PaparazziUAV - User contributions [en]

KroozSD

2017-02-21T15:20:26Z

Softsr: Added some new Youtube links

{| 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:KroozSD_top_bott.jpg|292px|The Krooz Autopilot]]
[[Image:KroozSD_bott.jpg|200px|The Krooz Autopilot]]
[[Image:KroozSD_top.jpg|200px|The Krooz Autopilot]]
</div>
__TOC__

There is an alternative version of the KroozSD available - the <b>KroozSD Big Rotorcraft Edition (BRE)</b>. Equipped with MXR9500 quality acceleration sensor from Memsic sensing solutions, it brings one of the best motion sensing performances and vibration immunities in it's class. It ensures much better flight stability and higher immunity to vibration noisy aircrafts. There also added an SWD programming/debugging interface connector to simplify the development of high complicated algorithms.
[[File:KroozSD_R_Edition_Bott.png|300px]]
[[File:KroozSD_R_Edition_Top.png|300px]]

Here is a new boards [http://youtu.be/nJCtAmrrZtU test flight video], made in a pretty windy day.

= Overview =
'''KroozSD''' UAV autopilot board is an all in one rotorcraft solution, with a wide variety of sensors, modules and units on one board in market usual size.

== Features ==
'''KroozSD''' is based on the 64 pins STM32F405RGT6 [http://www.st.com/internet/mcu/product/252144.jsp Cortex M4] 168MHz processor featuring a Floating point unit (FPU), up to 192k of RAM and 1024k of FLASH.

* STM32 microcontroller [http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00037051.pdf datasheet] with 1024kB flash and up to 192kB RAM
* Onboard microSD card slot (SPI interface)
* [http://www.invensense.com/mems/gyro/mpu6050.html MPU6050 Gyro/Accelerometer sensor] and [http://www.memsic.com/userfiles/files/Datasheets/Accelerometer-Datasheets/MXR9500GM__RevD.pdf MXR9500 Accelerometer] with 16 bit ADC (Big Rotorcraft Edition).
* [http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/HMC5883L_3-Axis_Digital_Compass_IC.pdf HMC5883] magnet field sensor.
* [http://www.meas-spec.com/downloads/MS5611-01BA03.pdf MS5611] high precision pressure sensor.
* [ftp://ftp1.digi.com/support/documentation/90000976_C.pdf XBee Pro] module on board connector.
* [http://datasheets.maximintegrated.com/en/ds/MAX7456.pdf MAX7456] OSD module for mixing in a flight data into a camera video screen (using 4 pin connector)
* 3 x 3.3V TTL UART (5V tolerant)
* 11 x Servo PWM outputs (or 10 if using PPM output receiver)
* 2 x [http://en.wikipedia.org/wiki/I2c I<sup>2</sup>C] 5V bus
* 1 x SPI bus
* 5 x Analog input channels
* 1 x Micro USB
* Extra camera control 6 pin connector for flexible camera use
* 3 x status LEDs with attached test point
* Up to 35V (8S LiPo) input power control unit
* Up to 1,5A load current on 3,3V line
* Up to 5A load current on 5V line
* 50mm x 60mm x 10mm
* 2 layers PCB design

So, except for a GPS unit with the '''KroozSD''' you have all necessary sensors for full features all in one rotorcraft solution.

== Flight videos ==
Here you can see some example flight videos, representing basic KroozSD flight properties:

[https://youtu.be/vUbc73-x9sE 2 hours 9 minutes 37 seconds multicopter flight time record with KroozSD]

[https://youtu.be/OrPo1fjULk0 KroozSD flight performance on endurance octocopter with payload]

[http://youtu.be/oBh0t4H2l6A KroozSD windy weather flight with autonomous landing]

[http://youtu.be/nJCtAmrrZtU KroozSD Big Rotorcraft Edition heavy wind flight]

[http://youtu.be/V4VPffMW2RY KroozSD Big Rotorcraft Edition 3 kilogram payload] on the big ST800 hexarotor frame, takeoff and automatic landing detection

== Pinout ==
[[File:KroozSD_top_dscr.png|800px]]

== Usage scenarios ==
'''KroozSD''' can be used in different telemetry versions:
* with an XBee wireless module connected to the on-board XBee connector
[[Image:KroozSD_xbee.jpg|250px|The Krooz Autopilot]]
* or without any on-board telemetry solution, with a possibility to connect other telemetry link over one of the UART connectors.

The following picture shows the usage of KroozSD board with I2C bus motor controllers and two camera mount stabilization servos:
[[Image:KroozSD_usage_1.png|750px|The Krooz Autopilot]]

Next picture shows same configuration with HOTT telemetry connection:
[[Image:KroozSD_usage_HOTT.png|750px|The Krooz Autopilot]]

== Mechanical Dimensions ==
[[File:KroozSD_top_dim.png|500px]]

= Schematics =
[[Image:Schematics_KroozSD.jpg|250px|The Krooz Schematics]]

= Programming =
The '''KroozSD''' autopilot can beprogrammed in different ways:
* using the pre-loaded KroozDFU USB bootloader over the on-board USB header
* using the default STM32 serial bootloader over the UART3 connector

== Bootloader ==
The '''KroozSD''' uses an own KroozDFU bootloader (based on [https://github.com/libopencm3/libopencm3 libopencm3] project).
You can find it [https://github.com/softsr/libopencm3/tree/master/examples/stm32/f4/krooz/usb_dfu here], clone to your PC an build or use a precompiled [https://github.com/softsr/libopencm3/downloads binary file] to upload. However the KroozSD board is shipped with the KroozDFU bootloader by default.

== Source code ==
The '''KroozSD''' source code is based on Paparazzi master git branch, and ported on the STM32F4 Cortex™-M4 processor family.
It is available from [https://github.com/softsr/paparazzi/tree/krooz_port here]

== Where to buy ==
If you want to buy the KroozSD board, just write me an Email on:
softsr@yahoo.de

[[Category:Autopilots]]

KroozSD

2017-02-21T15:08:25Z

Softsr: KroozSD BRE isn't new anymore

{| 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:KroozSD_top_bott.jpg|292px|The Krooz Autopilot]]
[[Image:KroozSD_bott.jpg|200px|The Krooz Autopilot]]
[[Image:KroozSD_top.jpg|200px|The Krooz Autopilot]]
</div>
__TOC__

There is an alternative version of the KroozSD available - the <b>KroozSD Big Rotorcraft Edition (BRE)</b>. Equipped with MXR9500 quality acceleration sensor from Memsic sensing solutions, it brings one of the best motion sensing performances and vibration immunities in it's class. It ensures much better flight stability and higher immunity to vibration noisy aircrafts. There also added an SWD programming/debugging interface connector to simplify the development of high complicated algorithms.
[[File:KroozSD_R_Edition_Bott.png|300px]]
[[File:KroozSD_R_Edition_Top.png|300px]]

Here is a new boards [http://youtu.be/nJCtAmrrZtU test flight video], made in a pretty windy day.

= Overview =
'''KroozSD''' UAV autopilot board is an all in one rotorcraft solution, with a wide variety of sensors, modules and units on one board in market usual size.

== Features ==
'''KroozSD''' is based on the 64 pins STM32F405RGT6 [http://www.st.com/internet/mcu/product/252144.jsp Cortex M4] 168MHz processor featuring a Floating point unit (FPU), up to 192k of RAM and 1024k of FLASH.

