PaparazziUAV - User contributions [en]

Lisa/M v2.0

2012-10-05T15:21:42Z

Gtoonstra: /* R/C Receivers */

<div style="float: right; width: 15%"><categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree></div>
<div style="float: right; width: 45%; overflow: hidden">[[Image:LisaM_V2_0_TopView.JPG|right|500px|Lisa/M V2.0 top view]]</div>
<div style="float: right; width: 40%">__TOC__</div>

Lisa/M is a small, general purpose autopilot designed with flexibility across multiple applications in mind. Small weight and size, with (optional) integrated [[AspirinIMU | Aspirin IMU]] and full size 0.1" servo headers make the Lisa/M suitable for both fixed-wing and rotorcraft vehicles. This autopilot is based on the STM32 for improved peripherals and faster processing.

A number of tutorials are being prepared for getting started with Lisa/M:
* [[Lisa/M/Tutorial/FixedWing|Fixedwing tutorial]]
* [[Lisa/M/Tutorial/RotorCraft|Rotorcraft tutorial]]

== Hardware Revision History ==

{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v2.0(current)||03/2012||Updated Production Release
|-
|v1.1||MM/YYYY||Updated Prototype
|-
|v1.0||MM/YYYY||Initial Production Release
|-
|v0.1||MM/YYYY||Initial prototype of Lisa/M
|}
For detailed hardware revision history, please [[Lisa/M#Detailed_Hardware_Revision_History | see below]].

== Features ==

Lisa/M is based on the 64 pins STM32F105RCT6 [http://www.st.com/internet/mcu/product/221023.jsp connectivity line family] processor featuring 64k of RAM and 256k of FLASH. All the pins are exposed, providing access to the complete set of the STM32 peripherals.
NOTE: This MCU is different from LISA/L. Lisa/L is based on the 64 pins STM32F103RE processor featuring 64k of RAM and 512k of FLASH, which is part of the [http://www.st.com/internet/mcu/product/164485.jsp high-density performance line family].

* STM32 microcontroller [http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/DATASHEET/CD00220364.pdf STM32F105RCT6 datasheet] with 256kB flash and 64kB RAM
* Pressure sensor [http://www.bosch-sensortec.com/content/language1/html/3477.htm BMP085] (optional as of 08/2012)
* 7 x Analog input channels
* 3 x Generic digital in-/out-puts
* 2 x 3.3V TTL UART (5V tolerant)
* 8 x Servo PPM outputs (only 6 if second I2C (I2C1) bus in use)
* 1 x CAN bus
* 1 x [http://en.wikipedia.org/wiki/Serial_Peripheral_Interface SPI] bus
* 1 x [http://en.wikipedia.org/wiki/I2c I2C] bus (2 x when using only the first 6 Servo PPM outputs)
* 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)
* ~34mm x ~60mm x ~10mm
* 4 layers PCB design

With mounted Aspirin IMU has the following additional sensors on board:

* 3 Axis Gyroscope
* 3 Axis Accelerometer
* 3 Axis Magnetometer
* Barometer (as of Aspirin v2.1r1)

'''Lisa/M has pads for the BMP085 pressure sensor. Boards made before August 2012 had the BMP085 sensor mounted. Boards made after August 2012 do not have the sensor mounted as they are designed to be used with Aspirin 2.1r1 which has the new MS5611-01BA03 barometric pressure sensor.'''

The drivers for the MS5611-01BA03 are work in progress and will be available in the master branch of the Paparazzi codebase soon. All help with testing and improving the driver are very welcome!

So, except for a GPS unit you have all necessary sensors for full attitude and altitude stabilization in an extremely small package.

<gallery widths=200px heigths=200px>
Image:LisaM_V2_0_TopView.JPG|Lisa/M V2.0 top view
Image:LisaM_V2_0_BottomView.JPG|Lisa/M V2.0 bottom view
</gallery>

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

<div style="float: right; width: 100%">
[[Image:LisaM_V2_0_top_labeled.png|900px]]
[[Image:LisaM_warning_label.png|200px]]
</div>

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''SERVO1/2/3/4/5/6/7/8'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||SERVOx||OUT||Servo signal (PWM)(See Note 1 below)||style="background:Yellow; color:black"|Yellow
|-
|2||SV||PWR||Servo Bus Voltage Rail (conf w/ JP1)||style="background:red; color:white"|Red
|-
|3||GND||PWR||common ground||style="background:black; color:white"|Black
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''JTAG'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||N/A||N/A||JTAG Debug Header (Pin 1 is +3V3)||style="background:white; color:black"|None
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART3'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2||V_IN||PWR||UART Voltage (conf w/ JP6 and JP7)||style="background:Red; color:white"|Red
|-
|3||TX||OUT||USART3 Serial Output (3.3V level)||style="background:Yellow; color:black"|Yellow
|-
|4||RX||IN||USART3 Serial Input (3.3V level)(Pullup to Pin 2 voltage)(5V tolerant)||style="background:Orange; color:white"|Orange
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART1/5'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot (conf w/ JP8 and JP9)||style="background:Red; color:white"|Red
|-
|3||RX1||IN||USART1 Serial Input (3.3V level)(Pullup to Pin 2 voltage)(5V tolerant)||style="background:Orange; color:white"|Orange
|-
|4||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|5|| +3V3||PWR||3.3V Rail from autopilot (conf w/ JP8 and JP9)||style="background:Red; color:white"|Red
|-
|6||RX5||IN||UART5 Serial Input (3.3V level)(Pullup to Pin 5 voltage)(5V tolerant)||style="background:Orange; color:white"|Orange
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''GPIO'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|4||PC12||I/O||GPIO, connected to PC12 (5V tolerant)||style="background:#FDC579; color:black"|Dark Tan
|-
|5||TRST||I/O||JTAG_TRST (also connected to LED1 cathode)||style="background:#FED6B1; color:black"|Light Tan
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''ANALOG2'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3|| +5V||PWR||5V Rail from autopilot||style="background:Red; color:white"|Red
|-
|4||ADC4||I/O||by default connected to LED_4 cathode (Remove LED/resistor to use as ADC4)||style="background:magenta; color:white"|Magenta
|-
|5||ADC6||I/O||by default connected to LED_3 cathode (Remove LED/resistor to use as ADC6)||style="background:#FFA1B2; color:black"|Pink
|-
|6||BOOT0||I/O||BOOT0||style="background:grey; color:black"|Grey
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''USB'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||N/A||N/A||USB (The USB connections are also available as 0.05" (1.27mm) through hole pads underneath the GPIO header)||style="background:white; color:black"|None
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''I2C1 CAN'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| V_BATT||PWR||V_BATT Bus on autopilot, voltage divider for V_BAT_MEAS, (conf w/ JP2 to connect to V_IN)||style="background:Red; color:white"|Red
|-
|3|| V_IN||PWR||Connected to autopilot voltage regulator inputs (conf w/ JP1, JP2 and JP3)||style="background:Red; color:white"|Red
|-
|4||CANL||I/O||CANL (5V level)||style="background:orange; color:white"|Orange
|-
|5||CANH||I/O||CANH (5V level)||style="background:yellow; color:black"|Yellow
|-
|6||SCL||I/O||SCL (5V level)(See Note 1 below)||style="background:green; color:white"|Green
|-
|7||SDA||I/O||SDA (5V level)(See Note 1 below)||style="background:blue; color:white"|Blue
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''SPI1'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3||MOSI||Out||MOSI||style="background:orange; color:white"|Orange
|-
|4||MISO||In||MISO||style="background:yellow; color:black"|Yellow
|-
|5||SCK||Out||SCK||style="background:green; color:white"|Green
|-
|6||SS||Out||SS||style="background:blue; color:white"|Blue
|-
|7||DRDY||I/O||DRDY||style="background:#FDC579; color:black"|Dark Tan
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''ANALOG1'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3|| +5V||PWR||5V Rail from autopilot||style="background:Red; color:white"|Red
|-
|4||ADC1||In||ADC1 (or LED_6 if populated)||style="background:green; color:white"|Green
|-
|5||ADC2||In||ADC2 (or LED_7 if populated)||style="background:blue; color:white"|Blue
|-
|6||ADC3||In||ADC3 (or LED_8 if populated)||style="background:#FED6B1; color:black"|Light Tan
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART2'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||UART Voltage (conf w/ JP4 and JP5)||style="background:Red; color:white"|Red
|-
|3||TX||OUT||USART2 Serial Output (3.3V level)||style="background:Yellow; color:black"|Yellow
|-
|4||RX||IN||USART2 Serial Input (3.3V level)('''NOT 5V TOLERANT''')(Pullup to Pin 2 voltage)||style="background:Orange; color:white"|Orange
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''I2C2'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2|| +3V3||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3||SCL||I/O||SCL (3.3V level)||style="background:green; color:white"|Green
|-
|4||SDA||I/O||SDA (3.3V level)||style="background:blue; color:white"|Blue
|}

'''NOTE 1''': SERVO7 and SERVO8 are directly connected to I2C1_SCL and I2C1_SDA lines. There one has to choose, either use SERVO7 and SERVO8 '''OR''' the use ''second'' I2C bus (I2C1) if that one needs to be used for whatever reason. To use the servos 7 and 8 just set the <define name="USE_SERVOS_7AND8"/> in your airframe file and you are good to go. This is recently fixed, so for this to work one must make sure to have the latest Paparazzi sourcecode.

=== LEDs ===
Lisa/M 2.0 has 5 LEDS (+1 power LED). There are 3 additional LEDs (LED_6, LED_7, LED_8) that are not populated by default (in favor of using ADC1-3 on the ANALOG1 connector).
By default the LEDs are use for:
; LED_1, red: ''SYS_TIME_LED'': blinks with 1Hz
; LED_2, green : ''AHRS_ALIGNER_LED'': blinks until the AHRS is aligned (gyro bias initilalized) and then stays on
; LED_3, green : ''GPS_LED'': blinking if trying to get a fix, on if 3D fix
; LED_4, red : ''RADIO_CONTROL_LED'': on if RC signal is ok
; LED_5, green : not set to anything by default

=== Jumper Configuration ===
There are a number of jumpers on Lisa/M used to configure voltage levels and power input.

