Autopilots __TOC__ Lisa ( the Lost Illusions Serendipitous Autopilot) is a range of autopilots based on [http://www.st.com/mcu/inchtml-pages-stm32.html 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 the Lisa autopilots come in different styles for different uses. The first members of the family are: *Lisa/L, a design where the STM32 is associated to a gumstix [http://www.gumstix.net/Setup-and-Programming/cat/Overo-Setup-and-Programming/111.html Overo]. *Lisa/M, a design focusing on cost and simplicity. *Lisa/S, a design focusing on size and weight. ==Lisa/L== === Description === [[Lisa/L]] is a dual processor board autopilot designed to allow for the possibility of using Linux for Paparazzi airborne code. [[Image:lisa_l_bloc_diag_simple.png|360px]] [[Image:lisa_l_top.png|360px]] [[Image:lisa_l_bot.png|360px]] === Documentation === The documentation for Lisa/L is broken into several parts due to board complexity and Gumstix [[Overo]] integration. * [[Lisa/L|Main Documentation]] - primary hardware documentation and intro to software * [[Dev/LisaL|Additional Developer Documentation]] - additional advanced hardware and software documentation and notes * [[LisaL_Gallery|Lisa/L Photo Gallery]] - pictures of [[Lisa/L]] * [[User/LisaL/Tutorial/Quadrocopter|Unfinished Rotorcraft Tutorial]] - rotorcraft tutorial, needs considerable work * [[User/LisaL/Tutorial/FixedWing|Unfinished Fixedwing Tutorial]] - fixedwing tutorial, needs considerable work * [[OMAP|Gumstix Integration Intro]] - intro and documentation listing for integrating a Gumstix Overo with [[Lisa/L]], including for USB devices and cameras == Lisa/M == === Description === [[Lisa/M]] is a great general purpose small-footprint autopilot. There are currently two versions that have been produced. Detailed documentation can be found here: * [[Lisa/M_v2.0|Lisa/M v2.0 (current) Documentation]] [[Image:LisaM_V2_0_TopView.JPG|360px|Lisa/M v2.0 Top View]] * [[Lisa/M_v1.0|Lisa/M v1.0 Documentation]] [[Image:lisa_m_top_small.png|360px|Lisa/M v1.0 Top View]] === Usage scenarios === There are many potential applications for the small, relatively inexpensive and flexible [[Lisa/M]]. For regular Autopilot boards a fully equip [[Lisa/M]] board is needed. For some scenarios just a basic [[Lisa/M]] without an [[Inertial_Measurement_Units|IMU]] and barometric pressure sensor is needed, which reduces the board cost. Here are some ideas (not all have yet to be implemented): * As a basic Autopilot ** To use the [[Lisa/M]] as an autopilot, you need to attach a GPS receiver. A nice [[GPS#u-Blox_LEA_Series_Receivers|uBlox LEA-5H]] or newer will perform great. * As an advanced Autopilot ** Additional sensors for measuring airspeed, current, etc. would enhance a fixed-wing airframe. * As a servo extender ** Sometimes being able to control seven actuators is just not enough. Large airframes may require flaps or an airbrake and automatic landing facilities. Maybe special ACL/Nav lights, or four cameras with zoom. By using a coupled second basic [[Lisa/M]] and connecting this to the master Autopilot board we can extend the amount of servos. Large airframes can also benefit from remote and/or redundant servo drivers. * 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, and not control the aircraft. For this we can setup a [[Lisa/M]] board. Collecting this data can be to a storage medium like on a micro SD card. Sometimes there is no need for real-time data collection through telemetry but just for storing a huge dataset. * As a Camera controller ** On some models that do not require many servos (for example - flying wing with only 3 channels used), spare channels can be used for camera control. In addition, it could be used as an independent pan-tilt unit (PTU) controller. * As a Airframe Tracker ** Tracking an airframe for an antenna or camera on a tripod is one of the many optional uses for a [[Lisa/M]] Board. == Lia == Lia is a lower-cost variant of Lisa/M 2.0. The microcontroller, basic layout, servo outputs, and mounting holes are the same. Major differences: * 0.1" through-hole connections for non-servo I/O instead of Molex picoblade ** PCB size increased slightly to (58x34mm) to accommodate throughholes * CAN transceiver removed on initial units; populated on later units (see [http://paparazzi.enac.fr/wiki/Lia documentation]) * barometer removed * I2C level shifter removed * 5V voltage regulator removed * Added provisions for multiple BEC input balancing on servo connectors [[Image:Lia_1.1_top.jpg|360px|Lia v1.1 Top View]] [[Lia|Lia documentation]] == Lisa/S == Lisa/S is very small autopilot board. The focus for this design is size, weight and power consumption. It's an autopilot suited for the smallest airframes. [[Image:Lisa_S_V0_1_r2_on_finger.jpg|360px]] * [[Lisa/S|Lisa/S Documentation]] [[Category:Lisa]] [[Category:User_Documentation]] [[Category:Autopilots]]