elevon, flaperon, v-tail)

    √

    Servo Rate

    20

    ms

    Mission Servos

    3

    Mission Control Outputs (TTL)

    3

    Data Logger (flight parameters)

    √

    A/D Channels, 8-bit (external input)

    2

    Embedded Setup Port

    √

    GCS Port (wireless UAV in-flight control/monitor)

    √

    Waypoints (may be updated in-flight)

    24

    WP Holding Patterns (user-defined)

    8

    WP Hold Time

    255

    minutes

    Loop Rate

    30

    x / sec

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

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