PaparazziUAV - User contributions [en]

LinAM V4

2015-07-17T14:46:28Z

KylinUAS: /* Pictures */

{| align=right
|-
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree>
|}
<div style="float: right; width: 65%">
[[Image:LinAM V4 BOX1.jpeg|350px|LinAM V4 BOX1]]
[[Image:LinAM V4 BOX2.png|400px|LinAM V4 BOX2]]
</div>
__TOC__

= LinAM V4 =
Editing...

== Overview ==

LinAM V4 is based on the 64 pins STM32F405RGT6 Cortex M4 168MHz processor featuring a Floating point unit (FPU), up to 192k of RAM and 1024k of FLASH.
* STM32 microcontroller datasheet with 1024kB flash and up to 192kB RAM
* 9 DOF integrated IMU based: '''ADXRS620BBGZ''' Gyro sensor and '''MXR9150MZ''' Accelerometer with 16 bit ADC ,'''HMC5983''' magnet field sensor.
* high precision barometer/altimeter '''MS5611-01BA03'''(I2C).
* Onboard U-Blox GPS '''MAX-M8Q'''.
* Onboard differential pressure sensor '''MPXV5004DP''' (for airspeed) with 16 bit ADC
* 2 x 3.3V TTL UART (5V tolerant)
* 1 x USB : DFU mode (download) or USB storage (direct access to MicroSD card)
* 8 x Servo PWM outputs
* 1 x R/C receiver PPM frame input
* 1 x R/C receiver serial input with inverter (Futaba S.BUS, Spektrum, etc.)
* 1 x [http://en.wikipedia.org/wiki/I2c I2C] bus
* 1 x CAN bus
* SWD programming/debugging interface.
* 4 x Auxiliary I/O (General Purpose and/or ADC and/or servo PWM).
* 2 x isolated IO for camera control (POWER and SHUTTER).
* Up to 35V (8S LiPo) input power control unit
* Up to 2.5A load current on 5V line
* 1 x 5v/500mA power switch
* 4 x status LEDs
* 20 grams
* 65mm x 45mm
* 4 layers PCB design
* the box is 89mm x 51mm x 25mm

So, except for a Modem unit with the '''LinAM''' you have all necessary sensors for full features all in one Rotorcraft or Fixedwing solution.

== Hardware Revision History ==
{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v1.00||07/2014||Initial release of LinAM
|-
|v2.00||11/2014|| LinAM V2
|-
|v3.00||02/2015|| LinAM V3
|-
|v4.00||07/2015|| LinAM V4
|}

== Detailed Features ==

=== 9 DOF IMU ===
* '''ADXRS620BBGZ''' Gyro sensor : quality Gyroscope sensor from Analog Device, 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.

* '''MXR9150MZ''' Accelerometer: 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.

* '''HMC5983''' magnet field sensor: Replace HMC5883L temperature compensation triaxial compass.

=== USB Modes ===

* usb plugged before autopilot is powered : enter DFU mode to be flashed

=== SWD: Serial Wire Debug ===
permits flash and source level debugging via swd part of cheap discovery card, or via more capable, fastest, more expensive probe like black magic probe

=== R/C Serial ===

In addition to the classic PPM input, that mostly require receiver modification, one pin of the R/C connector is routed to the MCU UART5 receive input through a '''controlled inverter'''. 
This new feature allow '''direct connection''' (3 pin) of several brand off-the-shelf receivers '''without hardware modification''' or external encoder board.
* '''RX5_POL(PA8) = 0''' => R/C serial (Rx5) is '''non-inverted''' : allow use standard polarity serial receivers (Spektrum, FlyElectric...)
* '''RX5_POL(PA8) = 1''' => R/C serial (Rx5) is '''inverted''' : allow use of S.BUS protocol compatible receivers (Futaba, FrSky,...)
(see [[RC_Receivers_and_Radios | R/C Receivers and Radios page]] for serial compatible receiver)

=== Power Switch ===

'''5V''' power output pin on '''AUX connector''' ("5Vaux",#2) '''can be switched ON and OFF''' on demand using APSW (MCU GPIO output PB12).
* APSW(PA15) = 0 => 5V Aux OFF
* APSW(PA15) = 1 => 5V Aux ON (default)
The internal switch TPS2051B is designed to withstand 500mA continuous current and is '''short-circuit and thermally protected'''. 
(see [http://www.ti.com/product/tps2051b TPS2051B] datasheet for recommended operation conditions)

Editing...

== Pinout ==

Pins Name and Type are specified with respect to the Autopilot Board :[[Media:LinAM_V4_Pinout.pdf|LinAM_V4_Pinout.pdf]]

<div style="float: right; width: 100%">
[[Image:LinAM_V4_PINOUT.jpeg|900px]]
</div>

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''POWER IN'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||VBAT||PWR||V_BATT POWER INPUT
|-
|M||CUR_MEAS||IO||General Purpose I/O(PC0) or ADC_3 Input for current.
|-
|T||GND||PWR||common ground
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''AUX'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||5VAUX||PWR||5V from autopilot through [[#Power Switch | Power Switch]]
|-
|M||RESET||IN||MCU Reset
|-
|T||GND||PWR||common ground
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''SERVO1/2/3/4/5/6/7/8'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||SRVx||OUT||Servo signal (PWM)
|-
|M||SERVO_V||PWR||Servo Bus Voltage Rail
|-
|T||GND||PWR||common ground
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''SBUS/Satellite'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||RX5||IN||UART2 Serial Input (5V Tolerant) through [[#R/C Serial|controlled inverter]]
|-
|M||+5VDC||PWR||5V Rail from autopilot
|-
|T||GND||PWR||common ground
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''PPM'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||RX5||IN||PPM Stream from R/C Receiver or PPM Encoder Board (5V tolerant)
|-
|M||+5VDC||PWR||5V Rail from autopilot
|-
|T||GND||PWR||common ground
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''ADC/IO'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||ADC2||IO||General Purpose I/O(also spektrum bind pin,PC3) or ADC_2 Input
|-
|M||+5VDC||PWR||5V Rail from autopilot
|-
|T||GND||PWR||common ground
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''LOG'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||TX3||OUT||USART3 Serial Output (3.3V level)
|-
|M||+5VDC||PWR||5V Rail from autopilot
|-
|T||GND||PWR||common ground
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''TELEM'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||TX3||OUT||USART3 Serial Output (3.3V level)
|-
|M||RX3||IN||USART3 Serial Input (3.3V level,Pullup(4.7K) to 3.3V)(5V tolerant)
|-
|T||GND||PWR||common ground
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''SWD'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||SWDCLK||IN||Serial Wire Clock (3.3V level)
|-
|M||SWDIO||IO||Serial Wire Data Input/Output (3.3V level)
|-
|T||GND||PWR||common ground
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''CAMERA'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||SW||OUT||Connect to camera ON/OFF (PB5,control a PhotoMOS relay)
|-
|M||SHUT||OUT||Connect to camera shutter (PB4,control a PhotoMOS relay)
|-
|T||COM||PWR||Connect to camera ground (PhotoMOS relay common)
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''CAN/I2C'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||CANH||IO||CANL (3.3V level)
|-
|M||CANL||IO||CANL (3.3V level)
|-
|T||GND||PWR||common ground
|}