* STM32 microcontroller [http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00037051.pdf datasheet] with 1024kB flash and up to 192kB RAM
* Onboard microSD card slot (SPI interface)
* [http://www.invensense.com/mems/gyro/mpu6050.html MPU6050 Gyro/Accelerometer sensor] and [http://www.memsic.com/userfiles/files/Datasheets/Accelerometer-Datasheets/MXR9500GM__RevD.pdf MXR9500 Accelerometer] with 16 bit ADC (Big Rotorcraft Edition).
* [http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/HMC5883L_3-Axis_Digital_Compass_IC.pdf HMC5883] magnet field sensor.
* [http://www.meas-spec.com/downloads/MS5611-01BA03.pdf MS5611] high precision pressure sensor.
* [ftp://ftp1.digi.com/support/documentation/90000976_C.pdf XBee Pro] module on board connector.
* [http://datasheets.maximintegrated.com/en/ds/MAX7456.pdf MAX7456] OSD module for mixing in a flight data into a camera video screen (using 4 pin connector)
* 3 x 3.3V TTL UART (5V tolerant)
* 11 x Servo PWM outputs (or 10 if using PPM output receiver)
* 2 x [http://en.wikipedia.org/wiki/I2c I<sup>2</sup>C] 5V bus
* 1 x SPI bus
* 5 x Analog input channels
* 1 x Micro USB
* Extra camera control 6 pin connector for flexible camera use
* 3 x status LEDs with attached test point
* Up to 35V (8S LiPo) input power control unit
* Up to 1,5A load current on 3,3V line
* Up to 5A load current on 5V line
* 50mm x 60mm x 10mm
* 2 layers PCB design

So, except for a GPS unit with the '''KroozSD''' you have all necessary sensors for full features all in one rotorcraft solution.

== Flight videos ==
Here you can see some example flight videos, representing basic KroozSD flight properties:

[http://youtu.be/oBh0t4H2l6A KroozSD windy weather flight with autonomous landing]

[http://youtu.be/nJCtAmrrZtU KroozSD Big Rotorcraft Edition heavy wind flight]

[http://youtu.be/V4VPffMW2RY KroozSD Big Rotorcraft Edition 3 kilogram payload] on the big ST800 hexarotor frame, takeoff and automatic landing detection

== Pinout ==
[[File:KroozSD_top_dscr.png|800px]]

== Usage scenarios ==
'''KroozSD''' can be used in different telemetry versions:
* with an XBee wireless module connected to the on-board XBee connector
[[Image:KroozSD_xbee.jpg|250px|The Krooz Autopilot]]
* or without any on-board telemetry solution, with a possibility to connect other telemetry link over one of the UART connectors.

The following picture shows the usage of KroozSD board with I2C bus motor controllers and two camera mount stabilization servos:
[[Image:KroozSD_usage_1.png|750px|The Krooz Autopilot]]

Next picture shows same configuration with HOTT telemetry connection:
[[Image:KroozSD_usage_HOTT.png|750px|The Krooz Autopilot]]

== Mechanical Dimensions ==
[[File:KroozSD_top_dim.png|500px]]

= Schematics =
[[Image:Schematics_KroozSD.jpg|250px|The Krooz Schematics]]

= Programming =
The '''KroozSD''' autopilot can beprogrammed in different ways:
* using the pre-loaded KroozDFU USB bootloader over the on-board USB header
* using the default STM32 serial bootloader over the UART3 connector

== Bootloader ==
The '''KroozSD''' uses an own KroozDFU bootloader (based on [https://github.com/libopencm3/libopencm3 libopencm3] project).
You can find it [https://github.com/softsr/libopencm3/tree/master/examples/stm32/f4/krooz/usb_dfu here], clone to your PC an build or use a precompiled [https://github.com/softsr/libopencm3/downloads binary file] to upload. However the KroozSD board is shipped with the KroozDFU bootloader by default.

== Source code ==
The '''KroozSD''' source code is based on Paparazzi master git branch, and ported on the STM32F4 Cortex™-M4 processor family.
It is available from [https://github.com/softsr/paparazzi/tree/krooz_port here]

== Where to buy ==
If you want to buy the KroozSD board, just write me an Email on:
softsr@yahoo.de

[[Category:Autopilots]]

File:Schematics KroozSD.jpg

2016-04-25T17:26:04Z

Softsr: Softsr uploaded a new version of "File:Schematics KroozSD.jpg"

File:Schematics KroozSD.jpg

2016-04-25T17:12:50Z

Softsr: Softsr uploaded a new version of "File:Schematics KroozSD.jpg"

File:Schematics KroozSD.jpg

2016-04-25T17:04:05Z

Softsr: Softsr uploaded a new version of "File:Schematics KroozSD.jpg"

File:Schematics KroozSD.jpg

2016-04-24T12:55:46Z

Softsr: Softsr uploaded a new version of "File:Schematics KroozSD.jpg"

SDLogger SPI Direct

2016-02-04T22:34:56Z

Softsr: Added KroozSD SD logger SPI direct setup

=Introduction=

The direct SPI SD Logger is originally designed to be used with the Lisa/S, but should also be compatible with other supported autopilots. It connects directly to the SPI bus of the autopilot and communicates using the SDCards SPI interface. This method is slower than when using it in SD mode, but the speed is sufficient to log IMU data at 512 Hz.

=Hardware=
[[File:LisaSD.jpeg|thumbnail|Lisa/SD module]]

== Installation ==

The SD Card needs to be connected to the SPI bus of the autopilot. The pinout for an SD Card is shown in the figure.
* VSS = Ground
* VDD = 3.3V
[[File:Microsd_pinout.png|left|microSD pinout ([http://elasticsheep.com/2010/01/reading-an-sd-card-with-an-atmega168/ source])]]

<br clear="all" />

== KroozSD ==

The KroozSD(BRE) board has a built in SD card slot connected over SPI bus to the controller. So all you need is to add the following:
<load name="logger_sd_spi_direct.xml">
<configure name="SDLOGGER_DIRECT_SPI" value="SPI1"/>
<configure name="SDLOGGER_DIRECT_SPI_SLAVE" value="SPI_SLAVE0"/>
<configure name="SDLOGGER_DIRECT_CONTROL_SWITCH" value="RADIO_CAM"/>
<configure name="LOGGER_LED" value="3"/>
</load>
to the modules section of your airframe file, choose the mx-16.xml as radio setup and insert the SD card into the board. In this case the logging should be started/stopped over the 8th channel of your radio control (set the proper switch on the 8th channel of your sender).

== Lisa/SD ==

A SuperbitRF-sized PCB connects the SD card to the Lisa/S. Additionally, this PCB has pads to connect a Deltang R31d RC receiver and a molex connector for general purpose.

[[File:LisaSDback.jpeg|frame|x300px|left|Lisa/SD module with Deltang R31d]]

=Software=

=Retrieving the data=

A logger is of no use if one can not easily retrieve the logged data. To make this a simple reality there is an app for that.

# Connect the FTDI cable to the computer and autopilot.
# Plug the battery or external power to the autopilot.
# Start the logger download tool.

The tool is found in sw/logalizer.

./sdlogger_download -a <AC_ID> -p /dev/ttyACM1 -b 115200
where <AC_ID> is your aircraft ID.

=Using it=

==Example on Lisa/S rotorcraft==

==Exmaple on Lisa/M fixedwing==

[[Category:Modules]]

KroozSD

2014-03-05T18:29:26Z

Softsr: /* New KroozSD Version Available! */

{| 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:KroozSD_top_bott.jpg|292px|The Krooz Autopilot]]
[[Image:KroozSD_bott.jpg|200px|The Krooz Autopilot]]
[[Image:KroozSD_top.jpg|200px|The Krooz Autopilot]]
</div>
__TOC__

= <font color="red">New KroozSD Version Available!</font> =
There is a new version of the KroozSD available - the <b>KroozSD Big Rotorcraft Edition (BRE)</b>. Equipped with MXR9500 quality acceleration sensor from Memsic sensing solutions, it brings one of the best motion sensing performances and vibration immunities in it's class. It ensures much better flight stability and higher immunity to vibration noisy aircrafts. There also added an SWD programming/debugging interface connector to simplify the development of high complicated algorithms.
[[File:KroozSD_R_Edition_Bott.png|300px]]
[[File:KroozSD_R_Edition_Top.png|300px]]

Here is a new boards [http://youtu.be/nJCtAmrrZtU test flight video], made in a pretty windy day.

= Overview =
'''KroozSD''' UAV autopilot board is an all in one rotorcraft solution, with a wide variety of sensors, modules and units on one board in market usual size.

== Features ==
'''KroozSD''' is based on the 64 pins STM32F405RGT6 [http://www.st.com/internet/mcu/product/252144.jsp Cortex M4] 168MHz processor featuring a Floating point unit (FPU), up to 192k of RAM and 1024k of FLASH.