The default configuration is UART3 VCC at V_IN, UART1/2/5 VCC at +3V3, with the V_SERVO servo voltage rail NOT connected to the autopilot V_IN rail, allowing one to power the autopilot and servos separately. The +5V regulator is NOT bypassed, allowing a regulated +5V on listed headers and for the CAN transceiver and I2C level shifter. The V_BATT connector is NOT connected to V_IN, so one can attach a battery voltage to the V_BATT pin to measure the battery voltage, if so desired.

<gallery widths=380px heights=205px>
Image:LisaM_V2_0_top_jumpers_and_leds.png | Lisa/M v2.0 Top Jumpers and LEDs
Image:LisaM_V2_0_bottom_jumpers.png | Lisa/M v2.0 Bottom Jumpers
</gallery>
 

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''Power Jumper Configuration'''
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''
|-
|JP1||SERVO_BUS to V_IN||OPEN||Connects servo header voltage rail SERVO_BUS to autopilot input voltage V_IN rail
|-
|JP2||V_BATT to V_IN||OPEN||Connects I2C1/CAN rail V_BATT to autopilot input voltage V_IN rail
|-
|JP3||V_IN to +5V||OPEN||Connects autopilot input voltage V_IN rail to autopilot +5V rail, bypassing onboard 5V supply
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART3 VCC Configuration'''
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''
|-
|JP6||UART3_VCC to V_IN||style="background:black; color:white"|CLOSED||Connects UART3 connector VCC to autopilot input voltage V_IN rail
|-
|JP7||UART3_VCC to +3V3||OPEN||Connects UART3 connector VCC to autopilot +3V3 rail
|}
'''WARNING: UART3 GPS Connector is connected to V_IN, check your GPS input voltage before connecting!!!'''

'''WARNING: DO NOT CLOSE BOTH JP6 AND JP7 SIMULTANEOUSLY!!!'''

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART2 VCC Configuration'''
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''
|-
|JP4||UART2_VCC to V_IN||OPEN||Connects UART2 connector VCC to autopilot input voltage V_IN rail '''SEE WARNING BELOW'''
|-
|JP5||UART2_VCC to +3V3||style="background:black; color:white"|CLOSED||Connects UART2 connector VCC to autopilot +3V3 rail
|}
'''WARNING: UART2 RX is NOT 5V TOLERANT. Thus, while possible to connect UART2_VCC to V_IN, DO NOT ATTEMPT THIS. Only use JP5 (the default).

'''WARNING: DO NOT CLOSE BOTH JP4 AND JP5 SIMULTANEOUSLY!!!'''

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART1 and UART5 VCC Configuration'''
!width="7%"|''Jumper''!!width="20%"|''Bus Connection''!!width="7%"|''Default''!!''Description''
|-
|JP8||UART1&5_VCC to V_IN||OPEN||Connects UART1 and UART5 connector VCC to autopilot input voltage V_IN rail
|-
|JP9||UART1&5_VCC to +3V3||style="background:black; color:white"|CLOSED||Connects UART1 and UART5 connector VCC to autopilot +3V3 rail
|}
'''WARNING: DO NOT CLOSE BOTH JP8 AND JP9 SIMULTANEOUSLY!!!'''

There are additional jumpers on the board for expert or developer configurations, please see [[Lisa/M_v20#Schematic|schematic]] and [[Lisa/M_v20#Downloads|layout]] for more information.

=== Powering the Board ===

[[Image:LisaM_warning_label.png|right|200px]]

The 3.3V regulator on Lisa/M is a [http://www.micrel.com/page.do?page=/product-info/products/mic5209.shtml MIC5209-3.3YM] capable of delivering up to 500mA. While it is possible to power this regulator with up to 16V, '''DO NOT''' do this. By default, the UART3 RX pin is pulled up to the input voltage V_IN. For this reason, 5V is the maximum input voltage. Note that the UART3 GPS Connector is connected to V_IN, check your GPS input voltage before connecting. If one desires to have V_IN at a higher voltage, the jumpers should be adjusted accordingly. As noted, this regulator can handle up to 16V, though experience has shown that this regulator can become very hot in operation with high input voltages, resulting in potential thermal shutdown while in flight. Depending on the expected current draw, it is best to power this regulator with a lower voltage. 5V is the perfect choice.

The onboard 5V regulator on Lisa/M is a [http://www.national.com/pf/LP/LP2992.html LP2992], a low-noise, low-dropout linear regulator capable of delivering up to 250mA. This regulator can be bypassed with JP3, connecting the autopilot V_IN bus directly to the autopilot 5V bus if, for example, one is using an external 5V regulated supply, and a higher current is needed. Unless external use of 5V is required on the ANALOG1 and ANALOG2 headers, the only 5V usage onboard is for the CAN transceiver and the I2C1 level shifter.

When measuring the supply voltage of a battery with the V_BATT pin (could be connected to V_IN through JP2), it is important to note the maximum voltage limit. The voltage divider on the board for measuring with a 3.3V ADC is --'''V_BAT'''--/\/\'''10k'''/\/\--'''V_BAT_MEAS'''--/\/\'''2k2'''/\/\--'''GND'''--. This means that the maximum allowable voltage on V_BATT is

<math>V\_BAT_{max} = 3.3V*\frac{10k}{2.2k} = 15V</math>

If a higher voltage measurement is desired, another voltage divider is required off-board. Alternatively, one could modify the existing voltage divider (e.g. change 10k resistor to 22k to get 33V maximum). When checking if voltage exceeds the maximum, make sure to consider maximum battery voltage, not nominal voltage (e.g. 4.22V or so for a single lithium cell, not 3.7V nominal, so the maximum number of cells in series is 3, like a 3S LiPo pack).

== Schematic ==
<gallery widths=250px heights=168px>
Image:Lisa_m_v2_0_sheet_1.png | LisaM V2.0 Schematic Sheet 1/3
Image:Lisa_m_v2_0_sheet_2.png | LisaM V2.0 Schematic Sheet 2/3
Image:Lisa_m_v2_0_sheet_3.png | LisaM V2.0 Schematic Sheet 3/3
</gallery>
 

== Examples of Airborne Equipment Electrical Connections ==

=== Quadrocopter, Spektrum Satellite Receivers and PWM Motor Controllers (ESC) ===

[[File:LisaM_v2_0_wiring_quadrocopter_spektrum_pwmesc.png|700px]]

When using cheap ATMega or SiLabs-based PWM motor controllers consider replacing their firmware with either [https://github.com/sim-/tgy Simon Kirby] or [https://github.com/bitdump/BLHeli BLHeli] firmware respectively to get useful performance of your multicopter! You can find a firmware compatibility list [https://docs.google.com/spreadsheet/ccc?key=0AhR02IDNb7_MdEhfVjk3MkRHVzhKdjU1YzdBQkZZRlE here].

=== Quadrocopter, Spektrum Satellite Receivers and I2C Motor Controllers (ESC) ===

[[File:LisaM_V2_0_quadrocopter_spektrum_i2c_esc_wiring.png|700px]]

This diagram "should" be the same for AscTec as well as Mikrokopter motor controller based airframes.

=== Fixedwing, Spektrum Satellite Receivers and Elevons Only ===

[[File:LisaM_V2_0_wiring_fixedwing_spektrum_elevons.png|700px]]

=== Fixedwing, Spektrum Satellite Receivers ===

[[File:LisaM_V2_0_wiring_fixedwing_spektrum.png|700px]]

=== Transitioning [http://wiki.thequadshot.com Quadshot] Using Spektrum Receivers ===

[[File:LisaM_V2_0_wiring_quadshot_spektrum.png|700px]]

Still need: Large Fixed-wing with advanced power system and/or IC engine, PPM example

=== R/C Receivers ===
One can use traditional PPM receivers as wel as Spektrum DSM2 or compatible receivers for flying your aircraft in manual mode during setup and test phase. The Lisa M can direcly connect to a Spectrum DSM2 satellite receiver. It is even possible to connect two satellite receivers for better redundancy or RC reception. It is

==== Bind your Spectrum DSM receiver ====

It is important to bind your receiver with your transmitter '''via your Lisa board''', not in any other way. The way to do this is via fiddly small molex pins

Before you start make sure you have your airframe configuration already uploaded either via USB or a JTAG cable

* On the connector ANALOG1 have a wire between the GND pin ADC1, located in the middle of the board
* Power up your autopilot board
* Hold the bind button on your '''transmitter''', while '''keeping it pressed''' switch on your transmitter
* Wait.. all light of receiver blink then go steady
* Let go of your transmitter bind button
* Power off your Lisa Board
* remove the wire between GND and ADC1 pins
* Repower your board, if you have servos connected and wiggle the RC transmitter sticks some sould move

That all, you are done. Only needs to be done '''once''' for your receiver.

=== PPM sum stream input ===

The default pin to capture the PPM sum stream is servo channel 6, but this can be reconfigured to the RX of UART1. To use ppm for your radio, put this in your airframe file in your ap target.

<subsystem name="radio_control" type="ppm">

<configure name="RADIO_CONTROL_PPM_PIN" value="UART1_RX"/>

</subsystem>

=== Extra Input ===

Also UART pins can be used as general purpose I/O to be used for PPM input. By default connect your PPM out able receiver to servo pin 6. If you do not have or cannot create a PPM out able receiver, additionally a [[PPM_Encoder | PPM encoder board]] can be used to avoid receiver hardware modification.

=== Use USB as UART1TX + hardware flow control ===
[[File:Lisam-usb-uart1.jpg]]

The USB_VBUS on the Lisa/M 2.0 can be used as UART1 TX. To do this, a diode has to be removed. Make sure to include a series resistor of 100-3000 Ohm to protect the microcontroller from overcurrents. The 2nd and 3th pin of the USB pads are CTS and RTS respactively. It is recommended to include a series resistor in the RTS line, as this is an outgoing line.