== Pictures ==
<gallery>
Image:LinAM_V4_3D_view_top.jpeg|LinAM V4 3D top view
Image:LinAM_V4_3D_view_bottom.jpeg|LinAM V4 3D bottom view
Image:LinAM_V4_IMU_Vertical_Board.jpeg|LinAM V4 IMU Vertical Board
Image:LinAM_V4_GPS_AND_AIRSPEED_connector.png|LinAM V4 GPS AND AIRSPEED CONNECTOR
Image:LinAM_V4_PIN.jpeg|LinAM V4 PIN CONNECTOR
Image:LinAM_IMU_V3.jpeg|LinAM V3 IMU BOARD
</gallery>

= Examples of Airborne Equipment Electrical Connections =
Editing...

= Programming =

Editing...

LinAM autopilot can reprogrammed in two different ways:

* using the MCU native (embedded in rom) DFU USB bootloader over the on-board USB header (so pre-loading an "external" bootloader is useless)
** required hardware : usb cable with usb-mini connector
** required software : dfu_util tool (present in ubuntu repository)
* using the SWD (Serial Wire Debug) connector
** required hardware : usb cable with usb-mini connector, molex to 2.54mm pitch pin cable, swd part of a cheap stm32 evaluation board (any discovery board, start @ 8$)
** required software : st_flash and st_util, have to be compiled from source (https://github.com/texane/stlink)

= Mechanical Dimensions =
Editing...

= Schematics =

Editing...

= Source code =

Available in latest git master branch

[[Category:Autopilots]]

LinAM V4

2015-07-17T14:44:56Z

KylinUAS:

{| align=right
|-
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree>
|}
<div style="float: right; width: 65%">
[[Image:LinAM V4 BOX1.jpeg|350px|LinAM V4 BOX1]]
[[Image:LinAM V4 BOX2.png|400px|LinAM V4 BOX2]]
</div>
__TOC__

= LinAM V4 =
Editing...

== Overview ==

LinAM V4 is based on the 64 pins STM32F405RGT6 Cortex M4 168MHz processor featuring a Floating point unit (FPU), up to 192k of RAM and 1024k of FLASH.
* STM32 microcontroller datasheet with 1024kB flash and up to 192kB RAM
* 9 DOF integrated IMU based: '''ADXRS620BBGZ''' Gyro sensor and '''MXR9150MZ''' Accelerometer with 16 bit ADC ,'''HMC5983''' magnet field sensor.
* high precision barometer/altimeter '''MS5611-01BA03'''(I2C).
* Onboard U-Blox GPS '''MAX-M8Q'''.
* Onboard differential pressure sensor '''MPXV5004DP''' (for airspeed) with 16 bit ADC
* 2 x 3.3V TTL UART (5V tolerant)
* 1 x USB : DFU mode (download) or USB storage (direct access to MicroSD card)
* 8 x Servo PWM outputs
* 1 x R/C receiver PPM frame input
* 1 x R/C receiver serial input with inverter (Futaba S.BUS, Spektrum, etc.)
* 1 x [http://en.wikipedia.org/wiki/I2c I2C] bus
* 1 x CAN bus
* SWD programming/debugging interface.
* 4 x Auxiliary I/O (General Purpose and/or ADC and/or servo PWM).
* 2 x isolated IO for camera control (POWER and SHUTTER).
* Up to 35V (8S LiPo) input power control unit
* Up to 2.5A load current on 5V line
* 1 x 5v/500mA power switch
* 4 x status LEDs
* 20 grams
* 65mm x 45mm
* 4 layers PCB design
* the box is 89mm x 51mm x 25mm

So, except for a Modem unit with the '''LinAM''' you have all necessary sensors for full features all in one Rotorcraft or Fixedwing solution.

== Hardware Revision History ==
{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v1.00||07/2014||Initial release of LinAM
|-
|v2.00||11/2014|| LinAM V2
|-
|v3.00||02/2015|| LinAM V3
|-
|v4.00||07/2015|| LinAM V4
|}

== Detailed Features ==

=== 9 DOF IMU ===
* '''ADXRS620BBGZ''' Gyro sensor : quality Gyroscope sensor from Analog Device, 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.

* '''MXR9150MZ''' Accelerometer: 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.

* '''HMC5983''' magnet field sensor: Replace HMC5883L temperature compensation triaxial compass.

=== USB Modes ===

* usb plugged before autopilot is powered : enter DFU mode to be flashed

=== SWD: Serial Wire Debug ===
permits flash and source level debugging via swd part of cheap discovery card, or via more capable, fastest, more expensive probe like black magic probe

=== R/C Serial ===

In addition to the classic PPM input, that mostly require receiver modification, one pin of the R/C connector is routed to the MCU UART5 receive input through a '''controlled inverter'''. 
This new feature allow '''direct connection''' (3 pin) of several brand off-the-shelf receivers '''without hardware modification''' or external encoder board.
* '''RX5_POL(PA8) = 0''' => R/C serial (Rx5) is '''non-inverted''' : allow use standard polarity serial receivers (Spektrum, FlyElectric...)
* '''RX5_POL(PA8) = 1''' => R/C serial (Rx5) is '''inverted''' : allow use of S.BUS protocol compatible receivers (Futaba, FrSky,...)
(see [[RC_Receivers_and_Radios | R/C Receivers and Radios page]] for serial compatible receiver)

=== Power Switch ===

'''5V''' power output pin on '''AUX connector''' ("5Vaux",#2) '''can be switched ON and OFF''' on demand using APSW (MCU GPIO output PB12).
* APSW(PA15) = 0 => 5V Aux OFF
* APSW(PA15) = 1 => 5V Aux ON (default)
The internal switch TPS2051B is designed to withstand 500mA continuous current and is '''short-circuit and thermally protected'''. 
(see [http://www.ti.com/product/tps2051b TPS2051B] datasheet for recommended operation conditions)

Editing...

