Xvert
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Introduction
By default the XVert from Horrizon Hobby is a two-prop hybrid VTOL fixed wing, designed to be controlled with DSMX RC. It features a STM32F3 board, which can be reprogrammed with Paparazzi through SWD. A GPS, magneto en datalink can be added by using the expansion ports on this board so that autonomous flight can be achieved.
Getting started
What you need
- An XVert EFL1800
- The Hobbyking Joystick
- A Black Magic Probe (BMP) or similar SWD programmer
- A GPS + magneto
- An XBee datalink
- A laptop with Ubuntu and paparazzi installed
Steps to follow:
- Upgrade the XVert with the XBee and GPS
- Install Paparazzi via the one liner to be found here. Just Cut 'n Paste (CTRL+C from webbrowser then CTRL+SHIFT+V in your Linux terminal) and press ENTER
- Start Paparazzi Center with the TUDelft configuration
- In the Paparazzi center choose "Xvert" in the airframe dropdown menu
- Power up the XVert
- Connect the SWD pins of the BMP as shown in the image TODO
- Press the "Upload" button in the Paparazzi Center, wait...
- Plug in the XBee to the laptop
- Select Hobbyking in the session menu
- Press execute
- Select FlightUSB0 in the session menu
- Press execute again
Voila, you should get telemetry from your XVert. Now it is up to you how and where to fly.
Features
Hardware that has to be added manually is marked with an (*).
Connectivity
- CYRF DSMX RC radio chip (not yet supported)
- XBee datalink(*)
Structure
- 2 Brushless Outrunner motors
- EPO foam wing
- Two elerons
Battery
- Lithium Polymer 2S 800 mAh
- Flight time: ?
Sensors
- 3-axes magnetometer (TODO)(*)
- 3-axes gyroscope (MPU 6500)
- 3-axes accelerometer (MPU 6500)
- Pressure Baro sensor (M.E.A.S 5607? TODO)
Processor
STM32F373CCT6
Motors
- 2 BL280 2600Kv
- 2 4 Gram Servo (SPMSA220)
Geo-location
- TODO (*)
Dimensions
- TODO
Weight
- Without TODO
- With add-ons TODO