If you want to enable flow control in the software, but don't want to use flow control when no cable is connected to the CTS/RTS, a pulldown resistor of 10 kOhm has to be added between the CTS and the GND. If you do this, take care when connecting UART devices that have a large series resistor in their RTS line. The combination of the pulldown resistor and the series resistor might cause the high-level voltage to drop under the high-level treshold of the microcontroller, causing strange behaviour.

For Example the RTS , mostly a purple wire, is the '''pin 10''' on the Xtend module when set in the module with Hardware flow control (use X-CTU)
CTS, most blue, on pin 9 of the Xtend

<gallery widths=380px heights=205px>
Image:Lisam-diode.JPG | Remove this diode. After removing this diode you can not power the board via USB anymore.
Image:Lisam-gpio-usb.JPG | Take care of the small distance between the GPIO pins and the USB pads.
</gallery>

== PCB ==

=== Gerber & Drill Files ===

'''''Download Lisa/M v2.0 gerber & drill files (zip)''''' ''NOT YET AVAILABLE BUT SEE [[Lisa/M#Downloads|Downloads]]''
Need some generated gerbers and drill files here.

== Assembly ==

===Components Layout===

''NOT YET AVAILABLE BUT SEE [[Lisa/M#Downloads|Downloads]]''
Need some top and bottom of board images and line drawings here.

=== Bill Of Material ===

'''''Download Lisa/M v2.0 Bill Of Material (zipped .xls file)''''' ''NOT YET AVAILABLE BUT SEE [[Lisa/M#Downloads|Downloads]]''
 
 

== PCB and assembled boards suppliers ==

Available on [[Get_Hardware|Get Hardware]] page, hopefully :)

== Mechanical Dimensions ==

[[Image:LisaM_V2_0_top_mechanical.png|500px|Lisa/M v2.0 Mechanical Dimensions]]

The overall height of the board including the servo connectors is 10mm. Note that the overall length includes the USB connector. The mounting holes are nominal 2mm diameter (with a bit of clearance).

== Downloads ==

'''Source files'''
:*download available on GitHub: ''[https://github.com/paparazzi/paparazzi-hardware/tree/master/controller/lisa_m/v2.0 Lisa/M v2.0 Cadsoft Eagle 6 Design]''
'''Gerber & Drill files'''
:*download ''NOT YET AVAILABLE'' Need generated gerbers and drill files
'''Assembly files'''
:*download ''NOT YET AVAILABLE'' Need Lisa/M v2.0 Components layouts (pdf)
:*download ''NOT YET AVAILABLE'' Need Lisa/M v2.0 Bill Of Material

== Uploading new software ==

New onboard software for the Lisa/M v2.0 can uploaded by connecting your PC via a micro-USB port to the autopilot board. For this the board need to contain a "luftboot" bootloader. All Lisa/M 2.0 from Transition Robotics Inc. come with luftboot already in the board.

An alternative to get your software/flightplane in the board is by using a JTAG connector connected via the 10-pin Samtec connector that is available on the board.

=== Using luftboot ===

First make sure you '''update to the latest stable Paparazzi version''', then you will have support for this bootloader method. By default use the associated DFU loader to program the firmware. Make sure that your airframe file is set to use Lisa/M 2.0 as it's target board.

Currently Paparazzi firmware does not contain the needed software to switch into bootloader mode using software only by USB. To circumvent this shortcoming, you need a small cable to force the bootloader to run. This cable should bridge pin GND and ADC2. Make sure you do not shortcircuit your board.

Once your "Boot mode connector" is inserted, connect the Lisa/M to the PC via a micro-usb cable and it should start in bootloader mode. If the status LEDs cycle up and down, it is in booatloader mode, ready to receive your new flightplan and autopilot control software upgdate.

Note that all of this won't be necessary in the future once a working USB stack stub is added to the latest Paparazzi.

[[File:Luftboot.gif|320px]]

You should disconnect the "Boot mode connector" after enforcing the bootloader. Pressing upload in the Paparazzi Center should now upload new code onto the board.

In the rare case you somehow have removed the luftboot bootloader, you can re-insert this Boatloader by following the instructions of ''Uploading the Paparazzi USB Bootloader''

=== Uploading the Paparazzi USB Bootloader ===

Reading or performing these steps is not needed if you got your Lisa/M 2.0 from Transition Robotics Inc., these boards come with luftboot already preloaded. But in the case you made a board yourself or somehow do not have a preloaded bootloader, or it is gone because of unknown cause, then read this section. It describes the process on how to upload/recover the luftboot bootloader on your Lisa/M 2.0.

[https://github.com/paparazzi/luftboot Luftboot] is a Paparazzi-compatible bootloader for STM32-based autopilots.
Depending on your vendor, your Lisa/M may already come with a bootloader, in which case you should skip to [[Lisa/M#Uploading new software]]

==== Required components ====

*Floss-JTAG debugger or Blacksphere mini JTAG
*Lisa/M board
*PC

==== Procedure ====
<ol>
<li>
Get the [https://github.com/paparazzi/luftboot Luftboot sourcecode from Github] via
<source lang=bash>git clone https://github.com/paparazzi/luftboot.git</source>
</li>
<li>
Change directory into the luftboot/src folder
<source lang=bash>cd ./luftboot/src</source>
</li>
<li>
Build luftboot
<source lang=bash>make clean && make</source>
</li>
<li>
Flash the Lisa/M
Attach the floss-jtag unit to the PC and connect it to the Lisa/M via the black connector.
Power the Lisa/M (easiest way is to connect to the PC via a micro-USB cable).
<source lang=bash>make flash DEV_SERIAL="LM2-ser"</source>
where "ser" stands for the serial number of your Lisa/M. So for example if you have lisa/m with the serial number 020 this would be:
<source lang=bash>make clean && make flash DEV_SERIAL="LM2-020"</source>
</li>
</ol>

==== Connection Diagram ====

==== Boot Sequence ====

* Luftboot
** Check if ADC2 is configured as output pull down indicating software bootloader request
*** '''If ADC2 output pull down:''' initialize usb and stay in bootloader mode
** Setting the ADC2 pin to input pull up
** Checking if the ADC2 pin is low
*** '''If ADC2 low:''' initialize USB and stay in bootloader mode
*** '''If ADC2 high:''' check if there is a payload at 0x8002000
**** '''If payload detected:''' set vector table pointer to be at 0x8002000 and jump to the reset handler of the payload
**** '''If payload not detected:''' initialize USB and stay in bootloader mode

==== Luftboot USB permissions ====

[[Installation/Linux#Udev_rules|Copy the udev-rules file]] is needed for the upload software to get permission to use this hardware in your PC for uploading.
For short: the Python program "stm32_mem.py" needs permission to write to the the Luftboot USB device. If you do not have set this rules already you get an error message, which explanation what is wrong is quite obscure due to the way python-libusb accesses the device.

=== Using JTAG ===
If you are using the Lisa/M 2.0 target board you still can use JTAG for programming and debugging your paparazzi firmware. To use JTAG flashing configure the ''FLASH_MODE'' in your firmware section:
:<source lang="xml"><configure name="FLASH_MODE" value="JTAG"/></source>
Using JTAG will not overwrite the bootloader by default. To overwrite the luftboot bootloader configure
:<source lang="xml"><configure name="NO_LUFTBOOT" value="1"/></source>

* [[JTAG]] description;
* General [[Dev/Debugging|debugging information]];
* [[DevGuide/JTAG-Debug|JTAG usage]], includes Eclipse uplink tutorial.

==== Quick JTAG Upload Guide ====
# Connect floss-jtag to Lisa via the cortex cable (little black socket)
# Attach the UART port on the bottom of the floss-jtag to UART2 on the Lisa.
# Plug in USB port of the floss jtag
# Plug in USB port of the Lisa
# Make sure your airframe uses the <target name="ap" board="lisa_m_2.0"> definition
# Click Build, wait until complete, then click Upload. You should see the following towards the end:
{{{
...
Info : device id = 0x10016418
Info : flash size = 256kbytes
stm32x mass erase complete
Info : Padding image section 1 with 7972 bytes
wrote 152576 bytes from file src/paparazzi/var/Hexa_LisaL/ap/ap.elf in 7.498179s (19.871 KiB/s)
Info : JTAG tap: stm32.cpu tap/device found: 0x3ba00477 (mfg: 0x23b, part: 0xba00, ver: 0x3)
Info : JTAG tap: stm32.bs tap/device found: 0x06418041 (mfg: 0x020, part: 0x6418, ver: 0x0)
shutdown command invoked
}}}
# Run Flight USB-serial at the baud rate you need (default 57600 for rotorcraft)
# You may need to change the device to /dev/ttyUSB1, and 'Redo' the Data Link

=== Serial Firmware Upload ===

Firmware upload using the factory integrated bootloader can be useful e.g. if you have overwritten Luftboot accidentally and don´t have access to JTAG.

Due to hardware constraints, the board has to be modified to make use of the bootloader, which is only accessible on UART1:
# Diode D3 has to be removed (the bigger black brick next to the USB connector). Attention, no more powering via USB after that.
# BOOT1 has to be set to GND by connecting ACC_DRDY(unused) to GND at the Aspirin pads

Now a boot sequence works as follows:
#BOOT1 has to be set to 3.3V by use of a jumper cable
#Connect a 3,3V serial cable (FTDI, MAX232...) to UART1, the TX pin is USB_VBUS
#Power the board and activate the bootloader program

The according bootloader script can be found at :
[https://github.com/jsnyder/stm32loader stm32loader from Github]
<source lang=bash>git clone https://github.com/jsnyder/stm32loader.git</source>

To reload Luftboot, upload luftboot.bin

Serial upload can also be used directly from paparazzi Center by adapting the right path in [https://github.com/paparazzi/paparazzi/blob/dev/conf/Makefile.stm32 Makefile.stm32] for the LOADER argument and setting

<define name="FLASH_MODE" value="SERIAL"/>

in the target section of the airframe configuration.