== Pinout ==

Pins Name and Type are specified with respect to the Autopilot Board :[[Media:LinAM_V4_Pinout.pdf|LinAM_V4_Pinout.pdf]]

<div style="float: right; width: 100%">
[[Image:LinAM_V4_PINOUT.jpeg|900px]]
</div>

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''POWER IN'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||VBAT||PWR||V_BATT POWER INPUT
|-
|M||CUR_MEAS||IO||General Purpose I/O(PC0) or ADC_3 Input for current.
|-
|T||GND||PWR||common ground
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''AUX'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||5VAUX||PWR||5V from autopilot through [[#Power Switch | Power Switch]]
|-
|M||RESET||IN||MCU Reset
|-
|T||GND||PWR||common ground
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''SERVO1/2/3/4/5/6/7/8'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||SRVx||OUT||Servo signal (PWM)
|-
|M||SERVO_V||PWR||Servo Bus Voltage Rail
|-
|T||GND||PWR||common ground
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''SBUS/Satellite'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||RX5||IN||UART2 Serial Input (5V Tolerant) through [[#R/C Serial|controlled inverter]]
|-
|M||+5VDC||PWR||5V Rail from autopilot
|-
|T||GND||PWR||common ground
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''PPM'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||RX5||IN||PPM Stream from R/C Receiver or PPM Encoder Board (5V tolerant)
|-
|M||+5VDC||PWR||5V Rail from autopilot
|-
|T||GND||PWR||common ground
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''ADC/IO'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||ADC2||IO||General Purpose I/O(also spektrum bind pin,PC3) or ADC_2 Input
|-
|M||+5VDC||PWR||5V Rail from autopilot
|-
|T||GND||PWR||common ground
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''LOG'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||TX3||OUT||USART3 Serial Output (3.3V level)
|-
|M||+5VDC||PWR||5V Rail from autopilot
|-
|T||GND||PWR||common ground
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''TELEM'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||TX3||OUT||USART3 Serial Output (3.3V level)
|-
|M||RX3||IN||USART3 Serial Input (3.3V level,Pullup(4.7K) to 3.3V)(5V tolerant)
|-
|T||GND||PWR||common ground
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''SWD'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||SWDCLK||IN||Serial Wire Clock (3.3V level)
|-
|M||SWDIO||IO||Serial Wire Data Input/Output (3.3V level)
|-
|T||GND||PWR||common ground
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''CAMERA'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||SW||OUT||Connect to camera ON/OFF (PB5,control a PhotoMOS relay)
|-
|M||SHUT||OUT||Connect to camera shutter (PB4,control a PhotoMOS relay)
|-
|T||COM||PWR||Connect to camera ground (PhotoMOS relay common)
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''CAN/I2C'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||CANH||IO||CANL (3.3V level)
|-
|M||CANL||IO||CANL (3.3V level)
|-
|T||GND||PWR||common ground
|}

== Pictures ==
<gallery>
Image:LinAM_V4_3D_view_top.jpeg|LinAM V4 3D top view
Image:LinAM_V4_3D_view_bottom.jpeg|LinAM V4 3D bottom view
Image:LinAM_V4_PCB_3D_top_view.jpeg|LinAM V4 PCB 3D top view
Image:LinAM_V4_PCB_3D_bottom_view.jpeg|LinAM V4 PCB 3D bottom view
Image:LinAM_V4_IMU_Vertical_Board.jpeg|LinAM V4 IMU Vertical Board
Image:LinAM_V4_GPS_AND_AIRSPEED_connector.png|LinAM V4 GPS AND AIRSPEED CONNECTOR
Image:LinAM_V4_PIN.jpeg|LinAM V4 PIN CONNECTOR
Image:LinAM_IMU_V3.jpeg|LinAM V3 IMU BOARD
</gallery>

= Examples of Airborne Equipment Electrical Connections =
Editing...

= Programming =

Editing...

LinAM autopilot can reprogrammed in two different ways:

* using the MCU native (embedded in rom) DFU USB bootloader over the on-board USB header (so pre-loading an "external" bootloader is useless)
** required hardware : usb cable with usb-mini connector
** required software : dfu_util tool (present in ubuntu repository)
* using the SWD (Serial Wire Debug) connector
** required hardware : usb cable with usb-mini connector, molex to 2.54mm pitch pin cable, swd part of a cheap stm32 evaluation board (any discovery board, start @ 8$)
** required software : st_flash and st_util, have to be compiled from source (https://github.com/texane/stlink)

= Mechanical Dimensions =
Editing...

= Schematics =

Editing...

= Source code =

Available in latest git master branch

[[Category:Autopilots]]

File:LinAM V4 3D view bottom.jpeg

2015-07-17T14:40:43Z

KylinUAS:

2015-07-06T04:40:32Z

KylinUAS:

LinAM V4

2015-07-05T08:19:53Z

KylinUAS:

{| align=right
|-
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree>
|}
<div style="float: right; width: 65%">
[[Image:LinAM V4 BOX1.jpeg|350px|LinAM V4 BOX1]]
[[Image:LinAM V4 BOX2.png|400px|LinAM V4 BOX2]]
</div>
__TOC__

= LinAM V4 =
Editing...

== Overview ==

LinAM V4 is based on the 64 pins STM32F405RGT6 Cortex M4 168MHz processor featuring a Floating point unit (FPU), up to 192k of RAM and 1024k of FLASH.
* STM32 microcontroller datasheet with 1024kB flash and up to 192kB RAM
* 9 DOF integrated IMU based: '''ADXRS620BBGZ''' Gyro sensor and '''MXR9150MZ''' Accelerometer with 16 bit ADC ,'''HMC5983''' magnet field sensor.
* high precision barometer/altimeter '''MS5611-01BA03'''(I2C).
* Onboard U-Blox GPS '''MAX-M8Q'''.
* Onboard differential pressure sensor '''MPXV5004DP''' (for airspeed) with 16 bit ADC
* 2 x 3.3V TTL UART (5V tolerant)
* 1 x USB : DFU mode (download) or USB storage (direct access to MicroSD card)
* 8 x Servo PWM outputs
* 1 x R/C receiver PPM frame input
* 1 x R/C receiver serial input with inverter (Futaba S.BUS, Spektrum, etc.)
* 1 x [http://en.wikipedia.org/wiki/I2c I2C] bus
* 1 x CAN bus
* SWD programming/debugging interface.
* 4 x Auxiliary I/O (General Purpose and/or ADC and/or servo PWM).
* 2 x isolated IO for camera control (POWER and SHUTTER).
* Up to 35V (8S LiPo) input power control unit
* Up to 2.5A load current on 5V line
* 1 x 5v/500mA power switch
* 4 x status LEDs
* 20 grams
* 65mm x 45mm
* 4 layers PCB design
* the box is 89mm x 51mm x 25mm

So, except for a Modem unit with the '''LinAM''' you have all necessary sensors for full features all in one Rotorcraft or Fixedwing solution.

== Hardware Revision History ==
{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v1.00||07/2014||Initial release of LinAM
|-
|v2.00||11/2014|| LinAM V2
|-
|v3.00||02/2015|| LinAM V3
|-
|v4.00||07/2015|| LinAM V4
|}

== Detailed Features ==

=== 9 DOF IMU ===
* '''ADXRS620BBGZ''' Gyro sensor : quality Gyroscope sensor from Analog Device, 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.