* STM32 microcontroller [http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00037051.pdf datasheet] with 1024kB flash and up to 192kB RAM
* Onboard microSD card slot (SPI interface)
* [http://www.invensense.com/mems/gyro/mpu6050.html MPU6050 Gyro/Accelerometer sensor] and [http://www.memsic.com/userfiles/files/Datasheets/Accelerometer-Datasheets/MXR9500GM__RevD.pdf MXR9500 Accelerometer] with 16 bit ADC (Big Rotorcraft Edition).
* [http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/HMC5883L_3-Axis_Digital_Compass_IC.pdf HMC5883] magnet field sensor.
* [http://www.meas-spec.com/downloads/MS5611-01BA03.pdf MS5611] high precision pressure sensor.
* [ftp://ftp1.digi.com/support/documentation/90000976_C.pdf XBee Pro] module on board connector.
* [http://datasheets.maximintegrated.com/en/ds/MAX7456.pdf MAX7456] OSD module for mixing in a flight data into a camera video screen (using 4 pin connector)
* 3 x 3.3V TTL UART (5V tolerant)
* 11 x Servo PWM outputs (or 10 if using PPM output receiver)
* 2 x [http://en.wikipedia.org/wiki/I2c I<sup>2</sup>C] 5V bus
* 1 x SPI bus
* 5 x Analog input channels
* 1 x Micro USB
* Extra camera control 6 pin connector for flexible camera use
* 3 x status LEDs with attached test point
* Up to 35V (8S LiPo) input power control unit
* Up to 1,5A load current on 3,3V line
* Up to 5A load current on 5V line
* 50mm x 60mm x 10mm
* 2 layers PCB design

So, except for a GPS unit with the '''KroozSD''' you have all necessary sensors for full features all in one rotorcraft solution.

== Flight videos ==
Here you can see some example flight videos, representing basic KroozSD flight properties:

[http://youtu.be/oBh0t4H2l6A KroozSD windy weather flight with autonomous landing]

[http://youtu.be/nJCtAmrrZtU KroozSD Big Rotorcraft Edition heavy wind flight]

[http://youtu.be/V4VPffMW2RY KroozSD Big Rotorcraft Edition 3 kilogram payload] on the big ST800 hexarotor frame, takeoff and automatic landing detection

== Pinout ==
[[File:KroozSD_top_dscr.png|800px]]

== Usage scenarios ==
'''KroozSD''' can be used in different telemetry versions:
* with an XBee wireless module connected to the on-board XBee connector
[[Image:KroozSD_xbee.jpg|250px|The Krooz Autopilot]]
* or without any on-board telemetry solution, with a possibility to connect other telemetry link over one of the UART connectors.

The following picture shows the usage of KroozSD board with I2C bus motor controllers and two camera mount stabilization servos:
[[Image:KroozSD_usage_1.png|750px|The Krooz Autopilot]]

Next picture shows same configuration with HOTT telemetry connection:
[[Image:KroozSD_usage_HOTT.png|750px|The Krooz Autopilot]]

== Mechanical Dimensions ==
[[File:KroozSD_top_dim.png|500px]]

= Schematics =
[[Image:Schematics_KroozSD.jpg|250px|The Krooz Schematics]]

= Programming =
The '''KroozSD''' autopilot can beprogrammed in different ways:
* using the pre-loaded KroozDFU USB bootloader over the on-board USB header
* using the default STM32 serial bootloader over the UART3 connector

== Bootloader ==
The '''KroozSD''' uses an own KroozDFU bootloader (based on [https://github.com/libopencm3/libopencm3 libopencm3] project).
You can find it [https://github.com/softsr/libopencm3/tree/master/examples/stm32/f4/krooz/usb_dfu here], clone to your PC an build or use a precompiled [https://github.com/softsr/libopencm3/downloads binary file] to upload. However the KroozSD board is shipped with the KroozDFU bootloader by default.

== Source code ==
The '''KroozSD''' source code is based on Paparazzi master git branch, and ported on the STM32F4 Cortex™-M4 processor family.
It is available from [https://github.com/softsr/paparazzi/tree/krooz_port here]

== Where to buy ==
If you want to buy the KroozSD board, just write me an Email on:
softsr@yahoo.de

[[Category:Autopilots]]

File:KroozSD usage HOTT.png

2013-12-25T16:54:12Z

Softsr: uploaded a new version of "File:KroozSD usage HOTT.png"

KroozSD

2013-12-23T15:33:12Z

Softsr: /* Flight videos */

{| 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:KroozSD_top_bott.jpg|292px|The Krooz Autopilot]]
[[Image:KroozSD_bott.jpg|200px|The Krooz Autopilot]]
[[Image:KroozSD_top.jpg|200px|The Krooz Autopilot]]
</div>
__TOC__

= <font color="red">New KroozSD Version Available!</font> =
There is a new version of the KroozSD available - the <b>KroozSD Big Rotorcraft Edition</b>. Equipped with MXR9500 quality acceleration sensor from Memsic sensing solutions, it brings one of the best motion sensing performances and vibration immunities in it's class. It ensures much better flight stability and higher immunity to vibration noisy aircrafts. There also added an SWD programming/debugging interface connector to simplify the development of high complicated algorithms.
[[File:KroozSD_R_Edition_Bott.png|300px]]
[[File:KroozSD_R_Edition_Top.png|300px]]

Here is a new boards [http://youtu.be/nJCtAmrrZtU test flight video], made in a pretty windy day.

= Overview =
'''KroozSD''' UAV autopilot board is an all in one rotorcraft solution, with a wide variety of sensors, modules and units on one board in market usual size.

== Features ==
'''KroozSD''' is based on the 64 pins STM32F405RGT6 [http://www.st.com/internet/mcu/product/252144.jsp Cortex M4] 168MHz processor featuring a Floating point unit (FPU), up to 192k of RAM and 1024k of FLASH.

* STM32 microcontroller [http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00037051.pdf datasheet] with 1024kB flash and up to 192kB RAM
* Onboard microSD card slot (SPI interface)
* [http://www.invensense.com/mems/gyro/mpu6050.html MPU6050 Gyro/Accelerometer sensor] and [http://www.memsic.com/userfiles/files/Datasheets/Accelerometer-Datasheets/MXR9500GM__RevD.pdf MXR9500 Accelerometer] with 16 bit ADC (Big Rotorcraft Edition).
* [http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/HMC5883L_3-Axis_Digital_Compass_IC.pdf HMC5883] magnet field sensor.
* [http://www.meas-spec.com/downloads/MS5611-01BA03.pdf MS5611] high precision pressure sensor.
* [ftp://ftp1.digi.com/support/documentation/90000976_C.pdf XBee Pro] module on board connector.
* [http://datasheets.maximintegrated.com/en/ds/MAX7456.pdf MAX7456] OSD module for mixing in a flight data into a camera video screen (using 4 pin connector)
* 3 x 3.3V TTL UART (5V tolerant)
* 11 x Servo PWM outputs (or 10 if using PPM output receiver)
* 2 x [http://en.wikipedia.org/wiki/I2c I<sup>2</sup>C] 5V bus
* 1 x SPI bus
* 5 x Analog input channels
* 1 x Micro USB
* Extra camera control 6 pin connector for flexible camera use
* 3 x status LEDs with attached test point
* Up to 35V (8S LiPo) input power control unit
* Up to 1,5A load current on 3,3V line
* Up to 5A load current on 5V line
* 50mm x 60mm x 10mm
* 2 layers PCB design

So, except for a GPS unit with the '''KroozSD''' you have all necessary sensors for full features all in one rotorcraft solution.

== Flight videos ==
Here you can see some example flight videos, representing basic KroozSD flight properties:

[http://youtu.be/oBh0t4H2l6A KroozSD windy weather flight with autonomous landing]

[http://youtu.be/nJCtAmrrZtU KroozSD Big Rotorcraft Edition heavy wind flight]

[http://youtu.be/V4VPffMW2RY KroozSD Big Rotorcraft Edition 3 kilogram payload] on the big ST800 hexarotor frame, takeoff and automatic landing detection

== Pinout ==
[[File:KroozSD_top_dscr.png|800px]]

== Usage scenarios ==
'''KroozSD''' can be used in different telemetry versions:
* with an XBee wireless module connected to the on-board XBee connector
[[Image:KroozSD_xbee.jpg|250px|The Krooz Autopilot]]
* or without any on-board telemetry solution, with a possibility to connect other telemetry link over one of the UART connectors.