== Detailed Hardware Revision History ==

=== Changes Between LISA v1.1 and v2.0 ===

* Lots of silkscreen improvements
* Added attributes to all parts to make the usage of bom-ex ulp possible.
* Improved routing to allow teardropping
* Fixed stm32f1, f2 and f4 compatibility circuit. (has to jump to ground not to 3v3)
* Connected existing UART RX pullups to the respective connector power pins instead of 3v3. To prevent connecting 5V over IO pin to the 3v3 power rail.
* Added pullups on all UART RX lines to prevent undesired floatation.
* LED's are connected to 3v3 now. To make sure we don't have an issue with voltage tolerance on the gpio pins.
* ...

== Hardware Change Requests ==

If you have a Lisa/M 2.0 and in the process of using it you come up with something you find annoying, dangerous, or restricting, add your hardware update requests here. Better still, modify the Lisa schematics yourself and show your new improvements if you are skilled enough to do this.

* REQ: Replace BMP085 with MS5611 (the MS5611 seems to be better in performance then the BMP but it is more expensive and seems to be more difficult to obtain.
** A: Using a MS5611 is possible through using a Aspirin v2.1 board

* REQ: Replace 7 Pin CAN with molex with something less risky to be inserted in 7 Pin SPI in relation to powering the board via CAN molex.

* REQ: Separate spot for external power if powered via separate battery. Realizing we can via Servo ports by Bridge J1 but still like to measure board voltage then and have a way to add power without mistakenly insert I2CCAN Molex conector into SPI Molex on board connector. Thus a separate CAN and Power plug. Power on regular four pin molex with GND, V+5, , V_BATT, V_I (Current sense). Option to have thicker wire to be soldered to the board, for power hungry setups and other issues connectors for power are not a good idea.

* REQ: Replace Aspirin IMU board with InvenSense MPU-9150 and bring the MS5611 back onto the Lisa/M board to reduce footprint, mass, and manufacturing cost once the 9150 becomes readily available(if at al with SPI) and is tested to perform well.
[[Category:Lisa]] [[Category:User_Documentation]]

RC Receivers and Radios

2012-10-03T23:18:17Z

Gtoonstra: /* ImmersionRC EzUHF */

== 2.4GHz Systems==
If using a Lisa/M or Lisa/L autopilot board the whole range of Specktrum/JR transmitters can be used with 1 or 2 Spektrum/JR/Hobbyking satellite receivers. For other autopilot boards to use a 2.4 GHz system a few requirements are necessary
# Must use [[PPM_Encoder | PPM Encoder]] board. (See [[Get_Hardware|Get Hardware]] page for suppliers) (Except for the Futaba FASST 7 channel receiver R617FS that has a 5 (not 7) channels combined pulse)
# Needs a three position switch
# Ability to set failsafe to any or at least 1 channel (pprz-mode) as desired
# At least one extra channel beyond those needed to control the servos and motor. (throttle-roll-pitch-mode)
=== Radios ===

====Futaba FASST 7-channel receiver====

[[Image:rs617fasst.jpg|thumb|right]]

* Pin 8 (upper right corner in picture) of the small IC on the right contains 5 PPM pulses and can go directly to paparazzi. Pulse 6 and 7 go directly to the servos.
* Best is to remove the resistors of one of the channels and connect a small wire to pin 8 to get the combined 5 pulses on the robust 1/10th inch header.
* Do not forget to use channel 3 (only failsafe channel) as mode switch with fail safe "throttle off" as mode 2.

====Robbe RASST 7 & 8 channed receivers ====
Robbe has produced line of Futaba FASST compatible receivers that can output only PPM which results ablility to plug into autopilot without encoder.
* [http://www.robbe.de/empfaenger-r-6007-sp-2-4-g-rasst.html R6007SP 2,4 GHz RASST] - 7 channel, for small aircraft
* [http://www.robbe.de/empf-r6107sp-2-4-ghz-rasst.html R6107SP 2,4 GHz RASST] - 7 channel, >1000m range
* [http://www.robbe.de/empf-r6008sp-2-4-ghz-rasst.html R6008SP 2,4 GHz RASST] - 8 channel, upto 3000m range

====Spektrum DX-7====
[[Image:DX7.jpg|thumb|left]]
*7 Channels
* 20-Model memory
* Airplane and Heli software
* Switch assignment
* P-mixes
* Includes 4 powerful DS821 digital servos with high-tech resin gears
* 3-axis dual rate & expo
* 3-position flap (Airplane)
* 5-point throttle curve (Heli)
* 3 flight modes plus hold (Heli)
* Gyro programming (Heli)
* CCPM, 2-servo 90°, 3-servo 90°, & 3-servo 120°
* Price $320-$350
 
===== Switch Assignment =====
To assign the three position switch to any other channel but channel 7 follow these steps:
# Set up aux2(refers to aux2 on rx not the switch on the tx. aka ch7) with its input selected as 3 pos switch.
# Set up this mix - Gear to Gear (Up=-100, Down=-100, Offset =0). This inhibits the gear switch.
# Set up another mix - Aux2 to Gear (Up=100, Down=100, Offset = 0).
Notes:
#Gear on a DX-7 Air is Channel 5 and AUX2 is CH7. Once again i am referring to the inputs which are labeled on the RX not what the switches are named on the TX. If your using a DX-7 heli please substitute the names for what the rx channels are named into this guide
# DX7 Heli the 3-pos switch is named "flight mode"
# DX7 Air the 3-pos switch is named "flaps"

===== Failsafe Setup =====
To set up the mode channel (3 pos switch) to default to auto2 if connection is lost between rx and tx follow these steps:
# Put 3 position Switch into AUTO2 Position
# Put in bind plug
# Power up
# REMOVE the bind plug
# Power up Tx while pushing bind button
# Wait until light becomes steady and not blinking (it may become steady right off but will then start blinking again so let it go at least 5 seconds)

===Receivers===
====Jeti Duplex 2.4 GHz Receiver Rsat 2====
[[Image:Jeti_Duplex_Rsat2.jpg|thumb|left|Jeti RSat 2]]
* Outputs PPM, no soldering or PPM board required
* Only 12 gramms
* Full duplex technology provides safe radio link and redundant telemetry to standard paparazzi telemetry.
* [http://www.jetimodel.cz/index.php?page=products&old=0&category=4 Transmitter module] can be installed in any receiver.
See the official [http://www.jetimodel.cz/index.php?page=product&id=165 Homepage of Jeti] or the [http://www.mikrokopter.de/ucwiki/JetiDuplex MikroKopter Wiki].
 
====Spektrum 2.4Ghz Satellite Receiver - Lisa/L implementation====
[[Image:Lisa l hex 1.jpg|thumb|right|Connection View]]
[[Image:SPM9545-250.jpg|thumb|left|Remote Receiver [SPM9545]]]
* [http://www.spektrumrc.com/Products/Default.aspx?ProdID=SPM9545 Specifications]
* Lisa/L Radio_Control_Spektrum_Primary_Port = Uart 3
* Lisa/L Radio_Control_Spektrum_Secondary_Port = Uart 5
* arch files:~/paparazzi/sw/airborne/arch/stm32/subsystems/radio_control/spektrum-arch.h and .c
* Additional hardware -
[http://parts.digikey.com/1/parts/355490-conn-housing-5pos-1-25mm-51021-0500.html Molex CONN HOUSING 5POS 1.25MM - 51021-0500],

[http://parts.digikey.com/1/parts/355493-conn-housing-8pos-1-25mm-51021-0800.html Molex CONN HOUSING 8POS 1.25MM - 51021-0800],

[http://uk.rs-online.com/web/search/searchBrowseAction.html?method=getProduct&R=2799544 Molex Socket to free end crimped lead,300mm L],

[http://parts.digikey.com/1/parts/270897-conn-term-female-26-28awg-tin-50079-8000.html Molex CONN TERM FEMALE 26-28AWG TIN],

[http://parts.digikey.com/1/parts/1806245-hand-tool-26-32awg-crimp-638190300.html Molex HAND TOOL 26-32AWG CRIMP]
* Transmitter options - Spektrum DX6, DX7(see above), DX8, bind compatible JR units up to 12 channels and those bearing the Specktrum DM9 module - note these transmitters must be channel order compatible with Spektrum's protocol (in fact all transmitters that use Spektrum protocol have the same channel ordering regardless which stays consistent across different modes (ie throttle on left / right etc))) - [http://code.google.com/p/er9x/ here is an example]

=====Installation=====
# Cut off original receiver connector and crimp molex connector terminals to the three wires.
# Insert terminals into appropriate positions-[http://paparazzi.enac.fr/wiki_images/LisaL_v1_0_schematic_3.png CON_USART3]-of the 5 way connector - black to pos1 = GND, orange to pos3 = +3v3, grey to pos5 = STM_USART3_RX.

=====Bind plug=====
# Take the 8 way molex connecter and create a loop between pos1 = GND and pos4 = XXX_STM_SPARE_2. This plug is placed in the-[http://paparazzi.enac.fr/wiki_images/LisaL_v1_0_schematic_3.png CON_SPARE]-receptacle housing before power-up to enable the receiver binding state.

=====Configuration=====
* Set the spektrum radio parameters for Lisa/M or Lisa/L ap in ~/paparazzi/conf/airframes.xml file. Check 'esden' directory as a possible rotorcraft example. Refer to ~/paparazzi/sw/airborne/arch/stm32/subsystems/radio_control/spektrum-arch.h and .c for other options. Be sure to set actuators, rotor configuration/mixes and channel reversal parameters that are appropriate for the rotorcraft/aircraft (note "lisa_l_1.0" can also be "lisa_m_1.5" or "lisa_m_2.0"):

<firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.0">

<subsystem name="radio_control" type="spektrum"/>
<subsystem name="actuators" type="mkk"/>
<subsystem name="telemetry" type="transparent"/>
<define name="RADIO_MODE" value="RADIO_AUX1"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
</target>

<target name="stm_passthrough" board="lisa_l_1.0">
<subsystem name="radio_control" type="spektrum"/>
<subsystem name="imu" type="b2_v1.2"/>
</target>
*Create a new transmitter 'airplane' model. Do not introduce any mixes or change the endpoints, subtrims etc. Note that a radio.xml file is not required for this implementation, unlike analogue RC directed autopilots.
*Upload ap software in the usual way.
*Unplug the aircraft battery. Turn transmitter off. Insert the bind plug (see above) in the 8 way CON_SPARE receptacle. Power up the aircraft - specktrum receiver LED should be flashing in readiness to bind. Press and hold bind button on transmitter while turning on. Receiver LED should stop flashing after a few moments to confirm it is bound. Turn everything off in preparation to start in the normal way. Note that the transmitter should now be turned on first to enable the spektrum receiver to acknowledge it.
*Should be ready to fly.
*Adding a second spektrum satellite receiver requires different wiring dependent on the Lisa board version. As the pinouts to uart5 differ between Lisa-L v1.0 and v1.1. Seek advice from the [http://lists.gnu.org/archive/html/paparazzi-devel/2011-01/index.html paparazzi mailing list] prior to making this addition.