* '''MXR9150MZ''' Accelerometer: 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.

* '''HMC5983''' magnet field sensor: Replace HMC5883L temperature compensation triaxial compass.

=== USB Modes ===

* usb plugged before autopilot is powered : enter DFU mode to be flashed

=== SWD: Serial Wire Debug ===
permits flash and source level debugging via swd part of cheap discovery card, or via more capable, fastest, more expensive probe like black magic probe

=== R/C Serial ===

In addition to the classic PPM input, that mostly require receiver modification, one pin of the R/C connector is routed to the MCU UART5 receive input through a '''controlled inverter'''. 
This new feature allow '''direct connection''' (3 pin) of several brand off-the-shelf receivers '''without hardware modification''' or external encoder board.
* '''RX5_POL(PA8) = 0''' => R/C serial (Rx5) is '''non-inverted''' : allow use standard polarity serial receivers (Spektrum, FlyElectric...)
* '''RX5_POL(PA8) = 1''' => R/C serial (Rx5) is '''inverted''' : allow use of S.BUS protocol compatible receivers (Futaba, FrSky,...)
(see [[RC_Receivers_and_Radios | R/C Receivers and Radios page]] for serial compatible receiver)

=== Power Switch ===

'''5V''' power output pin on '''AUX connector''' ("5Vaux",#2) '''can be switched ON and OFF''' on demand using APSW (MCU GPIO output PB12).
* APSW(PA15) = 0 => 5V Aux OFF
* APSW(PA15) = 1 => 5V Aux ON (default)
The internal switch TPS2051B is designed to withstand 500mA continuous current and is '''short-circuit and thermally protected'''. 
(see [http://www.ti.com/product/tps2051b TPS2051B] datasheet for recommended operation conditions)

Editing...

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

<div style="float: right; width: 100%">
[[Image:LinAM_V4_PINOUT.jpeg|900px]]
</div>

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''POWER IN'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||VBAT||PWR||V_BATT POWER INPUT
|-
|M||CUR_MEAS||IO||General Purpose I/O(PC0) or ADC_3 Input for current.
|-
|T||GND||PWR||common ground
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''AUX'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||5VAUX||PWR||5V from autopilot through [[#Power Switch | Power Switch]]
|-
|M||RESET||IN||MCU Reset
|-
|T||GND||PWR||common ground
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''SERVO1/2/3/4/5/6/7/8'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||SRVx||OUT||Servo signal (PWM)
|-
|M||SERVO_V||PWR||Servo Bus Voltage Rail
|-
|T||GND||PWR||common ground
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''SBUS/Satellite'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||RX5||IN||UART2 Serial Input (5V Tolerant) through [[#R/C Serial|controlled inverter]]
|-
|M||+5VDC||PWR||5V Rail from autopilot
|-
|T||GND||PWR||common ground
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''PPM'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||RX5||IN||PPM Stream from R/C Receiver or PPM Encoder Board (5V tolerant)
|-
|M||+5VDC||PWR||5V Rail from autopilot
|-
|T||GND||PWR||common ground
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''ADC/IO'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||ADC2||IO||General Purpose I/O(also spektrum bind pin,PC3) or ADC_2 Input
|-
|M||+5VDC||PWR||5V Rail from autopilot
|-
|T||GND||PWR||common ground
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''LOG'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||TX3||OUT||USART3 Serial Output (3.3V level)
|-
|M||+5VDC||PWR||5V Rail from autopilot
|-
|T||GND||PWR||common ground
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''TELEM'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||TX3||OUT||USART3 Serial Output (3.3V level)
|-
|M||RX3||IN||USART3 Serial Input (3.3V level,Pullup(4.7K) to 3.3V)(5V tolerant)
|-
|T||GND||PWR||common ground
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''SWD'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||SWDCLK||IN||Serial Wire Clock (3.3V level)
|-
|M||SWDIO||IO||Serial Wire Data Input/Output (3.3V level)
|-
|T||GND||PWR||common ground
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''CAMERA'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||SW||OUT||Connect to camera ON/OFF (PB5,control a PhotoMOS relay)
|-
|M||SHUT||OUT||Connect to camera shutter (PB4,control a PhotoMOS relay)
|-
|T||COM||PWR||Connect to camera ground (PhotoMOS relay common)
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''CAN/I2C'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||CANH||IO||CANL (5V level)
|-
|M||CANL||IO||CANL (5V level)
|-
|T||GND||PWR||common ground
|}

== Pictures ==
<gallery>
Image:LinAM_V4_PCB_3D_top_view.jpeg|LinAM V4 PCB 3D top view
Image:LinAM_V4_PCB_3D_bottom_view.jpeg|LinAM V4 PCB 3D bottom view
Image:LinAM_V4_IMU_Vertical_Board.jpeg|LinAM V4 IMU Vertical Board
Image:LinAM_V4_GPS_AND_AIRSPEED_connector.png|LinAM V4 GPS AND AIRSPEED CONNECTOR
Image:LinAM_V4_PIN.jpeg|LinAM V4 PIN CONNECTOR
Image:LinAM_IMU_V3.jpeg|LinAM V3 IMU BOARD
</gallery>

= Examples of Airborne Equipment Electrical Connections =
Editing...

= Programming =

Editing...

LinAM autopilot can reprogrammed in two different ways:

* using the MCU native (embedded in rom) DFU USB bootloader over the on-board USB header (so pre-loading an "external" bootloader is useless)
** required hardware : usb cable with usb-mini connector
** required software : dfu_util tool (present in ubuntu repository)
* using the SWD (Serial Wire Debug) connector
** required hardware : usb cable with usb-mini connector, molex to 2.54mm pitch pin cable, swd part of a cheap stm32 evaluation board (any discovery board, start @ 8$)
** required software : st_flash and st_util, have to be compiled from source (https://github.com/texane/stlink)

= Mechanical Dimensions =
Editing...

= Schematics =

Editing...

= Source code =

Available in latest git master branch

[[Category:Autopilots]]

LinAM V4

2015-07-05T08:17:48Z

KylinUAS: /* Pinout */

{| align=right
|-
|<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Autopilots</categorytree>
|}
<div style="float: right; width: 65%">
[[Image:LinAM V4 BOX1.jpeg|350px|LinAM V4 BOX1]]
[[Image:LinAM V4 BOX2.png|400px|LinAM V4 BOX2]]
</div>
__TOC__

= LinAM V4 =
Editing...

