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This page describe how to use Lisa/L from a user point of view


Lisa ( the Lost Illusions Serendipitous Autopilot) is a new range of autopilots based on STM32 microcontrollers ( CortexM3@72Mhz ) designed to run Paparazzi. There's no such thing as a perfect autopilot, only autopilots adapted to a particular purpose. This is the reason why Lisa comes in different flavors for different usages.


Lisa/L is a dual processor board autopilot designed to allow the possibility of using Linux for Paparazzi airborne code.

Lisa l bloc diag simple.png Lisa l top.png Lisa l bot.png

Hardware Revision History

Version # Release Date Release Notes
v1.00 ??? Initial release of Lisa/L


  • STM32 microcontroller (CortexM3@72Mhz)
  •  ?x Analog input channels 0V - 3.3V (2 channels with optional on-board resistor bridge)
  • 3x 3.3V TTL UART (5V tolerant)
  • 1x CAN
  • 6x PWM outputs
  • 1x R/C receiver PPM frame input (trig pin on UART1 connector)
  • 2x SPI bus
  • 2x I2C bus
  •  ?x USB (client)
  •  ? switching power supply
  •  ? linear regulator
  •  ?x status LEDs with attached test point
  •  ? grams (? oz)
  • dimensions
  • 4 layers PCB design

Getting started

  • Install Gnu/Linux Ubuntu and the paparazzi-dev, paparazzi-arm-multilib packages and paparazzi-omap( Installation from the Command Line: on this page Installation ).
sudo apt-get update
sudo apt-get install paparazzi-dev  paparazzi-arm-multilib paparazzi-omap
  • Connect power to the board. The board accepts input voltage from 6V to 18V. The power connector is from JST and known in the rc world as a BEC connector
  • Connect a mini USB cable in the mini USB connector. This should give you two USB devices. The first one ( usualy /dev/ttyUSB0) is the console for the Overo, the second one is the JTAG for the STM32
  • Flash a test program in the stm32 :
 make AIRCRAFT=BOOZ2_A7 test_baro.upload


  • The main documentation page for the overo on gumstix website is here.
  • We now have a Overo toolchain package ! install the paparazzi-omap package.
sudo apt-get install paparazzi-omap

If you feel it's too easy, you can look at here and enjoy the fun of compiling openembedded yourself

  • In order to use the SPI link between the STM32 and the Overo, you'll need a patched linux kernel and a couple of libraries. Look in the developer section if you wanna know the gore details of it. If not, just download our pre-compiled filesystem image and kernel from here and follow the instruction from here to write them on a micro sd card.

When you want the wright files to be downloaded en written on the SD do:

cd ~/sw/tools/overo_sd_maker/
sudo ./

  • Once you have written your image to the sd card, you may insert it in the Overo and power Lisa. Connecting a mini usb cable to it will give you access to the console of the Overo as the first USB device ( usualy /dev/ttyUSB0). You can run a terminal like gtkterm or kermit to watch your Overo booting and log on it using root for login and no password.

For Kermit do:

sudo apt-get install ckermit
$ kermit -l /dev/ttyUSB0
C-Kermit>set flow-control none
C-Kermit>set carrier-watch off
C-Kermit>set speed 115200
/dev/ttyUSB0, 115200 bps
Connecting to /dev/ttyUSB0, speed 115200
Escape character: Ctrl-\ (ASCII 28, FS): enabled
Type the escape character followed by C to get back,
or followed by ? to see other options.

When you wait a few minutes your overo is booted from the SD card and you can log in if you see overo login:

overo login: root
  • One on the first things you might want to do is setup wireless networking. Overo Air has a builting wifi adapter. On others you can use an external USB wifi stick.
  • Flash the STM32 with the link test program
 make AIRCRAFT=BOOZ2_A8 stm_test_spi_link.upload
  • Compile and upload the Overo test program.
 make AIRCRAFT=BOOZ2_A8 overo_test_spi_link.upload
  • Log on your Overo and run it

Use case #1: the fixedwing firmware running in the STM32 only

Coming soon... look for airframes/AirborneCodeReorg/LisaFw.xml

Use case #2: the rotorcraft firmware running in the STM32 only

Use the airframes/Poine/booz2_a7 as an example. You may only have to change some subsystems type to match your peripherals.

   make AIRCRAFT=BOOZ2_A7 ap.upload

Use case #3: the lisa_passthrough firmware

This firmware is about turning the STM32 into a simple io processor that sends sensors and radio control to the Overo and fetches actuators position in return.

The stm_passthrough target is what is ran on the STM32.

The overo_test_passthrough target demonstrates the use of the Paparazzi framework on the Overo: communications with the stm32, accurate periodic events and telemetry/datalink over wifi.


Lisa-L 0.99 LED order:

 green: 3,  5,  7,  1
 red:   2,  4,  6,  0

LisaL-V1 1-top-labeled.png

LisaL-V1 1-back-labeled.png

Spektrum/JR remote receiver connection diagram

Lisa L V1 1 satellite receiver connection.png

PPM Remote receiver

To use the PPM signal of a PPM remote receiver, the input pin for the signal is the 1 (UART1), it is hardcoded and can not be change. Also make sure that a bridge(~0 Ohm) in the conducter path is soldered. See below picture for the right position.

LisaL-V1 1-top-labeled-marked.png