The following picture shows the usage of KroozSD board with I2C bus motor controllers and two camera mount stabilization servos:
[[Image:KroozSD_usage_1.png|750px|The Krooz Autopilot]]

Next picture shows same configuration with HOTT telemetry connection:
[[Image:KroozSD_usage_HOTT.png|750px|The Krooz Autopilot]]

== Mechanical Dimensions ==
[[File:KroozSD_top_dim.png|500px]]

= Schematics =
[[Image:Schematics_KroozSD.jpg|250px|The Krooz Schematics]]

= Programming =
The '''KroozSD''' autopilot can beprogrammed in different ways:
* using the pre-loaded KroozDFU USB bootloader over the on-board USB header
* using the default STM32 serial bootloader over the UART3 connector

== Bootloader ==
The '''KroozSD''' uses an own KroozDFU bootloader (based on [https://github.com/libopencm3/libopencm3 libopencm3] project).
You can find it [https://github.com/softsr/libopencm3/tree/master/examples/stm32/f4/krooz/usb_dfu here], clone to your PC an build or use a precompiled [https://github.com/softsr/libopencm3/downloads binary file] to upload. However the KroozSD board is shipped with the KroozDFU bootloader by default.

== Source code ==
The '''KroozSD''' source code is based on Paparazzi master git branch, and ported on the STM32F4 Cortex™-M4 processor family.
It is available from [https://github.com/softsr/paparazzi/tree/krooz_port here]

== Where to buy ==
If you want to buy the KroozSD board, just write me an Email on:
softsr@yahoo.de

[[Category:Autopilots]]

KroozSD

2013-12-23T15:32:44Z

Softsr: /* Flight videos */

{| 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:KroozSD_top_bott.jpg|292px|The Krooz Autopilot]]
[[Image:KroozSD_bott.jpg|200px|The Krooz Autopilot]]
[[Image:KroozSD_top.jpg|200px|The Krooz Autopilot]]
</div>
__TOC__

= <font color="red">New KroozSD Version Available!</font> =
There is a new version of the KroozSD available - the <b>KroozSD Big Rotorcraft Edition</b>. Equipped with MXR9500 quality acceleration sensor from Memsic sensing solutions, it brings one of the best motion sensing performances and vibration immunities in it's class. It ensures much better flight stability and higher immunity to vibration noisy aircrafts. There also added an SWD programming/debugging interface connector to simplify the development of high complicated algorithms.
[[File:KroozSD_R_Edition_Bott.png|300px]]
[[File:KroozSD_R_Edition_Top.png|300px]]

Here is a new boards [http://youtu.be/nJCtAmrrZtU test flight video], made in a pretty windy day.

= Overview =
'''KroozSD''' UAV autopilot board is an all in one rotorcraft solution, with a wide variety of sensors, modules and units on one board in market usual size.

== Features ==
'''KroozSD''' is based on the 64 pins STM32F405RGT6 [http://www.st.com/internet/mcu/product/252144.jsp Cortex M4] 168MHz processor featuring a Floating point unit (FPU), up to 192k of RAM and 1024k of FLASH.

* STM32 microcontroller [http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00037051.pdf datasheet] with 1024kB flash and up to 192kB RAM
* Onboard microSD card slot (SPI interface)
* [http://www.invensense.com/mems/gyro/mpu6050.html MPU6050 Gyro/Accelerometer sensor] and [http://www.memsic.com/userfiles/files/Datasheets/Accelerometer-Datasheets/MXR9500GM__RevD.pdf MXR9500 Accelerometer] with 16 bit ADC (Big Rotorcraft Edition).
* [http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/HMC5883L_3-Axis_Digital_Compass_IC.pdf HMC5883] magnet field sensor.
* [http://www.meas-spec.com/downloads/MS5611-01BA03.pdf MS5611] high precision pressure sensor.
* [ftp://ftp1.digi.com/support/documentation/90000976_C.pdf XBee Pro] module on board connector.
* [http://datasheets.maximintegrated.com/en/ds/MAX7456.pdf MAX7456] OSD module for mixing in a flight data into a camera video screen (using 4 pin connector)
* 3 x 3.3V TTL UART (5V tolerant)
* 11 x Servo PWM outputs (or 10 if using PPM output receiver)
* 2 x [http://en.wikipedia.org/wiki/I2c I<sup>2</sup>C] 5V bus
* 1 x SPI bus
* 5 x Analog input channels
* 1 x Micro USB
* Extra camera control 6 pin connector for flexible camera use
* 3 x status LEDs with attached test point
* Up to 35V (8S LiPo) input power control unit
* Up to 1,5A load current on 3,3V line
* Up to 5A load current on 5V line
* 50mm x 60mm x 10mm
* 2 layers PCB design

So, except for a GPS unit with the '''KroozSD''' you have all necessary sensors for full features all in one rotorcraft solution.

== Flight videos ==
Here you can see some example flight videos, representing basic KroozSD flight properties:

[http://youtu.be/oBh0t4H2l6A KroozSD windy weather flight with autonomous landing]

[http://youtu.be/nJCtAmrrZtU KroozSD Big Rotorcraft Edition heavy wind flight]

[http://youtu.be/V4VPffMW2RY KroozSD Big Rotorcraft Edition 3 kilogram payload] ona a big ST800 hexarotor frame, takeoff and automatic landing detection

== Pinout ==
[[File:KroozSD_top_dscr.png|800px]]

== Usage scenarios ==
'''KroozSD''' can be used in different telemetry versions:
* with an XBee wireless module connected to the on-board XBee connector
[[Image:KroozSD_xbee.jpg|250px|The Krooz Autopilot]]
* or without any on-board telemetry solution, with a possibility to connect other telemetry link over one of the UART connectors.

The following picture shows the usage of KroozSD board with I2C bus motor controllers and two camera mount stabilization servos:
[[Image:KroozSD_usage_1.png|750px|The Krooz Autopilot]]

Next picture shows same configuration with HOTT telemetry connection:
[[Image:KroozSD_usage_HOTT.png|750px|The Krooz Autopilot]]

== Mechanical Dimensions ==
[[File:KroozSD_top_dim.png|500px]]

= Schematics =
[[Image:Schematics_KroozSD.jpg|250px|The Krooz Schematics]]

= Programming =
The '''KroozSD''' autopilot can beprogrammed in different ways:
* using the pre-loaded KroozDFU USB bootloader over the on-board USB header
* using the default STM32 serial bootloader over the UART3 connector

== Bootloader ==
The '''KroozSD''' uses an own KroozDFU bootloader (based on [https://github.com/libopencm3/libopencm3 libopencm3] project).
You can find it [https://github.com/softsr/libopencm3/tree/master/examples/stm32/f4/krooz/usb_dfu here], clone to your PC an build or use a precompiled [https://github.com/softsr/libopencm3/downloads binary file] to upload. However the KroozSD board is shipped with the KroozDFU bootloader by default.

== Source code ==
The '''KroozSD''' source code is based on Paparazzi master git branch, and ported on the STM32F4 Cortex™-M4 processor family.
It is available from [https://github.com/softsr/paparazzi/tree/krooz_port here]

== Where to buy ==
If you want to buy the KroozSD board, just write me an Email on:
softsr@yahoo.de

[[Category:Autopilots]]

KroozSD

2013-12-23T15:31:23Z

Softsr: /* Flight videos */

{| 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:KroozSD_top_bott.jpg|292px|The Krooz Autopilot]]
[[Image:KroozSD_bott.jpg|200px|The Krooz Autopilot]]
[[Image:KroozSD_top.jpg|200px|The Krooz Autopilot]]
</div>
__TOC__

= <font color="red">New KroozSD Version Available!</font> =
There is a new version of the KroozSD available - the <b>KroozSD Big Rotorcraft Edition</b>. Equipped with MXR9500 quality acceleration sensor from Memsic sensing solutions, it brings one of the best motion sensing performances and vibration immunities in it's class. It ensures much better flight stability and higher immunity to vibration noisy aircrafts. There also added an SWD programming/debugging interface connector to simplify the development of high complicated algorithms.
[[File:KroozSD_R_Edition_Bott.png|300px]]
[[File:KroozSD_R_Edition_Top.png|300px]]

Here is a new boards [http://youtu.be/nJCtAmrrZtU test flight video], made in a pretty windy day.