== Overview ==

LinAM V4 is based on the 64 pins STM32F405RGT6 Cortex M4 168MHz processor featuring a Floating point unit (FPU), up to 192k of RAM and 1024k of FLASH.
* STM32 microcontroller datasheet with 1024kB flash and up to 192kB RAM
* 9 DOF integrated IMU based: '''ADXRS620BBGZ''' Gyro sensor and '''MXR9150MZ''' Accelerometer with 16 bit ADC ,'''HMC5983''' magnet field sensor.
* high precision barometer/altimeter '''MS5611-01BA03'''(I2C).
* Onboard U-Blox GPS '''MAX-M8Q'''.
* Onboard differential pressure sensor '''MPXV5004DP''' (for airspeed) with 16 bit ADC
* 2 x 3.3V TTL UART (5V tolerant)
* 1 x USB : DFU mode (download) or USB storage (direct access to MicroSD card)
* 8 x Servo PWM outputs
* 1 x R/C receiver PPM frame input
* 1 x R/C receiver serial input with inverter (Futaba S.BUS, Spektrum, etc.)
* 1 x [http://en.wikipedia.org/wiki/I2c I2C] bus
* 1 x CAN bus
* SWD programming/debugging interface.
* 4 x Auxiliary I/O (General Purpose and/or ADC and/or servo PWM).
* 2 x isolated IO for camera control (POWER and SHUTTER).
* Up to 35V (8S LiPo) input power control unit
* Up to 2.5A load current on 5V line
* 1 x 5v/500mA power switch
* 4 x status LEDs
* 20 grams
* 65mm x 45mm
* 4 layers PCB design
* the box is 89mm x 51mm x 25mm

So, except for a Modem unit with the '''LinAM''' you have all necessary sensors for full features all in one Rotorcraft or Fixedwing solution.

== Hardware Revision History ==
{|border="1" cellspacing="0" style="text-align:center" cellpadding="6"
!''Version #''!!''Release Date''!!''Release Notes''
|-
|v1.00||07/2014||Initial release of LinAM
|-
|v2.00||11/2014|| LinAM V2
|-
|v3.00||02/2015|| LinAM V3
|-
|v4.00||07/2015|| LinAM V4
|}

== Detailed Features ==

=== 9 DOF IMU ===
* '''ADXRS620BBGZ''' Gyro sensor : quality Gyroscope sensor from Analog Device, 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.

* '''MXR9150MZ''' Accelerometer: 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.

* '''HMC5983''' magnet field sensor: Replace HMC5883L temperature compensation triaxial compass.

=== USB Modes ===

* usb plugged before autopilot is powered : enter DFU mode to be flashed

=== SWD: Serial Wire Debug ===
permits flash and source level debugging via swd part of cheap discovery card, or via more capable, fastest, more expensive probe like black magic probe

=== R/C Serial ===

In addition to the classic PPM input, that mostly require receiver modification, one pin of the R/C connector is routed to the MCU UART5 receive input through a '''controlled inverter'''. 
This new feature allow '''direct connection''' (3 pin) of several brand off-the-shelf receivers '''without hardware modification''' or external encoder board.
* '''RX5_POL(PA8) = 0''' => R/C serial (Rx5) is '''non-inverted''' : allow use standard polarity serial receivers (Spektrum, FlyElectric...)
* '''RX5_POL(PA8) = 1''' => R/C serial (Rx5) is '''inverted''' : allow use of S.BUS protocol compatible receivers (Futaba, FrSky,...)
(see [[RC_Receivers_and_Radios | R/C Receivers and Radios page]] for serial compatible receiver)

=== Power Switch ===

'''5V''' power output pin on '''AUX connector''' ("5Vaux",#2) '''can be switched ON and OFF''' on demand using APSW (MCU GPIO output PB12).
* APSW(PA15) = 0 => 5V Aux OFF
* APSW(PA15) = 1 => 5V Aux ON (default)
The internal switch TPS2051B is designed to withstand 500mA continuous current and is '''short-circuit and thermally protected'''. 
(see [http://www.ti.com/product/tps2051b TPS2051B] datasheet for recommended operation conditions)

Editing...

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

<div style="float: right; width: 100%">
[[Image:LinAM_V4_PINOUT.jpeg|900px]]
</div>

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''POWER IN'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||VBAT||PWR||V_BATT POWER INPUT
|-
|M||CUR_MEAS||IO||General Purpose I/O(PC0) or ADC_3 Input for current.
|-
|T||GND||PWR||common ground
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''AUX'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||5VAUX||PWR||5V from autopilot through [[#Power Switch | Power Switch]]
|-
|M||RESET||IN||MCU Reset
|-
|T||GND||PWR||common ground
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''SERVO1/2/3/4/5/6/7/8'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||SRVx||OUT||Servo signal (PWM)
|-
|M||SERVO_V||PWR||Servo Bus Voltage Rail
|-
|T||GND||PWR||common ground
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''SBUS/Satellite'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||RX5||IN||UART2 Serial Input (5V Tolerant) through [[#R/C Serial|controlled inverter]]
|-
|M||+5VDC||PWR||5V Rail from autopilot
|-
|T||GND||PWR||common ground
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''PPM'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||RX5||IN||PPM Stream from R/C Receiver or PPM Encoder Board (5V tolerant)
|-
|M||+5VDC||PWR||5V Rail from autopilot
|-
|T||GND||PWR||common ground
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''ADC/IO'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||ADC2||IO||General Purpose I/O(also spektrum bind pin,PC3) or ADC_2 Input
|-
|M||+5VDC||PWR||5V Rail from autopilot
|-
|T||GND||PWR||common ground
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''LOG'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||TX3||OUT||USART3 Serial Output (3.3V level)
|-
|M||+5VDC||PWR||5V Rail from autopilot
|-
|T||GND||PWR||common ground
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''TELEM'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||TX3||OUT||USART3 Serial Output (3.3V level)
|-
|M||RX3||IN||USART3 Serial Input (3.3V level,Pullup(4.7K) to 3.3V)(5V tolerant)
|-
|T||GND||PWR||common ground
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''SWD'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||SWDCLK||IN||Serial Wire Clock (3.3V level)
|-
|M||SWDIO||IO||Serial Wire Data Input/Output (3.3V level)
|-
|T||GND||PWR||common ground
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''CAMERA'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||SW||OUT||Connect to camera ON/OFF (PB5,control a PhotoMOS relay)
|-
|M||SHUT||OUT||Connect to camera shutter (PB4,control a PhotoMOS relay)
|-
|T||COM||PWR||Connect to camera ground (PhotoMOS relay common)
|}

{|border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''CAN/I2C'''
!width="7%"|''Pin Pos''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''
|-
|B||CANH||IO||CANL (5V level)
|-
|M||CANL||IO||CANL (5V level)
|-
|T||GND||PWR||common ground
|}

== Pictures ==
<gallery>
Image:LinAM_V4_PCB_3D_top_view.jpeg|LinAM V4 PCB 3D top view
Image:LinAM_V4_PCB_3D_bottom_view.jpeg|LinAM V4 PCB 3D bottom view
Image:LinAM_V4_IMU_Vertical_Board.jpeg|LinAM V4 IMU Vertical Board
Image:LinAM_V4_GPS_AND_AIRSPEED_connector.png|LinAM V4 GPS AND AIRSPEED CONNECTOR
Image:LinAM_V4_PIN.jpeg|LinAM V4 PIN CONNECTOR
Image:LinAM_IMU_V3.jpeg|LinAM V3 IMU BOARD
</gallery>

= Programming =

Editing...

