KroozSD

Autopilots Booz HB Autopilots Lisa Tiny YAPA Autopilots Ap.parrot minidrone Apogee/v1.00 HITL Autopilots Bebop Booz Chimera/v1.00 Classix CrazybeeF4Pro Disco Elle Elle0 Future Autopilots Krooz KroozSD LinAM V4 Lisa Lisa/Bone Lisa/L Lisa/M Lisa/M v1.0 Lisa/M v2.0 Lisa/MX Lisa/S NavGo v3 NavStik Pixhawk Pixracer Previous Autopilots STM32F4 Discovery STM32F429I Discovery Tawaki/v1.00 Tawaki/v1.10 TWOG/v1.0 Umarim Lite v2 Umarim v1.0 Xvert

Overview

KroozSD UAV autopilot board is an all in one rotorcraft solution, with a wide variety of sensors, modules and units on one board in market usual size.

Features

KroozSD is based on the 64 pins STM32F405RGT6 Cortex M4 168MHz processor featuring a Floating point unit (FPU), up to 192k of RAM and 1024k of FLASH.

• STM32 microcontroller STM32F405RGT6 datasheet with 1024kB flash and up to 192kB RAM
• Onboard microSD card slot
• MPU6050 Gyro/Accelerometer sensor
• HMC5883 magnet field sensor.
• MS5611 high precision pressure sensor.
• XBee Pro module on board connector.
• MAX7456 OSD module for mixing in a flight data into a camera video screen (using 4 pin connector)
• 3 x 3.3V TTL UART (5V tolerant)
• 11 x Servo PPM outputs (or 10 if using PPM output receiver)
• 2 x I²C 5V bus
• 1 x SPI bus
• 5 x Analog input channels
• 1 x Micro USB
• Extra camera control 6 pin connector for flexible camera use
• 3 x status LEDs with attached test point
• Up to 35V (8S LiPo) input power control unit
• Up to 1,5A load current on 3,3V line
• Up to 5A load current on 5V line
• 50mm x 60mm x 10mm
• 2 layers PCB design

So, except for a GPS unit with the KroozSD you have all necessary sensors for full features all in one rotorcraft solution.

Pinout

Usage scenarios

KroozSD can be used in different telemetry versions:

• with an XBee wireless module connected to the on-board XBee connector

• with the external WizFi220 WiFi module connected to the on-board XBee connector

(coming soon)

• with the external BTM-222 Bluetooth module connected to the on-board XBee connector

(coming soon)

• or without any on-board telemetry solution, with a possibility to connect other telemetry link over one of the UART connectors.

Mechanical Dimensions

Schematics

Programming

The KroozSD autopilot can beprogrammed in different ways:

• using the pre-loaded KroozDFU USB bootloader over the on-board USB header
• using the default STM32 serial bootloader over the UART3 connector

Bootloader

The KroozSD uses an own KroozDFU bootloader (based on libopencm3 project). You can find it here, clone to your PC an build or use a precompiled binary file to upload. However the KroozSD board is shipped with the KroozDFU bootloader by default.

Source code

The KroozSD source code is based on Paparazzi master git branch, and ported on the STM32F4 Cortex™-M4 processor family. It is available from here