= Overview =
'''KroozSD''' UAV autopilot board is an all in one rotorcraft solution, with a wide variety of sensors, modules and units on one board in market usual size.

== Features ==
'''KroozSD''' is based on the 64 pins STM32F405RGT6 [http://www.st.com/internet/mcu/product/252144.jsp Cortex M4] 168MHz processor featuring a Floating point unit (FPU), up to 192k of RAM and 1024k of FLASH.

* STM32 microcontroller [http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00037051.pdf datasheet] with 1024kB flash and up to 192kB RAM
* Onboard microSD card slot (SPI interface)
* [http://www.invensense.com/mems/gyro/mpu6050.html MPU6050 Gyro/Accelerometer sensor] and [http://www.memsic.com/userfiles/files/Datasheets/Accelerometer-Datasheets/MXR9500GM__RevD.pdf MXR9500 Accelerometer] with 16 bit ADC (Big Rotorcraft Edition).
* [http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/HMC5883L_3-Axis_Digital_Compass_IC.pdf HMC5883] magnet field sensor.
* [http://www.meas-spec.com/downloads/MS5611-01BA03.pdf MS5611] high precision pressure sensor.
* [ftp://ftp1.digi.com/support/documentation/90000976_C.pdf XBee Pro] module on board connector.
* [http://datasheets.maximintegrated.com/en/ds/MAX7456.pdf MAX7456] OSD module for mixing in a flight data into a camera video screen (using 4 pin connector)
* 3 x 3.3V TTL UART (5V tolerant)
* 11 x Servo PWM outputs (or 10 if using PPM output receiver)
* 2 x [http://en.wikipedia.org/wiki/I2c I<sup>2</sup>C] 5V bus
* 1 x SPI bus
* 5 x Analog input channels
* 1 x Micro USB
* Extra camera control 6 pin connector for flexible camera use
* 3 x status LEDs with attached test point
* Up to 35V (8S LiPo) input power control unit
* Up to 1,5A load current on 3,3V line
* Up to 5A load current on 5V line
* 50mm x 60mm x 10mm
* 2 layers PCB design

So, except for a GPS unit with the '''KroozSD''' you have all necessary sensors for full features all in one rotorcraft solution.

== Flight videos ==
Here you can see some example flight videos, representing basic KroozSD flight properties:

[http://youtu.be/oBh0t4H2l6A KroozSD windy weather flight with autonomous landing]

[http://youtu.be/nJCtAmrrZtU KroozSD Big Rotorcraft Edition heavy wind flight]

[http://youtu.be/V4VPffMW2RY KroozSD Big Rotorcraft Edition 3 kilogram payload], takeoff and automatic landing detection

== Pinout ==
[[File:KroozSD_top_dscr.png|800px]]

== Usage scenarios ==
'''KroozSD''' can be used in different telemetry versions:
* with an XBee wireless module connected to the on-board XBee connector
[[Image:KroozSD_xbee.jpg|250px|The Krooz Autopilot]]
* or without any on-board telemetry solution, with a possibility to connect other telemetry link over one of the UART connectors.

The following picture shows the usage of KroozSD board with I2C bus motor controllers and two camera mount stabilization servos:
[[Image:KroozSD_usage_1.png|750px|The Krooz Autopilot]]

Next picture shows same configuration with HOTT telemetry connection:
[[Image:KroozSD_usage_HOTT.png|750px|The Krooz Autopilot]]

== Mechanical Dimensions ==
[[File:KroozSD_top_dim.png|500px]]

= Schematics =
[[Image:Schematics_KroozSD.jpg|250px|The Krooz Schematics]]

= Programming =
The '''KroozSD''' autopilot can beprogrammed in different ways:
* using the pre-loaded KroozDFU USB bootloader over the on-board USB header
* using the default STM32 serial bootloader over the UART3 connector

== Bootloader ==
The '''KroozSD''' uses an own KroozDFU bootloader (based on [https://github.com/libopencm3/libopencm3 libopencm3] project).
You can find it [https://github.com/softsr/libopencm3/tree/master/examples/stm32/f4/krooz/usb_dfu here], clone to your PC an build or use a precompiled [https://github.com/softsr/libopencm3/downloads binary file] to upload. However the KroozSD board is shipped with the KroozDFU bootloader by default.

== Source code ==
The '''KroozSD''' source code is based on Paparazzi master git branch, and ported on the STM32F4 Cortex™-M4 processor family.
It is available from [https://github.com/softsr/paparazzi/tree/krooz_port here]

== Where to buy ==
If you want to buy the KroozSD board, just write me an Email on:
softsr@yahoo.de

[[Category:Autopilots]]

KroozSD

2013-12-23T15:25:51Z

Softsr: /* Flight videos */

{| 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:KroozSD_top_bott.jpg|292px|The Krooz Autopilot]]
[[Image:KroozSD_bott.jpg|200px|The Krooz Autopilot]]
[[Image:KroozSD_top.jpg|200px|The Krooz Autopilot]]
</div>
__TOC__

= <font color="red">New KroozSD Version Available!</font> =
There is a new version of the KroozSD available - the <b>KroozSD Big Rotorcraft Edition</b>. Equipped with MXR9500 quality acceleration sensor from Memsic sensing solutions, it brings one of the best motion sensing performances and vibration immunities in it's class. It ensures much better flight stability and higher immunity to vibration noisy aircrafts. There also added an SWD programming/debugging interface connector to simplify the development of high complicated algorithms.
[[File:KroozSD_R_Edition_Bott.png|300px]]
[[File:KroozSD_R_Edition_Top.png|300px]]

Here is a new boards [http://youtu.be/nJCtAmrrZtU test flight video], made in a pretty windy day.

= Overview =
'''KroozSD''' UAV autopilot board is an all in one rotorcraft solution, with a wide variety of sensors, modules and units on one board in market usual size.

== Features ==
'''KroozSD''' is based on the 64 pins STM32F405RGT6 [http://www.st.com/internet/mcu/product/252144.jsp Cortex M4] 168MHz processor featuring a Floating point unit (FPU), up to 192k of RAM and 1024k of FLASH.

* STM32 microcontroller [http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00037051.pdf datasheet] with 1024kB flash and up to 192kB RAM
* Onboard microSD card slot (SPI interface)
* [http://www.invensense.com/mems/gyro/mpu6050.html MPU6050 Gyro/Accelerometer sensor] and [http://www.memsic.com/userfiles/files/Datasheets/Accelerometer-Datasheets/MXR9500GM__RevD.pdf MXR9500 Accelerometer] with 16 bit ADC (Big Rotorcraft Edition).
* [http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/HMC5883L_3-Axis_Digital_Compass_IC.pdf HMC5883] magnet field sensor.
* [http://www.meas-spec.com/downloads/MS5611-01BA03.pdf MS5611] high precision pressure sensor.
* [ftp://ftp1.digi.com/support/documentation/90000976_C.pdf XBee Pro] module on board connector.
* [http://datasheets.maximintegrated.com/en/ds/MAX7456.pdf MAX7456] OSD module for mixing in a flight data into a camera video screen (using 4 pin connector)
* 3 x 3.3V TTL UART (5V tolerant)
* 11 x Servo PWM outputs (or 10 if using PPM output receiver)
* 2 x [http://en.wikipedia.org/wiki/I2c I<sup>2</sup>C] 5V bus
* 1 x SPI bus
* 5 x Analog input channels
* 1 x Micro USB
* Extra camera control 6 pin connector for flexible camera use
* 3 x status LEDs with attached test point
* Up to 35V (8S LiPo) input power control unit
* Up to 1,5A load current on 3,3V line
* Up to 5A load current on 5V line
* 50mm x 60mm x 10mm
* 2 layers PCB design

So, except for a GPS unit with the '''KroozSD''' you have all necessary sensors for full features all in one rotorcraft solution.