LinAM autopilot can reprogrammed in two different ways:

* using the MCU native (embedded in rom) DFU USB bootloader over the on-board USB header (so pre-loading an "external" bootloader is useless)
** required hardware : usb cable with usb-mini connector
** required software : dfu_util tool (present in ubuntu repository)
* using the SWD (Serial Wire Debug) connector
** required hardware : usb cable with usb-mini connector, molex to 2.54mm pitch pin cable, swd part of a cheap stm32 evaluation board (any discovery board, start @ 8$)
** required software : st_flash and st_util, have to be compiled from source (https://github.com/texane/stlink)

= Mechanical Dimensions =
Editing...

= Schematics =

Editing...

= Source code =

Available in latest git master branch

[[Category:Autopilots]]

LinAM V4

2015-07-02T15:20:15Z

KylinUAS: Add New Autopilot LinAM V4

[[Autopilots_Chinese|Chinese 中文]]
__NOTOC__
__NOEDITSECTION__

{|style="border-spacing:8px;margin:0px -8px" class="MainPageBG" style="width:100%;border:1px solid #9999bf;background-color:#f5fffa;vertical-align:top;color:#000; text-align: left;"
|-valign="top"
|
<h3 style="-moz-border-radius-topright: 0.7em;
background:#cedff2;margin:-2px;padding:4px;">
[[Image:favicon32.png|32px]] Autopilots
</h3>
<div style="padding:6px;">
{{Autopilots}}
</div>

| class="MainPageBG" style="width:70%;border:1px solid #cedff2;background-color:#f5fffa;vertical-align:top"|
{|width="100%" cellpadding="2" cellspacing="5" style="vertical-align:top;background-color:#f5fffa"
|-valign="top"
| <h2 style="margin:0;background-color:#cef2e0;font-size:120%;font-weight:bold;border:1px solid #a3bfb1;text-align:left;color:#000;padding:0.2em 0.4em;">Paparazzi Autopilots</h2>
|-
|Hardware support for Autopilot versions currently in use.
|-
|[[Image:tiny13_family_top_sm.jpg|center|400px|Tiny 1.1 autopilots on the "assembly line"]]
|-
|One of the great advantages of Paparazzi is support for multiple hardware designs. The old Paparazzi board where based around ATMega MCUs. The current autopilots are designed around two primary processors:
*STM32 series microcontrollers
*LPC21xx series microcontrollers
There are active and current autopilots designs using both architectures. Not all autopilots have the same capabilities, peripherals or features, but each has advantages in different applications.

Currently, boards are designed around the STM32F1 series, but there is future upgrade path capabilities to the F2 and F4 series, giving way to feature rich processors with a variety of peripherals and speeds. Architecture-dependent firmware code is supported in part by [http://www.libopencm3.org libopencm3]. The [[Lisa]] , [[Krooz]] and [[LinAM]] autopilots use the STM32.

The LPC21xx based boards use the LPC2148 and have been flying fixed wing and multi-rotors for many years. This architecture is more mature but at the expense of speed and extra ports available on the newer STM32 series processors. The [[Tiny]] series, [[Booz]], [[TWOG/v1.0 | TWOG]], [[YAPA]], [[Umarim_Lite_v2 | Umarim]] and [[NavGo_v3 | NavGo]] autopilots all use the LPC2148.

Some autopilots have also been designed for close integration with small single-board computers, particularly those based on [[OMAP]] processors such as the [http://www.gumstix.com/ Gumstix] [https://www.gumstix.com/store/index.php?cPath=33 Overo] series. The [[Lisa/L]] and [[Classix]] boards are designed with this in mind, though other autopilots can be easily interfaced. Further information can be found [[OMAP|here]].

A basic feature comparison table is presented to help in the autopilot hardware selection process. Stable tried tested LPC or more cutting edge STM32.

For information regarding architecture and firmware compatibility of various subsystems and modules, please see the appropriate [[Subsystems]] overview and [[Modules_list|Modules List]] pages.

NOTE: The accuracy of this table '''may not be 100% correct''', the best resource is always hardware and software source files and individual autopilot pages.

