The hardware electronic components are very close the the Bebop quadrotor and the same principle can be applied to fly in full autonomous mode with Paparazzi.
Here are some differences or addition compared to the Bebop hardware:
The Disco have 6 PWM outputs available with the following mapping:
- Internal mapping of the PWM with output index
- servo rail 1 <-> linux pwm_4
- servo rail 2 <-> linux pwm_5
- servo rail 3 <-> linux pwm_6
- servo rail 4 <-> linux pwm_1
- servo rail 5 <-> linux pwm_2
- servo rail 6 <-> linux pwm_3
Radio Control Input
A radio control input is available for RC based on serial protocols such as Spektrum or SBUS. Since the SBUS protocol is using an inverted logic (serial idle low), the signal input pin is tight to two UARTs internally and can be accessed with the the following symbolic links:
- /dev/uart-sbus: the signal is inverted
- /dev/uart-sumd: the signal is not inverted
The RC input is recommended for the safety link instead of using the Wifi link to control the plane in manual or assisted mode.
The GPS used is a U-Blox M8N.