== Flight videos ==
Here you can see some example flight videos, representing basic KroozSD flight properties:

[http://youtu.be/oBh0t4H2l6A KroozSD windy weather flight with autonomous landing]

[http://www.youtube.com/watch?v=nJCtAmrrZtU KroozSD Big Rotorcraft Edition heavy wind flight]

[http://youtu.be/V4VPffMW2RY KroozSD Big Rotorcraft Edition 3 kilogram payload], takeoff and automatic landing detection

== Pinout ==
[[File:KroozSD_top_dscr.png|800px]]

== Usage scenarios ==
'''KroozSD''' can be used in different telemetry versions:
* with an XBee wireless module connected to the on-board XBee connector
[[Image:KroozSD_xbee.jpg|250px|The Krooz Autopilot]]
* or without any on-board telemetry solution, with a possibility to connect other telemetry link over one of the UART connectors.

The following picture shows the usage of KroozSD board with I2C bus motor controllers and two camera mount stabilization servos:
[[Image:KroozSD_usage_1.png|750px|The Krooz Autopilot]]

Next picture shows same configuration with HOTT telemetry connection:
[[Image:KroozSD_usage_HOTT.png|750px|The Krooz Autopilot]]

== Mechanical Dimensions ==
[[File:KroozSD_top_dim.png|500px]]

= Schematics =
[[Image:Schematics_KroozSD.jpg|250px|The Krooz Schematics]]

= Programming =
The '''KroozSD''' autopilot can beprogrammed in different ways:
* using the pre-loaded KroozDFU USB bootloader over the on-board USB header
* using the default STM32 serial bootloader over the UART3 connector

== Bootloader ==
The '''KroozSD''' uses an own KroozDFU bootloader (based on [https://github.com/libopencm3/libopencm3 libopencm3] project).
You can find it [https://github.com/softsr/libopencm3/tree/master/examples/stm32/f4/krooz/usb_dfu here], clone to your PC an build or use a precompiled [https://github.com/softsr/libopencm3/downloads binary file] to upload. However the KroozSD board is shipped with the KroozDFU bootloader by default.

== Source code ==
The '''KroozSD''' source code is based on Paparazzi master git branch, and ported on the STM32F4 Cortex™-M4 processor family.
It is available from [https://github.com/softsr/paparazzi/tree/krooz_port here]

== Where to buy ==
If you want to buy the KroozSD board, just write me an Email on:
softsr@yahoo.de

[[Category:Autopilots]]

KroozSD

2013-12-23T15:23:57Z

Softsr: /* Flight videos */

{| 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:KroozSD_top_bott.jpg|292px|The Krooz Autopilot]]
[[Image:KroozSD_bott.jpg|200px|The Krooz Autopilot]]
[[Image:KroozSD_top.jpg|200px|The Krooz Autopilot]]
</div>
__TOC__

= <font color="red">New KroozSD Version Available!</font> =
There is a new version of the KroozSD available - the <b>KroozSD Big Rotorcraft Edition</b>. Equipped with MXR9500 quality acceleration sensor from Memsic sensing solutions, it brings one of the best motion sensing performances and vibration immunities in it's class. It ensures much better flight stability and higher immunity to vibration noisy aircrafts. There also added an SWD programming/debugging interface connector to simplify the development of high complicated algorithms.
[[File:KroozSD_R_Edition_Bott.png|300px]]
[[File:KroozSD_R_Edition_Top.png|300px]]

Here is a new boards [http://youtu.be/nJCtAmrrZtU test flight video], made in a pretty windy day.

= Overview =
'''KroozSD''' UAV autopilot board is an all in one rotorcraft solution, with a wide variety of sensors, modules and units on one board in market usual size.

== Features ==
'''KroozSD''' is based on the 64 pins STM32F405RGT6 [http://www.st.com/internet/mcu/product/252144.jsp Cortex M4] 168MHz processor featuring a Floating point unit (FPU), up to 192k of RAM and 1024k of FLASH.

* STM32 microcontroller [http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00037051.pdf datasheet] with 1024kB flash and up to 192kB RAM
* Onboard microSD card slot (SPI interface)
* [http://www.invensense.com/mems/gyro/mpu6050.html MPU6050 Gyro/Accelerometer sensor] and [http://www.memsic.com/userfiles/files/Datasheets/Accelerometer-Datasheets/MXR9500GM__RevD.pdf MXR9500 Accelerometer] with 16 bit ADC (Big Rotorcraft Edition).
* [http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/HMC5883L_3-Axis_Digital_Compass_IC.pdf HMC5883] magnet field sensor.
* [http://www.meas-spec.com/downloads/MS5611-01BA03.pdf MS5611] high precision pressure sensor.
* [ftp://ftp1.digi.com/support/documentation/90000976_C.pdf XBee Pro] module on board connector.
* [http://datasheets.maximintegrated.com/en/ds/MAX7456.pdf MAX7456] OSD module for mixing in a flight data into a camera video screen (using 4 pin connector)
* 3 x 3.3V TTL UART (5V tolerant)
* 11 x Servo PWM outputs (or 10 if using PPM output receiver)
* 2 x [http://en.wikipedia.org/wiki/I2c I<sup>2</sup>C] 5V bus
* 1 x SPI bus
* 5 x Analog input channels
* 1 x Micro USB
* Extra camera control 6 pin connector for flexible camera use
* 3 x status LEDs with attached test point
* Up to 35V (8S LiPo) input power control unit
* Up to 1,5A load current on 3,3V line
* Up to 5A load current on 5V line
* 50mm x 60mm x 10mm
* 2 layers PCB design

So, except for a GPS unit with the '''KroozSD''' you have all necessary sensors for full features all in one rotorcraft solution.

== Flight videos ==
Here you can see some example flight videos, representing basic KroozSD flight properties:

[http://youtu.be/oBh0t4H2l6A KroozSD windy weather flight with autonomous landing]

[http://www.youtube.com/watch?v=nJCtAmrrZtU KroozSD Big Rotorcraft Edition heavy wind flight]

[http://youtu.be/V4VPffMW2RY KroozSD Big Rotorcraft Edition 3 kilogram payload]

== Pinout ==
[[File:KroozSD_top_dscr.png|800px]]

== Usage scenarios ==
'''KroozSD''' can be used in different telemetry versions:
* with an XBee wireless module connected to the on-board XBee connector
[[Image:KroozSD_xbee.jpg|250px|The Krooz Autopilot]]
* or without any on-board telemetry solution, with a possibility to connect other telemetry link over one of the UART connectors.

The following picture shows the usage of KroozSD board with I2C bus motor controllers and two camera mount stabilization servos:
[[Image:KroozSD_usage_1.png|750px|The Krooz Autopilot]]

Next picture shows same configuration with HOTT telemetry connection:
[[Image:KroozSD_usage_HOTT.png|750px|The Krooz Autopilot]]

== Mechanical Dimensions ==
[[File:KroozSD_top_dim.png|500px]]

= Schematics =
[[Image:Schematics_KroozSD.jpg|250px|The Krooz Schematics]]

= Programming =
The '''KroozSD''' autopilot can beprogrammed in different ways:
* using the pre-loaded KroozDFU USB bootloader over the on-board USB header
* using the default STM32 serial bootloader over the UART3 connector

== Bootloader ==
The '''KroozSD''' uses an own KroozDFU bootloader (based on [https://github.com/libopencm3/libopencm3 libopencm3] project).
You can find it [https://github.com/softsr/libopencm3/tree/master/examples/stm32/f4/krooz/usb_dfu here], clone to your PC an build or use a precompiled [https://github.com/softsr/libopencm3/downloads binary file] to upload. However the KroozSD board is shipped with the KroozDFU bootloader by default.