{| border="1" cellspacing="0" style="text-align:center" cellpadding="2%" width="100%"
|+'''Autopilot1 Feature Matrix'''
| align="center" width="16%" style="background:#f0f0f0;"|'''Feature'''
| align="center" width="7%" style="background:#f0f0f0;"|'''[[Lisa/L|Lisa/L v1.1]]'''
| align="center" width="7%" style="background:#f0f0f0;"|'''[[Lisa/M_v20|Lisa/M v2.0]]'''
| align="center" width="7%" style="background:#f0f0f0;"|'''[[Lisa/S]]'''
| align="center" width="7%" style="background:#f0f0f0;"|'''[[LinAM V4]]'''
| align="center" width="7%" style="background:#f0f0f0;"|'''[[NavStik|NavStik]]'''
| align="center" width="7%" style="background:#f0f0f0;"|'''[[KroozSD|KroozSD]]'''
| align="center" width="7%" style="background:#f0f0f0;"|'''[[Apogee/v1.00|Apogee v1.00]]'''
| align="center" width="7%" style="background:#f0f0f0;"|'''[[Umarim_v10|Umarim v1.0]]'''
| align="center" width="7%" style="background:#f0f0f0;"|'''[[Umarim_Lite_v2|Umarim Lite v2]]'''
| align="center" width="7%" style="background:#f0f0f0;"|'''[[NavGo_v3|NavGo v3]]'''
| align="center" width="7%" style="background:#f0f0f0;"|'''[[Tiny/v2.11|Tiny v2.11]]'''
| align="center" width="7%" style="background:#f0f0f0;"|'''[[TWOG/v1.0|TWOG v1.0]]'''
| align="center" width="7%" style="background:#f0f0f0;"|'''[[YAPA/v2.0|YAPA v2.0]]'''
| align="center" width="7%" style="background:#f0f0f0;"|'''[[HBmini/v2.0]]'''
|-
|style="background:#f0f0f0;"| || align="center" colspan="13"|'''MCU'''
|-
| style="background:#f0f0f0;"|'''Part'''||STM32F103RE||STM32F105RCT6||STM32F103REY6||STM32F405RGT6||STM32F415RG||STM32F405RGT6||STM32F405RGT6||LPC2148||LPC2148||LPC2148||LPC2148||LPC2148||LPC2148||LPC2148
|-
| style="background:#f0f0f0;"|'''Clock'''||72MHz||72MHz||72MHz||168MHz||168MHz||168MHz||168MHz||60MHz||60MHz||60MHz||60MHz||60MHz||60MHz||60MHz
|-
| style="background:#f0f0f0;"|'''Flash'''||512kB||256kB||512kB||1024kB||1024kB||1024kB||1024kB||512kB||512kB||512kB||512kB||512kB||512kB||512kB
|-
| style="background:#f0f0f0;"|'''RAM2'''||64kB||64kB||64kB||192kB||192kB|||128 & 64kB||128 & 64kB||32kB & 8kB||32kB & 8kB||32kB & 8kB||32kB & 8kB||32kB & 8kB||32kB & 8kB||32kB & 8kB
|-
|style="background:#f0f0f0;"| || align="center" colspan="13"|'''Onboard Sensors3'''
|-
| style="background:#f0f0f0;"|'''MEMS IMU'''||no||aspirin||yes||yes||yes||krooz/ext||yes||yes||yes||yes||no||no||no||yes
|-
| style="background:#f0f0f0;"|'''Magnetometer'''|| || ||yes||yes||yes||yes||yes||no||no||yes||no||no||no||yes
|-
| style="background:#f0f0f0;"|'''Barometer'''||yes||yes||yes||yes||yes||yes||yes||yes||no||yes||no||no||no||yes
|-
| style="background:#f0f0f0;"|'''Diff Pressure'''||yes||no||no||yes||optional||no||no||no||no||no||no||no||no||no
|-
| style="background:#f0f0f0;"|'''GPS'''||no||no||yes||yes||optional||no||no||no||no||no||yes||no||no||no
|-
|style="background:#f0f0f0;"| || align="center" colspan="13"|'''Input/Output4 & Communication Interfaces'''
|-
| style="background:#f0f0f0;"|'''UART'''||3 & 1RX||2 & 2RX||1 & 1RX||49||3||3 & 1Rx||2||2||2||1||2||2||2
|-
| style="background:#f0f0f0;"|'''I2C'''||2||1 + 15||18||29||2||2||2||1||2||1||1||1||2
|-
| style="background:#f0f0f0;"|'''SPI'''||2||1||0||19||1||1||1||1||1||1||1||1||1
|-
| style="background:#f0f0f0;"|'''ADC'''||3 (12bit)||3 + 2 (12bit)5||0||29||4 + 1 (12bit)5||0 + 3 (12bit)||0 + 4 (10bit)||86||0 + 4 (10bit)6||0 + 1 (10bit)6||8 (10bit)||6 (10bit)||8 (10bit)(16bit)
|-
| style="background:#f0f0f0;"|'''PWM'''||6||6 + 25||6||69||10 + 15||6 + 1||6||6||0 + 15||8||8||10||10
|-
| style="background:#f0f0f0;"|'''PPM Output'''||no||no||no||no||no||no||no||no||no||1||1||no||
|-
| style="background:#f0f0f0;"|'''PPM Capture'''||1||0 + 15||1||69||1||1 + 15||1 + 15||1 + 15||1||1||1||1
|-
| style="background:#f0f0f0;"|'''R/C serial'''|| ||2||1||19|| ||1 (standard & S.BUS)|| || || || || || ||
|-
| style="background:#f0f0f0;"|'''GPIO7'''||?||1||0||?||2 + 15||0 + 4||0 + 46||0 + 46||0 + 26||2||2||1||11
|-
| style="background:#f0f0f0;"|'''Onboard LEDs'''||8||5||4||3||3||4||2||2||4||3||3||3||2
|-
| style="background:#f0f0f0;"|'''USB Peripheral'''||Onboard USB JTAG + UART||bootloader||no||DFU bootloader||bootloader||DFU bootloader + USB storage||bootloader||bootloader||bootloader||bootloader||bootloader||bootloader||bootlader
|-
| style="background:#f0f0f0;"|'''CAN'''||1||1||1||no||no||no||no||no||no||no||no||no||
|-
| style="background:#f0f0f0;"|'''MODEM connector'''|| || || || ||Xbee||no||no||no||no||no||no||Xbee||
|-
|style="background:#f0f0f0;"| || align="center" colspan="13"|'''Onboard Peripherals'''
|-
| style="background:#f0f0f0;"|'''SD card/interface'''|| || || ||yes/SPI||yes/SPI||yes/SDIO + USB storage||no||no||no||no||no|| ||
|-
| style="background:#f0f0f0;"|'''RTC'''|| || || || || ||yes + backup cap.||no||no||no||no||no|| ||
|-
| style="background:#f0f0f0;"|'''Others'''||Overo w/ I/O incl. USB Host||Aspirin footprint, JTAG header|| ||Overo, 16Mb SPI Flash, HDMI with JTAG+2xUART||On-board micro-USB B header||On-board mini-USB B header|| ||On-board mini-USB B header|| || || ||RS232 options||Buzzer
|-
|style="background:#f0f0f0;"| || align="center" colspan="13"|'''Program & Debug Interface'''
|-
| style="background:#f0f0f0;"|''' '''||USB (luftboot)+ JTAG + UART||USB (luftboot)+ JTAG + UART|| SWD + UART || USB + JTAG(HDMI) + UART || ||USB(DFU) + SWD||USB (pprz bootloader)||USB (pprz bootloader)||USB (pprz bootloader)||USB (pprz bootloader)||USB (pprz bootloader)||USB (pprz bootloader)||JTAG
|-
|style="background:#f0f0f0;"| || align="center" colspan="13"|'''Power Management'''
|-
| style="background:#f0f0f0;"|'''Supply Input'''||6.1V - 18V||5V - 16V||2.3V - 5.5V||3.5V - 14V9||7V - 32V||5.5V - 17V||5.5V - 17V||5.5V - 17V||5.5V - 16V||6.1V - 18V||6.1V - 18V||6.1V - 18V||6.1-18V
|-
| style="background:#f0f0f0;"|'''Supply Output'''||2.25@5V, 2.25A@3.3V, Other||500mA@3.3V, 250mA@5V||1A@3.3V||3.3V ?||1.5A@3.3V, 5A@5V||1A@3.3V, 1.5A@5V||1A@3.3V, 1.5A@5V||1A@3.3V, 1.5A@5V||1A@3.3V, 1.5A@5V||1A@3.3V, 2.25A@5V||1A@3.3V, 2.25A@5V||2x 1A@3.3V, 2.25A@5V||1A@3.3V, 2.25A@5V
|-
| style="background:#f0f0f0;"|'''Software Switch'''||2||no||1||4||no||1 (5V)||no||no||no||1||1||1||4
|-
|style="background:#f0f0f0;"| || align="center" colspan="13"|'''Mechanical'''
|-
| style="background:#f0f0f0;"|'''Size'''||~100mm x ~50mm||34mm x 60mm x 10mm||20mm x 20mm x 5mm||?9||50mm x 60mm x 10mm||53 x 25 x 9mm (shares the same external dimensions as UmarimLite)||56mm x 25mm||53mm x 25mm||35mm x 35mm||70.8mm x 40mm||40.2mm x 30.5mm||80.0mm x 40.0mm?||57x30mm
|-
| style="background:#f0f0f0;"|'''Weight'''||?||9.9g - 10.8g||2g||?9||20g - 40g||10g||9g||8g||?||24g||8g||23g w/ XBee?||30
|-
| style="background:#f0f0f0;"|'''Connector Style'''||Picoblade||Picoblade & 0.1" Servo||0.05" header||?9||Picoblade & 0.1" Servo||Picoblade||Picoblade||Picoblade||Picoblade||Picoblade||Picoblade||0.1" Headers||Picoblade & 0.1" Servo
|-
| style="background:#f0f0f0;"|'''PCB Style'''||4-layer||4-layer||6-layer||?||2-layer||4-layer||4-layer||4-layer||4-layer||2-layer||2-layer||2-layer||4-layer
|-
| style="background:#f0f0f0;"|'''Mounting Holes'''||4x M3||4x 2mm||no||4x ?||4x M3||4x 2mm (shares the same mounting points as UmarimLite)||4x 2mm||4x 2mm||4x 2mm||no||no||4x M3||4xM2
|-
|style="background:#f0f0f0;"| || align="center" colspan="12"|'''Comments'''
|-
| style="background:#f0f0f0;"|'''Comments'''||IMU and Overo Mount Location, Many Features|| || ||Overo can be mount, Cortex™-M4 168MHz processor with FPU unit, onboard IMU, microSD card slot, 16Mb SPI Flash, onboard GPS, onboard speed sensor||High speed Cortex™-M4 168MHz processor with FPU unit, IMU, microSD card slot, OSD, onboard XBee connector||Cortex-M4 MCU, 9DOF IMU + Baro, Hi-speed microSD logging + USB storage mode, S.BUS compatible, small and lightweight ||Small Dimensions, narrow fuselage form factor, IMU||Smallest Dimensions, IMU, basic version of Umarim||Small Dimensions, IMU, magnetometer & high sensitivity Barometer; designed for small rotorcraft||Onboard u-blox GPS, designed for easy DIY assembly (same as TWOG)||Basic, no onboard sensors (all external for expandability)||Specially designed to work with rs232 sensors such as XSens Mit-G/Crossbow NAV420/ig500/3DM-GX3/DMS-SGP02/MGL-sp-5. Onboard XBee connector|| can use mpu6050 or mpu6000
|-
| style="background:#f0f0f0;"|'''Typical Usage'''||Advanced payload and controls development using Gumstix; fixed-wing or rotorcraft||Small, general purpose w/ IMU; fixed-wing or rotorcraft|| || ||High integrated, high productivity board w/ IMU, microSD card, OSD and XBee; rotorcraft or fixed-wing||Small and powerful general purpose ;fixed-wing||Small, general purpose w/ IMU; fixed-wing||Small, general purpose w/ IMU; fixed-wing||Small, general purpose w/ IMU; rotorcraft||Small, general purpose w/ GPS; fixed-wing with external IR or IMU||Small, general purpose; fixed wing with all external sensors||0.1" headers means easier wiring, at the cost of weight||For all kind of aircarft
|-
| style="background:#f0f0f0;"|'''Date Introduced'''||Summer 2010||Winter 2012||Summer 2013||Summer 2013||Spring 2013||Summer 2013||Fall 2011||Summer 2012||Summer 2012||Fall 2007||Spring 2008||Spring 2011||Winter 2012
|-
| style="background:#f0f0f0;"|'''Previous Versions'''||[[Lisa/L]] v1.0||[[Lisa/M_v10|Lisa/M v1.0]]|| || ||[[Krooz|Krooz]]|| || || || ||[[Tiny/v1.1|Tiny v1.1]], [[Tiny/v0.99|Tiny v0.99]]|| ||[[YAPA/v1.0|YAPA v1.0]]||
|}