To enable the use of the secondary satellite receiver you have to add two lines to your firmware section in the airframe file:

<define name="RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT" value="UART5"/>
<define name="OVERRIDE_UART5_IRQ_HANDLER"/>

== PCM Systems ==

Most of the known PCM transmitter also can be set to PPM mode. If this is set, then the regular description for PPM applies since the PCM receiver like a JR/Gaupner SMC16 Scan can output PPM perfectly.

If PPM out is not setable on your transmitter then the following applies:

# Must use ppm encoder board. (See [[Get_Hardware|Get Hardware]] page for suppliers)
# Needs a three position switch
# Ability to set failsafe to any channel as desired
# At least one extra channel beyond those needed to control the servos and motor.

== PPM Based Systems ==
=== Configuration ===
The [[Radio_Control]] page describes how to set up the radio.xml config file.

=== Requirements ===
To use a 26/27/35/40/41/72/ MHz **(uses PPM) system a few requirements are necessary
# Need a Transmitter with a three position switch
# At least one extra channel beyond those needed to control the servos and motor.
# A modified receiver which outputs a full ppm signal.

===Adding a 3 position switch===
===== Futaba T6EXAP =====
For this particular transmitter, the Potentiometer on channel 6 can be replaced with a 3 position switch. Channel 5 appears not to be connected to an ADC converter; therefore it will not support a 3 position switch.
#Disconnect the potentiometer being careful not to shorten the wires
#Solder the switch and resistors onto the wires using the wiring diagram as a reference. (Any two equal value resistors should work). I used 10k resistors.
[[Image:SwitchWiringDiagram.JPG|thumb|left|Switch wiring diagram]]
[[Image:3positionswitch.JPG|thumb|left|Switch installed in transmitter]]
 
Suitable 3 position switches: 
RS Components: [http://australia.rs-online.com/web/search/searchBrowseAction.html?method=getProduct&R=344-710 344-710] 
Mouser: [http://au.mouser.com/Search/Refine.aspx?Keyword=633-M202402-RO 633-M202402-RO]

=== R/C Receiver Interface===
All versions of the Paparazzi autopilot include a connector to interface with a standard R/C receiver for manual or semi-autonomous control during the testing and tuning phases. Two interface options exist:
# Tap into the PPM signal running between the RF section and the servo driver of your receiver and route it to the Paparazzi. Let the Paparazzi generate individual servo signals and connect all servos directly to the autopilot. This method requires only 3 wires to the receiver (power and PPM), is compatible with all Paparazzi autopilots, and provides 8 manual R/C channels and the potential for more autonomous channels regardless of the capability of the R/C receiver.
# Cut the PPM trace and route it thru the autopilot and back to the receiver, using the servo driver IC on your R/C receiver to drive the servos. This option requires 4 wires (Ground, PPM-in, PPM-out, Reset) and your receiver must have a supported servo driver IC. This allows you to use the large servo connectors on your R/C receiver and does not require any modification to your servos or ESC but does require you to cut a trace on your R/C receiver and limits the number of servos to the capacity of your receiver. Compatible with Classix and Tiny 1.1.
# Note that on the Classix the PPM_in pin is FOO2...
[[Image:RC_Receiver_Timing_Diagram.jpg|thumb|left|PPM Timing DiagramNote 1: Exact value not critical. Depending on RC Transmitter type & Manufacturer. Note 2: Depending on Transmitter number of Channels and t,,n,, durations. Note 3: Not critical. Depending on Synchro detection method.]]
[[Image:RC_Receiver_Tiny.jpg|thumb|left|3-Wire setup, driving servos from the autopilot]]
[[Image:RC_Receiver_classix.jpg|thumb|left|4-Wire setup, driving servos from the R/C receiver]]
 

=== Common demux chips ===

Typical used chips are the cmos [http://www.doctronics.co.uk/4015.htm 4015] and [http://www.doctronics.co.uk/4017.htm 4017].

The 4015 uses either pin 1 or pin 9 for the clock and the input is on 7 and 15. The 4017 has just one shift register and has its clock input on pin 14 and the enable on pint 13.

In most receivers you are after the clock; though some may be pulsed; in which case you need the enable. Note that the 4017 enable has inverted logic (low to be enabled) whereas the input on the 4015 can be either (typically high). If the enable pin is held low (4017) or if the input pin (4015) is held high always;e.g. connected to the ground or the Vcc - then it is fair to assume that the PPM signal is most propably on the clock input.

=== Recommended 35/40Mhz R/C Receivers ===

Note that there is information on modifying other receiver models at [http://mikrokopter.de/ucwiki/RC-Empf%C3%A4nger mikrokopter.de]. It's in German however the pictures contain most of the information or use google translate.
Shielded wire is recommended for receiver and autopilot connection, as unshielded one may cause noise in receiver.

=====Futaba FP-R116FB 6 Channel FM 35MHz receiver=====
[[Image:Rc_fut_web.jpg|thumb|left|Wiring of a Futaba R136]]
*Orange wire is connected to PPM signal
*Red wire is connected to VCC
*Brown wire is connected to GND
 

=====Futaba R136F 6 Channel FM receiver=====
[[Image:rx_futaba136.jpg|thumb|left|Wiring of a Futaba R136]]
*41 MHz
*White wire is connected to PPM signal
 
=====Futaba R168DF 8 Channel dual FM receiver=====
[[Image:rx_futaba168df.jpg|thumb|left|Wiring of a Futaba R168DF]]
*35 MHz
*PPM wire is connected to 862 receiver pin on the board. VCC and GND is on the 8/B original position.
 

=====ACT Micro-6 FM receiver=====
[[Image:rx_act_micro-6.jpg|thumb|left|Wiring of a ACT Micro-6]]
*Available in 35 or 40 MHz versions
*White wire is connected to PPM signal
*[http://www.acteurope.com/Micro_6anl.pdf Datasheet (German)]
 

=====ACT DSL-4top [http://www.mikrokopter.de/ucwiki/DSL4top mikrokopter.de] version=====
[[Image:DSL4top.jpg|thumb|left|DSL-4top mikrokopter.de version]]
* Special version for mikrokopter.de - Only available in their [https://www.mikrocontroller.com/index.php?main_page=product_info&products_id=215&zenid=8ce8bab70f3e9d684e01f724316d9690 shop]!
* '''Outputs PPM directly''' on the channel 1 connector!
* No soldering necessary
* ACT Lifetime warranty
* Sells for ~45 euro
 

=====Futaba R115F 5 Channel FM receiver=====
[[Image:pprz_rx115.jpg|thumb|left|Wiring of a Futaba R115]]
*Available in 35 and 40 MHz versions
*White wire is connected to PPM signal
 
=====JETI REX 5 plus (no MPD) receiver=====
[[Image:520_Jeti_5_plus.jpg|thumb|left|Wiring of a REX 5]]

*Popular Czech made micro r/c receiver, available in 35 or 40 MHz versions
*´folded´ PCB design with parts inside, mostly inaccessable
*Small grey wire is connected to via with PPM signal
*Unusual connector used for testing, soldering recommended
*shielded wire recommended, this one taken from PC parts recycling (former soundcard to m/b connector cable)
*[http://www.jetimodel.cz/eng/navody_en/rex5_eng.pdf Datasheet (English)]
 
[[Image:DSC02414.JPG|thumb|left|other Layout of REX 5]]
 

=====Receiver RX-7-SYNTH IPD receiver [http://www.multiplex-rc.de/hp/produkte/artikel_detail.jsp?lfdnr=55880&action=add2notice&qty=1&cachenepper=1227896925116 Multiplex-rc.de]=====
[[Image:RX-7-SYNTH_IPD.jpg|thumb|left|Wiring of RX-7-SYNTH IPD]]

*Available in 35, 36 and 40 MHz versions
*A compact, high-quality 7-channel single-conversion FM / PPM IPD receiver
*Easy modification through connectors, see pictures
 

==== Protech 5FM 35 mHz Receiver ====

The low cost Protech '5FM' receiver makes use of an SMD version of the standard 74AHC164[http://www.ic-on-line.cn/IOL/datasheet/74ahct164_18057.pdf] 8 bit shift register; you are after PIN 1 of this chip. The circuit board has a testpad for just this pin at the top side of the circuit board.

<gallery>
Image:protech-5fm.jpg|Figure 1. Protech 5FM 35 mHZ Receiver, mark 2
Image:protech-5fm-pad.jpg|Figure 2. PPM tap location for the Protech 5FM receiver, near the 74AHC164 shift register
Image:protech-5fm-scope.jpg|Figure 3. Protech 5FM PPM signal - not very clean/digital
</gallery>

Two physical versions exist; the older one [http://www.protech.be/Manuals/PRO205manual%20web.pdf] and a newer one pictured (fig 1). It has been distributed by protech with various ready-to-fly planes; such as the Skyraider[http://www.modelbouwforum.nl/forums/beginners/50677-protech-skyraider.html].

The solder/testpad you are after the one right next the 74x164 chip its pin 1. In this image it has a jellow wire soldered to it (the yellow wire at the top left is the normal antenna connector (fig 2). Note however that the signal is not very clean (1v/div) - which may cause issues - as shown in the above image (fig 3).