== Source code ==
The '''KroozSD''' source code is based on Paparazzi master git branch, and ported on the STM32F4 Cortex™-M4 processor family.
It is available from [https://github.com/softsr/paparazzi/tree/krooz_port here]

== Where to buy ==
If you want to buy the KroozSD board, just write me an Email on:
softsr@yahoo.de

[[Category:Autopilots]]

KroozSD

2013-12-23T15:16:54Z

Softsr: /* Flight videos */

{| 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:KroozSD_top_bott.jpg|292px|The Krooz Autopilot]]
[[Image:KroozSD_bott.jpg|200px|The Krooz Autopilot]]
[[Image:KroozSD_top.jpg|200px|The Krooz Autopilot]]
</div>
__TOC__

= <font color="red">New KroozSD Version Available!</font> =
There is a new version of the KroozSD available - the <b>KroozSD Big Rotorcraft Edition</b>. Equipped with MXR9500 quality acceleration sensor from Memsic sensing solutions, it brings one of the best motion sensing performances and vibration immunities in it's class. It ensures much better flight stability and higher immunity to vibration noisy aircrafts. There also added an SWD programming/debugging interface connector to simplify the development of high complicated algorithms.
[[File:KroozSD_R_Edition_Bott.png|300px]]
[[File:KroozSD_R_Edition_Top.png|300px]]

Here is a new boards [http://youtu.be/nJCtAmrrZtU test flight video], made in a pretty windy day.

= Overview =
'''KroozSD''' UAV autopilot board is an all in one rotorcraft solution, with a wide variety of sensors, modules and units on one board in market usual size.

== Features ==
'''KroozSD''' is based on the 64 pins STM32F405RGT6 [http://www.st.com/internet/mcu/product/252144.jsp Cortex M4] 168MHz processor featuring a Floating point unit (FPU), up to 192k of RAM and 1024k of FLASH.

* STM32 microcontroller [http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00037051.pdf datasheet] with 1024kB flash and up to 192kB RAM
* Onboard microSD card slot (SPI interface)
* [http://www.invensense.com/mems/gyro/mpu6050.html MPU6050 Gyro/Accelerometer sensor] and [http://www.memsic.com/userfiles/files/Datasheets/Accelerometer-Datasheets/MXR9500GM__RevD.pdf MXR9500 Accelerometer] with 16 bit ADC (Big Rotorcraft Edition).
* [http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/HMC5883L_3-Axis_Digital_Compass_IC.pdf HMC5883] magnet field sensor.
* [http://www.meas-spec.com/downloads/MS5611-01BA03.pdf MS5611] high precision pressure sensor.
* [ftp://ftp1.digi.com/support/documentation/90000976_C.pdf XBee Pro] module on board connector.
* [http://datasheets.maximintegrated.com/en/ds/MAX7456.pdf MAX7456] OSD module for mixing in a flight data into a camera video screen (using 4 pin connector)
* 3 x 3.3V TTL UART (5V tolerant)
* 11 x Servo PWM outputs (or 10 if using PPM output receiver)
* 2 x [http://en.wikipedia.org/wiki/I2c I<sup>2</sup>C] 5V bus
* 1 x SPI bus
* 5 x Analog input channels
* 1 x Micro USB
* Extra camera control 6 pin connector for flexible camera use
* 3 x status LEDs with attached test point
* Up to 35V (8S LiPo) input power control unit
* Up to 1,5A load current on 3,3V line
* Up to 5A load current on 5V line
* 50mm x 60mm x 10mm
* 2 layers PCB design

So, except for a GPS unit with the '''KroozSD''' you have all necessary sensors for full features all in one rotorcraft solution.

== Flight videos ==
Here you can see some example flight videos, representing basic KroozSD flight properties:

[http://youtu.be/oBh0t4H2l6A KroozSD windy weather flight with autonomous landing]

[http://youtu.be/V4VPffMW2RY KroozSD Big Rotorcraft Edition 3 kilogram payload]

== Pinout ==
[[File:KroozSD_top_dscr.png|800px]]

== Usage scenarios ==
'''KroozSD''' can be used in different telemetry versions:
* with an XBee wireless module connected to the on-board XBee connector
[[Image:KroozSD_xbee.jpg|250px|The Krooz Autopilot]]
* or without any on-board telemetry solution, with a possibility to connect other telemetry link over one of the UART connectors.

The following picture shows the usage of KroozSD board with I2C bus motor controllers and two camera mount stabilization servos:
[[Image:KroozSD_usage_1.png|750px|The Krooz Autopilot]]

Next picture shows same configuration with HOTT telemetry connection:
[[Image:KroozSD_usage_HOTT.png|750px|The Krooz Autopilot]]

== Mechanical Dimensions ==
[[File:KroozSD_top_dim.png|500px]]

= Schematics =
[[Image:Schematics_KroozSD.jpg|250px|The Krooz Schematics]]

= Programming =
The '''KroozSD''' autopilot can beprogrammed in different ways:
* using the pre-loaded KroozDFU USB bootloader over the on-board USB header
* using the default STM32 serial bootloader over the UART3 connector

== Bootloader ==
The '''KroozSD''' uses an own KroozDFU bootloader (based on [https://github.com/libopencm3/libopencm3 libopencm3] project).
You can find it [https://github.com/softsr/libopencm3/tree/master/examples/stm32/f4/krooz/usb_dfu here], clone to your PC an build or use a precompiled [https://github.com/softsr/libopencm3/downloads binary file] to upload. However the KroozSD board is shipped with the KroozDFU bootloader by default.

== Source code ==
The '''KroozSD''' source code is based on Paparazzi master git branch, and ported on the STM32F4 Cortex™-M4 processor family.
It is available from [https://github.com/softsr/paparazzi/tree/krooz_port here]

== Where to buy ==
If you want to buy the KroozSD board, just write me an Email on:
softsr@yahoo.de

[[Category:Autopilots]]

RT Paparazzi

2013-12-18T21:24:50Z

Softsr: /* ChibiOS/RT */

== Real Time (RT) Paparazzi with ChibiOS/RT ==
RT Paparazzi is another step towards safer flight and more reliable autopilot. In a real time operating system (RTOS) [http://en.wikipedia.org/wiki/Real-time_operating_system] are multiple threads, which are doing specific jobs (e.g. a telemetry thread, a radio thread, a failsafe thread) at a defined rate. Unlike ''bare-metal'' application which uses interrupt driven timers for timing tasks, real time OS has a kernel which takes care of scheduling and running the threads. Having kernel, it is possible to set priority of each thread, how much memory it takes etc. which gives the developer more control over timing and resource managment.

Besides kernel, a typical RTOS also has a harware abstraction layer (HAL) which stands between user application and actual hardware, so the application developer doesn't have to worry about drivers.

There is a couple of RT based autopilots already, for example a very good Pixhawk autopilot [https://pixhawk.ethz.ch/px4/en/start] or trunetcopter [https://github.com/trunetcopter/trunetcopter].

Main strength of Paparazzi is its modularity - combining that with precise timing, scheduling and resource management that brings RTOS, Paparazzi can match if not exceed leading uav autopilots (potentially not only open-source), for example the aforementioned Pixhawk.

== ChibiOS/RT ==
RT Paparazzi is based on ChibiOS/RT [http://chibios.org/dokuwiki/doku.php]. ChibiOS/RT supports basically all architectures that standard Paparazzi does (see [http://chibios.org/dokuwiki/doku.php?id=chibios:architectures]), which makes both systems compatible. Since RTOS makes handling multiple I/O easier, but comes with some extra overhead (context switching, kernel code), it gives most leverage to to STM32 F1xx and F4xx based autopilots ([[Lisa/M_v20]], [[Lisa/S]], [[STM32F4_Discovery]], [[KroozSD]]...).

RT Paparazzi is mainly developed by AggieAir team [http://aggieair.usu.edu/] at Utah State University. A different flavor of RT paparazzi (without ChibiOS/RT HAL) is developed by [[ENAC_UAV_Laboratory]].

== Getting the code ==
Most recent code is available under ''rt_paparazzi'' branch from Paparazzi Git repo [https://github.com/paparazzi/paparazzi], however you can check these two repositories too ([https://github.com/podhrmic/ChibiOS-RT] and [https://github.com/podhrmic/paparazzi])

== Debugging with an Eclipse IDE ==
Having a good development and debugging environment is a must for developing RT embedded system. The steps of setting up Eclipse IDE are described here [http://chibios.org/dokuwiki/doku.php?id=chibios:guides:eclipse1] and here [http://chibios.org/dokuwiki/doku.php?id=chibios:guides:eclipse2].