'''Notes:'''

'''1.''' Only the newest revisions of the more commonly used autopilots are listed

'''2.''' The extra 8kB of RAM on the LPC2148 shared with the USB DMA

'''3.''' The onboard sensors are almost always supplemented with external sensors. For example, TWOG can use an external IMU or IR sensors, and also needs an external GPS.

'''4.''' Input/Outputs listed are generally those easily accessible on regular autopilot connectors, customization/hacks can modify available I/O, for example free an extra I2C on Tiny and TWOG

'''5., 6.''' Some features use shared resources - denoted by X + Y where Y is shared - and cannot be used simultaneously

'''5.''' Lisa/M v2.0 shared resources include: one I2C is shared with 2 PWM outputs, two ADCs are shared with LEDs, one RX only UART is shared with the PPM capture

'''6.''' Umarim v1.0 shared resources include: 4 ADCs are shared with 4 GPIOs

'''7.''' Usually other unused pins can be used for additional GPIO with some code modifications

'''8.''' Many of the pins have multiple purposes. Servo 5&6 can be used for i2c even though there is no dedicated connector.

'''9.''' Depending on the breakout board on the autopilot which outputs/inputs are made available.

|-
|<h2>Schematics, CAD files, Gerber files, BOM release strategy</h2>
|-
|<h3>About the hardware development and release process.</h3>

[https://github.com/paparazzi/paparazzi-hardware Files needed to create the hardware can be found here]. It is always good to remind oneself of the email Antoine once wrote in the mailing list before you want to start producing your own PCB's.

8 June 2011 13:25:47 Antoine Drouin wrote on the mailing list:

I've started this project together with Pascal 8 years ago and since then I have dedicated my time to try and make it successful. I'm utterly convinced of the benefits of open source, but observing how Paparazzi grew over time, I came to the conclusion that hardware is a bit different than software... "gcc tiny.brd" is not going to make a board magically appear on your desktop.

I'll list here some of my arguments in favor of releasing CAD files after the board is mature.

# Unlike software, where an unskilled user can type make and get a piece of complex software to successfully build, assembling hardware requires tools and skills. Providing gerbers and BOM have lured a bunch of new users into believing otherwise and has created tons of frustration. I've myself fixed a number of badly assembled boards and I even recall that while helping debugging a board (so after assembly), discovering that the person had manufactured two layers PCBs instead of four layers. As the technology of the autopilot increases, this problem becomes more and more important.
# The success of the project depends on the availability of affordable hardware. The price of hardware is directly and exponentially dependent on the number of manufactured units. If ten persons manufacture 10 boards each, the cost will be much higher than if one person manufactures 100.
# Last and not least, the quality of assembly also depends very much on the number of manufactured units. Good quality can only be achieved through the use of automated placing and soldering, and those processes can only be used if the number of units reach a certain amount.

|}
|}

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