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If you consider yourself a developer this flexible piece of UAS hardware is for you. If you enjoy writing software and consider yourself an early adopter this is the board to use. Have fun implementing and extending the already great features. To show of your work and also to ask questions, you are welcomed on the paparazzi mailinglist, this Wiki and the freenode paparazzi IRC channel. This nice piece of hardware can be used for various purposes. Ofcourse as an Autopilot board, but only by uploading another firmware also a servo extension board and more. A good idea of how this nice piece of hardware looks like is shown on the Photos here. If you are not so interested in all of this at the moment since you just have this shiny new board on you desk and want to connect and fly the thing, then go to the page using the board as an Autopilot for an airplane or go here for uses a an Autopilot in a quadrotor

Lisa/M V1.0 top view
Lisa/M V1.0 bottom view
Lisa/M V1.0 top view
Lisa/M V1.0 bottom view

Initial Setup

If you want to just simply setup the board for use as an Autopilot and are looking for information about how to get the Lisa/M board up and running and where to connect other hardware just follow the link below if you have that great Lisa/M board and want to get get it airborne fast.

User/LisaM/Tutorial/FixedWing An airplane or just plane.

User/LisaM/Tutorial/RotorCraft everything that flies via moving blades, for example Helicopter, Quadcopter or something alike


Lisa/M is based on the 64 pins STM32F103RE processor featuring 64k of RAM and 512k of FLASH. All the pins are exposed, providing access to the complete set of the STM32 peripherals.


  • Single STM32 MCU
  • Pressure sensor BMP085
  • 7 x Analog input channels
  • 3 x Generic digital in-/out-puts
  • 2 x 3.3V TTL UART (5V tolerant)
  • 7 x Servo PPM outputs
  • 1 x CAN bus
  • 1 x SPI bus
  • 1 x I2C bus
  • 1 x Micro USB
  • 4 x status LEDs with attached test point
  • 10.8 grams (0.4 oz) (with Aspirin IMU mounted)
  • 9.9 grams (0.35 oz) (without Aspirin IMU mounted)
  • ~33mm x ~56mm x ~10mm
  • 4 layers PCB design

with mounted IMU has the following additional sensors on board:

  • 3 Axis Gyroscope
  • 3 Axis Accelerometer
  • 3 Axis Magnetometer

The pressure sensor is mounted directly on the board as this sensor is not provided by Aspirin. Exept for a GPS unit you have all necessary sensors for full attitude and altitude stabilization in an extremely small package. Adding only an external GPS unit, it is a full fledged Autopilot.


This autopilot is very small. The footprint is only 33mm by 56mm by 10mm including the servo connector pins. It will fit in a small UAS very well. There is a spot for mounting the Aspirin IMU directly on board.


In brief, the STM32 features 3 USARTS, 2 SPI, 2 I2C, 1 CAN, a plethora of timers, ADCs and a generic DMA able to serve all of them. On the board, a number of the communication interfaces are level shifted with user selectable voltage to allow interfacing with all kind of peripherals.

Onboard IMU

The Lisa/M comes with Aspirin IMU mounted, for easy attitude estimation in the smallest package possible.


Information about debugging can be found here

Hardware Revision History



Usage scenarios

For regular Autopilot boards a full Lisa/M board is needed. For some scenarios just a basic Lisa/M without IMU and pressure sensor is needed, this makes the board cheaper of course.

As a basic Autopilot

To use the Lisa/M as an autopilot, we need to attach a GPS receiver. A nice uBlox LEA-5H or newer will perform great.

== As and advanced Autopilot

Also an external airspeedsensor like the Eagletree would enhance a fixedwing airframe. Ofcourse an extention cable from microUAS to Mini USB to the outside of the airframe is very practical.

As a servo extender

Sometimes being able to steer seven actuators is just not enough. One need for example flaps that enhance aileron or an airbrake and automatic landingfacility. Maybe special ACL lights, or four cameras with zoom. By using a coupled second basic Lisa/M and connect this to the master AP board we can extend our amount of servos.

As a Safety Pilot Device

To provide an extra safety level required in some UAS challenges a second Lisa board can make it easy to adhere to the rules for such a challenge.

As a Data Logger

Maybe you have a need only to log all kinds of data, like temperature, volts, amps, height, airspeed only. For this we can setup a Lisa/M board. Then we are flexible and add whatever sensors we want. Collecting this data can be to a storage medium like an micro SD card. Sometimes there is no need for realtime data collection but just for storing a huge dataset.

As a Camera controller


Pins Name and Type are specified with respect to the Autopilot Board

LisaM V1 0 top labeled.png


Electrical Connections to the Airborne Equipment


Gerber & Drill Files


Components Layout

Mechanical drawing

LisaM V1 0 top mechanical.png

Bill Of Material

PCB and assembled boards suppliers

For private companies and enthusiast Paparazzi hardware suppliers, see Get Hardware page.


Source files

  • download LisaM v1.00 Eagle design (zip)

Gerber & Drill files

  • download gerber & drill files (zip)

Assembly files

  • download (pdf)
  • download (zipped .xls file)