This is further compunded by the relatively noisy electrical engines; which are not brushless. A ferrite coil does not seem to help enough - Papparazi and GPS loose sync often through Xbee. Replacing the engine by a brushless outrunnen resolve the issue completely.

==== Profi Penta 35 MHz ====
[[Image:DSC00547.JPG]]
[[Image:DSC00545.JPG]]

=== Recommended 72Mhz R/C Receivers ===
====Castle Creations [http://www.castlecreations.com/products/berg_ms4l.html Berg 4L]====
[[Image:berg4L.jpg|thumb|Wiring of a Berg 4L]]
* Expect fantastic performance from these $40 USD parts but be warned that they are known to have unreliable crystal sockets and brittle antenna wire. The ''Berg 7'' channel receiver should work equally well and is known to have a better crystal socket - note that either receiver will provide '''8 channels''' in manual R/C mode when used with Paparazzi. Note: the rugged ''Berg 4'' cannot be modified, only the ''Berg 4L'' and ''Berg 7''.
To Modify a Berg4L, follow these instructions:
# Remove the shrink wrap. Use a good knife and be careful to not damage any of the components on the receiver. I would recommend that you cut on the sides (edge of the PCB) to be sure to avoid damaging the shielding
# Desolder the headers. We will not use them with tiny AP as the servos are connected directly to the AP. This is pretty easy to do when you have a hot air rework station. If you don't have one, your best bet is to cut the header off and remove the left over pins one by one with a regular iron. There is a piece of shielding material that is connected to one of the ground pins of the header. You need to remove it carefully from the header without damaging it and re-solder it to the gnd pad.
# You need to solder 3 wires to the receiver. Gnd, +5V and PPM. To locate the PPM signal, first locate the PIC micro controller close to the location of the headers. The PPM signal is on the corner pin closest to the corner of the receiver. Soldering a 28guage wire directly to the PIN isn't very difficult. For the power connection, use the pads that were used for the header. The outside pin is Gnd, the second pin is +5V. What I did is solder the wires on the pad going straight down, then I looped the 3 wires 360 degrees and glued them to the PCB with hot glue. This provides good strain relief.
# While you have the PCB in your hands, take the opportunity to remove the crystal connector and solder your crystal directly to the PCB for added reliability.
# I also used some hot glue to add more strain relief to the antenna
# Use some large shrink wrap to cover the entire receiver again
=====Hitec Electron 6 72MHz Reciever=====
This was written for MNAV from crossbow but is still usable with PPRZ.
 
[[Image:Electron6mod.jpg]]

=====Corona Synthesized Dual-Conv Receiver 8Ch=====
[http://www.corona-rc.com/coproductshowE.asp?ArticleID=63 manual] 

This receiver is available in 27,35,36,40,72 mhz and a Synthesized receiver, meaning you do not need to change frequency crystals.

How to modify for combined signal

# Cut the 8th channel PWM output pin near the PCB.
# Connected a pin from the Atmel (see picture) to the 8th channel PWM signal. (optionally, weaving the wire through some holes on the board.) Make sure you have a fine tip on your soldering iron and a magnifying glass strapped to your head!
# Glue the wire down (CA works)
# Be sure to glue the pin that you cut in place (previously, being soldered to the board was holding the pin in place)

It is maybe possible to reprogram the atmel with your own firmware. If you succeed in this plz add relevant info here.

That pin provides a 1V to 2V signal, it works with the PPRZ, although its a bit gittery (the slew rate is not real good).
[[Image:Corona_Synthesized_Receiver_72Mhz_bottom.jpg|thumb]]
[[Image:Corona_Synthesized_Receiver_72Mhz_top.jpg|thumb]]
[[Image:Corona_Synthesized_Receiver_72Mhz_top_atmel.jpg]]

 

==433MHz UHF Systems==

Note that in most countries an amateur radio license is required to use 433MHz UHF.

===Scherrer UHF===

[[Image:ScherrerUHF.jpg|thumb|left|Scherrer UHF Rx]]

The [http://www.webx.dk/rc/uhf-link3/uhf-link3.htm Scherrer UHF] is a high quality diversity radio control system. It has a PPM output and can be connected directely to Paparazzi. A ppm encoder board is not required. It has an RSSI output.

 

===ImmersionRC EzUHF===

[[Image:EzUHFTx.jpg|thumb|left|ImmersionRC Tx]]

The [http://www.immersionrc.com/products.htm ImmersionRC EzUHF] is a high quality diversity radio control system. The recent firmwares have a PPM output on Ch. 1, but this needs to be activated through the PC configuration software with the proper firmware loaded. It connects directly to EzOSD and the TrackR2 which enables RSSI monitoring and head tracking for FPV.

Some people had issues with the exact timing, where the ROLL channel disappeared. If the radio has more than 6 channels, there may be methods to slave another channel to the roll channel (usually for the operation of dual ailerons). The ezuhf configuration file is using this method, where channel 1 is copied to channel 6. The EzUHF modules receive the PPM output stream from the radio and need to interpret it. For this reason, the ezuhf configuration file should be verified for proper functioning and you may find that channels are remapped to others with different purposes.

Search "sander style" antennas for a way to build your own cheap, high-quality antennas for these rx modules and which provide a range well beyond the horizon.

See [http://www.immersionrc.com/EzUHF.htm EzUHF manual+firmware] for more information.

 

== Flight mode switch ==

A important requirement is a three way flight mode switch to choose between the flight modes MANUAL, AUTO1 and AUTO2.

Cheap entry level radios often don't have this. As a workaround two two-position switches can be used.

The switch designated to RADIO_MODE will switch between MANUAL and AUTO
And a second switch designated to RADIO_AUTO_MODE one will select between the different AUTO MODES if the first switch is set to AUTO.
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<firmware name="fixedwing or rotorcraft">
<define name="RADIO_MODE" value="RADIO_AUX2"/>
<define name="RADIO_AUTO_MODE" value="RADIO_AUX1"/>
</firmware>
</source>
}}

This feature is available since v3.9.2.

[[Category:Hardware]] [[Category:User_Documentation]]

RC Receivers and Radios

2012-10-03T23:16:18Z

Gtoonstra:

== 2.4GHz Systems==
If using a Lisa/M or Lisa/L autopilot board the whole range of Specktrum/JR transmitters can be used with 1 or 2 Spektrum/JR/Hobbyking satellite receivers. For other autopilot boards to use a 2.4 GHz system a few requirements are necessary
# Must use [[PPM_Encoder | PPM Encoder]] board. (See [[Get_Hardware|Get Hardware]] page for suppliers) (Except for the Futaba FASST 7 channel receiver R617FS that has a 5 (not 7) channels combined pulse)
# Needs a three position switch
# Ability to set failsafe to any or at least 1 channel (pprz-mode) as desired
# At least one extra channel beyond those needed to control the servos and motor. (throttle-roll-pitch-mode)
=== Radios ===

====Futaba FASST 7-channel receiver====

[[Image:rs617fasst.jpg|thumb|right]]

* Pin 8 (upper right corner in picture) of the small IC on the right contains 5 PPM pulses and can go directly to paparazzi. Pulse 6 and 7 go directly to the servos.
* Best is to remove the resistors of one of the channels and connect a small wire to pin 8 to get the combined 5 pulses on the robust 1/10th inch header.
* Do not forget to use channel 3 (only failsafe channel) as mode switch with fail safe "throttle off" as mode 2.

====Robbe RASST 7 & 8 channed receivers ====
Robbe has produced line of Futaba FASST compatible receivers that can output only PPM which results ablility to plug into autopilot without encoder.
* [http://www.robbe.de/empfaenger-r-6007-sp-2-4-g-rasst.html R6007SP 2,4 GHz RASST] - 7 channel, for small aircraft
* [http://www.robbe.de/empf-r6107sp-2-4-ghz-rasst.html R6107SP 2,4 GHz RASST] - 7 channel, >1000m range
* [http://www.robbe.de/empf-r6008sp-2-4-ghz-rasst.html R6008SP 2,4 GHz RASST] - 8 channel, upto 3000m range

====Spektrum DX-7====
[[Image:DX7.jpg|thumb|left]]
*7 Channels
* 20-Model memory
* Airplane and Heli software
* Switch assignment
* P-mixes
* Includes 4 powerful DS821 digital servos with high-tech resin gears
* 3-axis dual rate & expo
* 3-position flap (Airplane)
* 5-point throttle curve (Heli)
* 3 flight modes plus hold (Heli)
* Gyro programming (Heli)
* CCPM, 2-servo 90°, 3-servo 90°, & 3-servo 120°
* Price $320-$350
 
===== Switch Assignment =====
To assign the three position switch to any other channel but channel 7 follow these steps:
# Set up aux2(refers to aux2 on rx not the switch on the tx. aka ch7) with its input selected as 3 pos switch.
# Set up this mix - Gear to Gear (Up=-100, Down=-100, Offset =0). This inhibits the gear switch.
# Set up another mix - Aux2 to Gear (Up=100, Down=100, Offset = 0).
Notes:
#Gear on a DX-7 Air is Channel 5 and AUX2 is CH7. Once again i am referring to the inputs which are labeled on the RX not what the switches are named on the TX. If your using a DX-7 heli please substitute the names for what the rx channels are named into this guide
# DX7 Heli the 3-pos switch is named "flight mode"
# DX7 Air the 3-pos switch is named "flaps"

===== Failsafe Setup =====
To set up the mode channel (3 pos switch) to default to auto2 if connection is lost between rx and tx follow these steps:
# Put 3 position Switch into AUTO2 Position
# Put in bind plug
# Power up
# REMOVE the bind plug
# Power up Tx while pushing bind button
# Wait until light becomes steady and not blinking (it may become steady right off but will then start blinking again so let it go at least 5 seconds)

===Receivers===
====Jeti Duplex 2.4 GHz Receiver Rsat 2====
[[Image:Jeti_Duplex_Rsat2.jpg|thumb|left|Jeti RSat 2]]
* Outputs PPM, no soldering or PPM board required
* Only 12 gramms
* Full duplex technology provides safe radio link and redundant telemetry to standard paparazzi telemetry.
* [http://www.jetimodel.cz/index.php?page=products&old=0&category=4 Transmitter module] can be installed in any receiver.
See the official [http://www.jetimodel.cz/index.php?page=product&id=165 Homepage of Jeti] or the [http://www.mikrokopter.de/ucwiki/JetiDuplex MikroKopter Wiki].
 
