{| align=right |- |Autopilots |}
[[Image:KroozSD_top_bott.jpg|292px|The Krooz Autopilot]] [[Image:KroozSD_bott.jpg|200px|The Krooz Autopilot]] [[Image:KroozSD_top.jpg|200px|The Krooz Autopilot]]
__TOC__ There is an alternative version of the KroozSD available - the KroozSD Big Rotorcraft Edition (BRE). Equipped with MXR9500 quality acceleration sensor from Memsic sensing solutions, it brings one of the best motion sensing performances and vibration immunities in it's class. It ensures much better flight stability and higher immunity to vibration noisy aircrafts. There also added an SWD programming/debugging interface connector to simplify the development of high complicated algorithms. [[File:KroozSD_R_Edition_Bott.png|300px]] [[File:KroozSD_R_Edition_Top.png|300px]] Here is a new boards [http://youtu.be/nJCtAmrrZtU test flight video], made in a pretty windy day. = 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 [http://www.st.com/internet/mcu/product/252144.jsp Cortex M4] 168MHz processor featuring a Floating point unit (FPU), up to 192k of RAM and 1024k of FLASH. * STM32 microcontroller [http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00037051.pdf datasheet] with 1024kB flash and up to 192kB RAM * Onboard microSD card slot (SPI interface) * [http://www.invensense.com/mems/gyro/mpu6050.html MPU6050 Gyro/Accelerometer sensor] and [http://www.memsic.com/userfiles/files/Datasheets/Accelerometer-Datasheets/MXR9500GM__RevD.pdf MXR9500 Accelerometer] with 16 bit ADC (Big Rotorcraft Edition). * [http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/HMC5883L_3-Axis_Digital_Compass_IC.pdf HMC5883] magnet field sensor. * [http://www.meas-spec.com/downloads/MS5611-01BA03.pdf MS5611] high precision pressure sensor. * [ftp://ftp1.digi.com/support/documentation/90000976_C.pdf XBee Pro] module on board connector. * [http://datasheets.maximintegrated.com/en/ds/MAX7456.pdf 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 PWM outputs (or 10 if using PPM output receiver) * 2 x [http://en.wikipedia.org/wiki/I2c 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. == Flight videos == Here you can see some example flight videos, representing basic KroozSD flight properties: [https://youtu.be/vUbc73-x9sE 2 hours 9 minutes 37 seconds multicopter flight time record with KroozSD] [https://youtu.be/OrPo1fjULk0 KroozSD flight performance on endurance octocopter with payload] [http://youtu.be/oBh0t4H2l6A KroozSD windy weather flight with autonomous landing] [http://youtu.be/nJCtAmrrZtU KroozSD Big Rotorcraft Edition heavy wind flight] [http://youtu.be/V4VPffMW2RY KroozSD Big Rotorcraft Edition 3 kilogram payload] on the big ST800 hexarotor frame, takeoff and automatic landing detection == Pinout == [[File:KroozSD_top_dscr.png|800px]] == Usage scenarios == '''KroozSD''' can be used in different telemetry versions: * with an XBee wireless module connected to the on-board XBee connector [[Image:KroozSD_xbee.jpg|250px|The Krooz Autopilot]] * or without any on-board telemetry solution, with a possibility to connect other telemetry link over one of the UART connectors. The following picture shows the usage of KroozSD board with I2C bus motor controllers and two camera mount stabilization servos: [[Image:KroozSD_usage_1.png|750px|The Krooz Autopilot]] Next picture shows same configuration with HOTT telemetry connection: [[Image:KroozSD_usage_HOTT.png|750px|The Krooz Autopilot]] == Mechanical Dimensions == [[File:KroozSD_top_dim.png|500px]] = Schematics = [[Image:Schematics_KroozSD.jpg|250px|The Krooz 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 [https://github.com/libopencm3/libopencm3 libopencm3] project). You can find it [https://github.com/softsr/libopencm3/tree/master/examples/stm32/f4/krooz/usb_dfu here], clone to your PC an build or use a precompiled [https://github.com/softsr/libopencm3/downloads 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 [https://github.com/softsr/paparazzi/tree/krooz_port here] == Where to buy == If you want to buy the KroozSD board, just write me an Email on: softsr@yahoo.de [[Category:Autopilots]]