====Spektrum 2.4Ghz Satellite Receiver - Lisa/L implementation====
[[Image:Lisa l hex 1.jpg|thumb|right|Connection View]]
[[Image:SPM9545-250.jpg|thumb|left|Remote Receiver [SPM9545]]]
* [http://www.spektrumrc.com/Products/Default.aspx?ProdID=SPM9545 Specifications]
* Lisa/L Radio_Control_Spektrum_Primary_Port = Uart 3
* Lisa/L Radio_Control_Spektrum_Secondary_Port = Uart 5
* arch files:~/paparazzi/sw/airborne/arch/stm32/subsystems/radio_control/spektrum-arch.h and .c
* Additional hardware -
[http://parts.digikey.com/1/parts/355490-conn-housing-5pos-1-25mm-51021-0500.html Molex CONN HOUSING 5POS 1.25MM - 51021-0500],

[http://parts.digikey.com/1/parts/355493-conn-housing-8pos-1-25mm-51021-0800.html Molex CONN HOUSING 8POS 1.25MM - 51021-0800],

[http://uk.rs-online.com/web/search/searchBrowseAction.html?method=getProduct&R=2799544 Molex Socket to free end crimped lead,300mm L],

[http://parts.digikey.com/1/parts/270897-conn-term-female-26-28awg-tin-50079-8000.html Molex CONN TERM FEMALE 26-28AWG TIN],

[http://parts.digikey.com/1/parts/1806245-hand-tool-26-32awg-crimp-638190300.html Molex HAND TOOL 26-32AWG CRIMP]
* Transmitter options - Spektrum DX6, DX7(see above), DX8, bind compatible JR units up to 12 channels and those bearing the Specktrum DM9 module - note these transmitters must be channel order compatible with Spektrum's protocol (in fact all transmitters that use Spektrum protocol have the same channel ordering regardless which stays consistent across different modes (ie throttle on left / right etc))) - [http://code.google.com/p/er9x/ here is an example]

=====Installation=====
# Cut off original receiver connector and crimp molex connector terminals to the three wires.
# Insert terminals into appropriate positions-[http://paparazzi.enac.fr/wiki_images/LisaL_v1_0_schematic_3.png CON_USART3]-of the 5 way connector - black to pos1 = GND, orange to pos3 = +3v3, grey to pos5 = STM_USART3_RX.

=====Bind plug=====
# Take the 8 way molex connecter and create a loop between pos1 = GND and pos4 = XXX_STM_SPARE_2. This plug is placed in the-[http://paparazzi.enac.fr/wiki_images/LisaL_v1_0_schematic_3.png CON_SPARE]-receptacle housing before power-up to enable the receiver binding state.

=====Configuration=====
* Set the spektrum radio parameters for Lisa/M or Lisa/L ap in ~/paparazzi/conf/airframes.xml file. Check 'esden' directory as a possible rotorcraft example. Refer to ~/paparazzi/sw/airborne/arch/stm32/subsystems/radio_control/spektrum-arch.h and .c for other options. Be sure to set actuators, rotor configuration/mixes and channel reversal parameters that are appropriate for the rotorcraft/aircraft (note "lisa_l_1.0" can also be "lisa_m_1.5" or "lisa_m_2.0"):

<firmware name="rotorcraft">
<target name="ap" board="lisa_l_1.0">

<subsystem name="radio_control" type="spektrum"/>
<subsystem name="actuators" type="mkk"/>
<subsystem name="telemetry" type="transparent"/>
<define name="RADIO_MODE" value="RADIO_AUX1"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
</target>

<target name="stm_passthrough" board="lisa_l_1.0">
<subsystem name="radio_control" type="spektrum"/>
<subsystem name="imu" type="b2_v1.2"/>
</target>
*Create a new transmitter 'airplane' model. Do not introduce any mixes or change the endpoints, subtrims etc. Note that a radio.xml file is not required for this implementation, unlike analogue RC directed autopilots.
*Upload ap software in the usual way.
*Unplug the aircraft battery. Turn transmitter off. Insert the bind plug (see above) in the 8 way CON_SPARE receptacle. Power up the aircraft - specktrum receiver LED should be flashing in readiness to bind. Press and hold bind button on transmitter while turning on. Receiver LED should stop flashing after a few moments to confirm it is bound. Turn everything off in preparation to start in the normal way. Note that the transmitter should now be turned on first to enable the spektrum receiver to acknowledge it.
*Should be ready to fly.
*Adding a second spektrum satellite receiver requires different wiring dependent on the Lisa board version. As the pinouts to uart5 differ between Lisa-L v1.0 and v1.1. Seek advice from the [http://lists.gnu.org/archive/html/paparazzi-devel/2011-01/index.html paparazzi mailing list] prior to making this addition.

To enable the use of the secondary satellite receiver you have to add two lines to your firmware section in the airframe file:

<define name="RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT" value="UART5"/>
<define name="OVERRIDE_UART5_IRQ_HANDLER"/>

== PCM Systems ==

Most of the known PCM transmitter also can be set to PPM mode. If this is set, then the regular description for PPM applies since the PCM receiver like a JR/Gaupner SMC16 Scan can output PPM perfectly.

If PPM out is not setable on your transmitter then the following applies:

# Must use ppm encoder board. (See [[Get_Hardware|Get Hardware]] page for suppliers)
# Needs a three position switch
# Ability to set failsafe to any channel as desired
# At least one extra channel beyond those needed to control the servos and motor.

== PPM Based Systems ==
=== Configuration ===
The [[Radio_Control]] page describes how to set up the radio.xml config file.

=== Requirements ===
To use a 26/27/35/40/41/72/ MHz **(uses PPM) system a few requirements are necessary
# Need a Transmitter with a three position switch
# At least one extra channel beyond those needed to control the servos and motor.
# A modified receiver which outputs a full ppm signal.

===Adding a 3 position switch===
===== Futaba T6EXAP =====
For this particular transmitter, the Potentiometer on channel 6 can be replaced with a 3 position switch. Channel 5 appears not to be connected to an ADC converter; therefore it will not support a 3 position switch.
#Disconnect the potentiometer being careful not to shorten the wires
#Solder the switch and resistors onto the wires using the wiring diagram as a reference. (Any two equal value resistors should work). I used 10k resistors.
[[Image:SwitchWiringDiagram.JPG|thumb|left|Switch wiring diagram]]
[[Image:3positionswitch.JPG|thumb|left|Switch installed in transmitter]]
 
Suitable 3 position switches: 
RS Components: [http://australia.rs-online.com/web/search/searchBrowseAction.html?method=getProduct&R=344-710 344-710] 
Mouser: [http://au.mouser.com/Search/Refine.aspx?Keyword=633-M202402-RO 633-M202402-RO]

=== R/C Receiver Interface===
All versions of the Paparazzi autopilot include a connector to interface with a standard R/C receiver for manual or semi-autonomous control during the testing and tuning phases. Two interface options exist:
# Tap into the PPM signal running between the RF section and the servo driver of your receiver and route it to the Paparazzi. Let the Paparazzi generate individual servo signals and connect all servos directly to the autopilot. This method requires only 3 wires to the receiver (power and PPM), is compatible with all Paparazzi autopilots, and provides 8 manual R/C channels and the potential for more autonomous channels regardless of the capability of the R/C receiver.
# Cut the PPM trace and route it thru the autopilot and back to the receiver, using the servo driver IC on your R/C receiver to drive the servos. This option requires 4 wires (Ground, PPM-in, PPM-out, Reset) and your receiver must have a supported servo driver IC. This allows you to use the large servo connectors on your R/C receiver and does not require any modification to your servos or ESC but does require you to cut a trace on your R/C receiver and limits the number of servos to the capacity of your receiver. Compatible with Classix and Tiny 1.1.
# Note that on the Classix the PPM_in pin is FOO2...
[[Image:RC_Receiver_Timing_Diagram.jpg|thumb|left|PPM Timing DiagramNote 1: Exact value not critical. Depending on RC Transmitter type & Manufacturer. Note 2: Depending on Transmitter number of Channels and t,,n,, durations. Note 3: Not critical. Depending on Synchro detection method.]]
[[Image:RC_Receiver_Tiny.jpg|thumb|left|3-Wire setup, driving servos from the autopilot]]
[[Image:RC_Receiver_classix.jpg|thumb|left|4-Wire setup, driving servos from the R/C receiver]]
 

=== Common demux chips ===

Typical used chips are the cmos [http://www.doctronics.co.uk/4015.htm 4015] and [http://www.doctronics.co.uk/4017.htm 4017].

The 4015 uses either pin 1 or pin 9 for the clock and the input is on 7 and 15. The 4017 has just one shift register and has its clock input on pin 14 and the enable on pint 13.

In most receivers you are after the clock; though some may be pulsed; in which case you need the enable. Note that the 4017 enable has inverted logic (low to be enabled) whereas the input on the 4015 can be either (typically high). If the enable pin is held low (4017) or if the input pin (4015) is held high always;e.g. connected to the ground or the Vcc - then it is fair to assume that the PPM signal is most propably on the clock input.

=== Recommended 35/40Mhz R/C Receivers ===

Note that there is information on modifying other receiver models at [http://mikrokopter.de/ucwiki/RC-Empf%C3%A4nger mikrokopter.de]. It's in German however the pictures contain most of the information or use google translate.
Shielded wire is recommended for receiver and autopilot connection, as unshielded one may cause noise in receiver.

=====Futaba FP-R116FB 6 Channel FM 35MHz receiver=====
[[Image:Rc_fut_web.jpg|thumb|left|Wiring of a Futaba R136]]
*Orange wire is connected to PPM signal
*Red wire is connected to VCC
*Brown wire is connected to GND
 

=====Futaba R136F 6 Channel FM receiver=====
[[Image:rx_futaba136.jpg|thumb|left|Wiring of a Futaba R136]]
*41 MHz
*White wire is connected to PPM signal
 
=====Futaba R168DF 8 Channel dual FM receiver=====
[[Image:rx_futaba168df.jpg|thumb|left|Wiring of a Futaba R168DF]]
*35 MHz
*PPM wire is connected to 862 receiver pin on the board. VCC and GND is on the 8/B original position.
 

=====ACT Micro-6 FM receiver=====
[[Image:rx_act_micro-6.jpg|thumb|left|Wiring of a ACT Micro-6]]
*Available in 35 or 40 MHz versions
*White wire is connected to PPM signal
*[http://www.acteurope.com/Micro_6anl.pdf Datasheet (German)]
 

=====ACT DSL-4top [http://www.mikrokopter.de/ucwiki/DSL4top mikrokopter.de] version=====
[[Image:DSL4top.jpg|thumb|left|DSL-4top mikrokopter.de version]]
* Special version for mikrokopter.de - Only available in their [https://www.mikrocontroller.com/index.php?main_page=product_info&products_id=215&zenid=8ce8bab70f3e9d684e01f724316d9690 shop]!
* '''Outputs PPM directly''' on the channel 1 connector!
* No soldering necessary
* ACT Lifetime warranty
* Sells for ~45 euro
 

=====Futaba R115F 5 Channel FM receiver=====
[[Image:pprz_rx115.jpg|thumb|left|Wiring of a Futaba R115]]
*Available in 35 and 40 MHz versions
*White wire is connected to PPM signal
 
=====JETI REX 5 plus (no MPD) receiver=====
[[Image:520_Jeti_5_plus.jpg|thumb|left|Wiring of a REX 5]]

*Popular Czech made micro r/c receiver, available in 35 or 40 MHz versions
*´folded´ PCB design with parts inside, mostly inaccessable
*Small grey wire is connected to via with PPM signal
*Unusual connector used for testing, soldering recommended
*shielded wire recommended, this one taken from PC parts recycling (former soundcard to m/b connector cable)
*[http://www.jetimodel.cz/eng/navody_en/rex5_eng.pdf Datasheet (English)]
 
[[Image:DSC02414.JPG|thumb|left|other Layout of REX 5]]
 

=====Receiver RX-7-SYNTH IPD receiver [http://www.multiplex-rc.de/hp/produkte/artikel_detail.jsp?lfdnr=55880&action=add2notice&qty=1&cachenepper=1227896925116 Multiplex-rc.de]=====
[[Image:RX-7-SYNTH_IPD.jpg|thumb|left|Wiring of RX-7-SYNTH IPD]]

*Available in 35, 36 and 40 MHz versions
*A compact, high-quality 7-channel single-conversion FM / PPM IPD receiver
*Easy modification through connectors, see pictures
 

==== Protech 5FM 35 mHz Receiver ====

The low cost Protech '5FM' receiver makes use of an SMD version of the standard 74AHC164[http://www.ic-on-line.cn/IOL/datasheet/74ahct164_18057.pdf] 8 bit shift register; you are after PIN 1 of this chip. The circuit board has a testpad for just this pin at the top side of the circuit board.

<gallery>
Image:protech-5fm.jpg|Figure 1. Protech 5FM 35 mHZ Receiver, mark 2
Image:protech-5fm-pad.jpg|Figure 2. PPM tap location for the Protech 5FM receiver, near the 74AHC164 shift register
Image:protech-5fm-scope.jpg|Figure 3. Protech 5FM PPM signal - not very clean/digital
</gallery>

Two physical versions exist; the older one [http://www.protech.be/Manuals/PRO205manual%20web.pdf] and a newer one pictured (fig 1). It has been distributed by protech with various ready-to-fly planes; such as the Skyraider[http://www.modelbouwforum.nl/forums/beginners/50677-protech-skyraider.html].

The solder/testpad you are after the one right next the 74x164 chip its pin 1. In this image it has a jellow wire soldered to it (the yellow wire at the top left is the normal antenna connector (fig 2). Note however that the signal is not very clean (1v/div) - which may cause issues - as shown in the above image (fig 3).

This is further compunded by the relatively noisy electrical engines; which are not brushless. A ferrite coil does not seem to help enough - Papparazi and GPS loose sync often through Xbee. Replacing the engine by a brushless outrunnen resolve the issue completely.

==== Profi Penta 35 MHz ====
[[Image:DSC00547.JPG]]
[[Image:DSC00545.JPG]]

=== Recommended 72Mhz R/C Receivers ===
====Castle Creations [http://www.castlecreations.com/products/berg_ms4l.html Berg 4L]====
[[Image:berg4L.jpg|thumb|Wiring of a Berg 4L]]
* Expect fantastic performance from these $40 USD parts but be warned that they are known to have unreliable crystal sockets and brittle antenna wire. The ''Berg 7'' channel receiver should work equally well and is known to have a better crystal socket - note that either receiver will provide '''8 channels''' in manual R/C mode when used with Paparazzi. Note: the rugged ''Berg 4'' cannot be modified, only the ''Berg 4L'' and ''Berg 7''.
To Modify a Berg4L, follow these instructions:
# Remove the shrink wrap. Use a good knife and be careful to not damage any of the components on the receiver. I would recommend that you cut on the sides (edge of the PCB) to be sure to avoid damaging the shielding
# Desolder the headers. We will not use them with tiny AP as the servos are connected directly to the AP. This is pretty easy to do when you have a hot air rework station. If you don't have one, your best bet is to cut the header off and remove the left over pins one by one with a regular iron. There is a piece of shielding material that is connected to one of the ground pins of the header. You need to remove it carefully from the header without damaging it and re-solder it to the gnd pad.
# You need to solder 3 wires to the receiver. Gnd, +5V and PPM. To locate the PPM signal, first locate the PIC micro controller close to the location of the headers. The PPM signal is on the corner pin closest to the corner of the receiver. Soldering a 28guage wire directly to the PIN isn't very difficult. For the power connection, use the pads that were used for the header. The outside pin is Gnd, the second pin is +5V. What I did is solder the wires on the pad going straight down, then I looped the 3 wires 360 degrees and glued them to the PCB with hot glue. This provides good strain relief.
# While you have the PCB in your hands, take the opportunity to remove the crystal connector and solder your crystal directly to the PCB for added reliability.
# I also used some hot glue to add more strain relief to the antenna
# Use some large shrink wrap to cover the entire receiver again
=====Hitec Electron 6 72MHz Reciever=====
This was written for MNAV from crossbow but is still usable with PPRZ.
 
[[Image:Electron6mod.jpg]]

=====Corona Synthesized Dual-Conv Receiver 8Ch=====
[http://www.corona-rc.com/coproductshowE.asp?ArticleID=63 manual] 

This receiver is available in 27,35,36,40,72 mhz and a Synthesized receiver, meaning you do not need to change frequency crystals.

How to modify for combined signal

# Cut the 8th channel PWM output pin near the PCB.
# Connected a pin from the Atmel (see picture) to the 8th channel PWM signal. (optionally, weaving the wire through some holes on the board.) Make sure you have a fine tip on your soldering iron and a magnifying glass strapped to your head!
# Glue the wire down (CA works)
# Be sure to glue the pin that you cut in place (previously, being soldered to the board was holding the pin in place)

It is maybe possible to reprogram the atmel with your own firmware. If you succeed in this plz add relevant info here.

That pin provides a 1V to 2V signal, it works with the PPRZ, although its a bit gittery (the slew rate is not real good).
[[Image:Corona_Synthesized_Receiver_72Mhz_bottom.jpg|thumb]]
[[Image:Corona_Synthesized_Receiver_72Mhz_top.jpg|thumb]]
[[Image:Corona_Synthesized_Receiver_72Mhz_top_atmel.jpg]]

 

==433MHz UHF Systems==

Note that in most countries an amateur radio license is required to use 433MHz UHF.

===Scherrer UHF===

[[Image:ScherrerUHF.jpg|thumb|left|Scherrer UHF Rx]]

The [http://www.webx.dk/rc/uhf-link3/uhf-link3.htm Scherrer UHF] is a high quality diversity radio control system. It has a PPM output and can be connected directely to Paparazzi. A ppm encoder board is not required. It has an RSSI output.

 

===ImmersionRC EzUHF===

[[Image:EzUHFTx.jpg|thumb|left|ImmersionRC Tx]]

The [http://www.immersionrc.com/products.htm ImmersionRC EzUHF] is a high quality diversity radio control system. The recent firmwares have a PPM output on Ch. 1, but this needs to be activated through the PC configuration software with the proper firmware loaded. It connects directly to EzOSD and the TrackR2 which enables RSSI monitoring and head tracking for FPV.

Some people had issues with the exact timing, where the ROLL channel disappeared. If the radio has more than 6 channels, there may be methods to slave another channel to the roll channel (usually for the operation of dual ailerons). The ezuhf configuration file is using this method, where channel 1 is copied to channel 6. The EzUHF modules receive the PPM output stream from the radio and need to interpret it. For this reason, the ezuhf configuration file should be verified for proper functioning and you may find that channels are remapped to others with different purposes.

Search "sander style" antennas for a way to build your own cheap, high-quality antennas for these rx modules and which provide a range well beyond the horizon.

 

== Flight mode switch ==

A important requirement is a three way flight mode switch to choose between the flight modes MANUAL, AUTO1 and AUTO2.

Cheap entry level radios often don't have this. As a workaround two two-position switches can be used.

The switch designated to RADIO_MODE will switch between MANUAL and AUTO
And a second switch designated to RADIO_AUTO_MODE one will select between the different AUTO MODES if the first switch is set to AUTO.
{{Box Code|conf/airframes/myplane.xml|
<source lang="xml">
<firmware name="fixedwing or rotorcraft">
<define name="RADIO_MODE" value="RADIO_AUX2"/>
<define name="RADIO_AUTO_MODE" value="RADIO_AUX1"/>
</firmware>
</source>
}}

This feature is available since v3.9.2.

[[Category:Hardware]] [[Category:User_Documentation]]