An alternative guide is for example here [http://embeddedprogrammer.blogspot.com/2012/09/stm32f4discovery-development-with-gcc.html]

Just a few notes to the process:
* install GCC Arm Embedded toolchain [https://launchpad.net/~terry.guo/+archive/gcc-arm-embedded] (recommended anyway for Paparazzi since v 5.0)
* get Black Magic probe from Blacksphere [http://www.blacksphere.co.nz/main/blackmagic], it will make your life easier
* in '''Creating a GDB Debug Configuration''' use the following commands for Black Magic Probe:
target extended-remote /dev/ttyACM0
monitor jtag_scan
attach 1
monitor vector_catch disable hard
set mem inaccessible-by-default off
monitor option erase
set print pretty
(for [[Lisa/M_v2.0#Lisa.2FLia_F4 | Lisa/Lia F4]] board use '' swdp_scan'' instead of ''jtag_scan'')
* if you are using luftboot, don't forget to add image offset into the debug configuration[[File:Rt_paparazzi_eclipse_setup_2.png]]
* don't forget in "Eclipse->Window->Preferences->Run/Debug->Launching->Default Launchers->GDB Hardware Debugging" set preferred launcher to "Standard GDB" (otherwise the ChibiOS/RT plugin won't work, tested in Eclipse Kepler Service Release 1)[[File:Rt_paparazzi_eclipse_setup_1.png]]
* to use ChibiOS/RT debug module for Eclipse, download ChibiStudio (it is for Windows only) from SourceForge [http://sourceforge.net/projects/chibios/files/ChibiStudio/], extract it and from ''ChibiStudio/eclipse/plugins'' copy
org.chibios.tools.eclipse.config_1.2.1.jar
org.chibios.tools.eclipse.debug_1.0.8.jar
to your ''eclipse/plugins'' directory. Restart Eclipse and in "Help->About Eclipe->Installation Details->Plugins" you should see both chibios plugins. Enable the plug-in while in the "Debug" view under: Window->Show View->Other...->ChibiOS/RT->ChibiOS/RT" (see [http://forum.chibios.org/phpbb/viewtopic.php?f=3&t=140] for details)

KroozSD

2013-12-16T15:04:25Z

Softsr: /* Features */

{| 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:KroozSD_top_bott.jpg|292px|The Krooz Autopilot]]
[[Image:KroozSD_bott.jpg|200px|The Krooz Autopilot]]
[[Image:KroozSD_top.jpg|200px|The Krooz Autopilot]]
</div>
__TOC__

= <font color="red">New KroozSD Version Available!</font> =
There is a new version of the KroozSD available - the <b>KroozSD Big Rotorcraft Edition</b>. Equipped with MXR9500 quality acceleration sensor from Memsic sensing solutions, it brings one of the best motion sensing performances and vibration immunities in it's class. It ensures much better flight stability and higher immunity to vibration noisy aircrafts. There also added an SWD programming/debugging interface connector to simplify the development of high complicated algorithms.
[[File:KroozSD_R_Edition_Bott.png|300px]]
[[File:KroozSD_R_Edition_Top.png|300px]]

Here is a new boards [http://youtu.be/nJCtAmrrZtU test flight video], made in a pretty windy day.

= Overview =
'''KroozSD''' UAV autopilot board is an all in one rotorcraft solution, with a wide variety of sensors, modules and units on one board in market usual size.

== Features ==
'''KroozSD''' is based on the 64 pins STM32F405RGT6 [http://www.st.com/internet/mcu/product/252144.jsp Cortex M4] 168MHz processor featuring a Floating point unit (FPU), up to 192k of RAM and 1024k of FLASH.

* STM32 microcontroller [http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00037051.pdf datasheet] with 1024kB flash and up to 192kB RAM
* Onboard microSD card slot (SPI interface)
* [http://www.invensense.com/mems/gyro/mpu6050.html MPU6050 Gyro/Accelerometer sensor] and [http://www.memsic.com/userfiles/files/Datasheets/Accelerometer-Datasheets/MXR9500GM__RevD.pdf MXR9500 Accelerometer] with 16 bit ADC (Big Rotorcraft Edition).
* [http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/HMC5883L_3-Axis_Digital_Compass_IC.pdf HMC5883] magnet field sensor.
* [http://www.meas-spec.com/downloads/MS5611-01BA03.pdf MS5611] high precision pressure sensor.
* [ftp://ftp1.digi.com/support/documentation/90000976_C.pdf XBee Pro] module on board connector.
* [http://datasheets.maximintegrated.com/en/ds/MAX7456.pdf MAX7456] OSD module for mixing in a flight data into a camera video screen (using 4 pin connector)
* 3 x 3.3V TTL UART (5V tolerant)
* 11 x Servo PWM outputs (or 10 if using PPM output receiver)
* 2 x [http://en.wikipedia.org/wiki/I2c I<sup>2</sup>C] 5V bus
* 1 x SPI bus
* 5 x Analog input channels
* 1 x Micro USB
* Extra camera control 6 pin connector for flexible camera use
* 3 x status LEDs with attached test point
* Up to 35V (8S LiPo) input power control unit
* Up to 1,5A load current on 3,3V line
* Up to 5A load current on 5V line
* 50mm x 60mm x 10mm
* 2 layers PCB design

So, except for a GPS unit with the '''KroozSD''' you have all necessary sensors for full features all in one rotorcraft solution.

== Flight videos ==
Here you can see some example flight videos, representing basic KroozSD flight properties:

[http://youtu.be/oBh0t4H2l6A KroozSD windy weather flight with autonomous landing]

== Pinout ==
[[File:KroozSD_top_dscr.png|800px]]

== Usage scenarios ==
'''KroozSD''' can be used in different telemetry versions:
* with an XBee wireless module connected to the on-board XBee connector
[[Image:KroozSD_xbee.jpg|250px|The Krooz Autopilot]]
* or without any on-board telemetry solution, with a possibility to connect other telemetry link over one of the UART connectors.

The following picture shows the usage of KroozSD board with I2C bus motor controllers and two camera mount stabilization servos:
[[Image:KroozSD_usage_1.png|750px|The Krooz Autopilot]]

Next picture shows same configuration with HOTT telemetry connection:
[[Image:KroozSD_usage_HOTT.png|750px|The Krooz Autopilot]]

== Mechanical Dimensions ==
[[File:KroozSD_top_dim.png|500px]]

= Schematics =
[[Image:Schematics_KroozSD.jpg|250px|The Krooz Schematics]]

= Programming =
The '''KroozSD''' autopilot can beprogrammed in different ways:
* using the pre-loaded KroozDFU USB bootloader over the on-board USB header
* using the default STM32 serial bootloader over the UART3 connector

== Bootloader ==
The '''KroozSD''' uses an own KroozDFU bootloader (based on [https://github.com/libopencm3/libopencm3 libopencm3] project).
You can find it [https://github.com/softsr/libopencm3/tree/master/examples/stm32/f4/krooz/usb_dfu here], clone to your PC an build or use a precompiled [https://github.com/softsr/libopencm3/downloads binary file] to upload. However the KroozSD board is shipped with the KroozDFU bootloader by default.

== Source code ==
The '''KroozSD''' source code is based on Paparazzi master git branch, and ported on the STM32F4 Cortex™-M4 processor family.
It is available from [https://github.com/softsr/paparazzi/tree/krooz_port here]

== Where to buy ==
If you want to buy the KroozSD board, just write me an Email on:
softsr@yahoo.de

[[Category:Autopilots]]

File:KroozSD usage HOTT.png

2013-11-16T22:03:20Z

Softsr:

KroozSD

2013-11-16T22:02:37Z

Softsr: /* Usage scenarios */

{| 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:KroozSD_top_bott.jpg|292px|The Krooz Autopilot]]
[[Image:KroozSD_bott.jpg|200px|The Krooz Autopilot]]
[[Image:KroozSD_top.jpg|200px|The Krooz Autopilot]]
</div>
__TOC__

= <font color="red">New KroozSD Version Available!</font> =
There is a new version of the KroozSD available - the <b>KroozSD Big Rotorcraft Edition</b>. Equipped with MXR9500 quality acceleration sensor from Memsic sensing solutions, it brings one of the best motion sensing performances and vibration immunities in it's class. It ensures much better flight stability and higher immunity to vibration noisy aircrafts. There also added an SWD programming/debugging interface connector to simplify the development of high complicated algorithms.
[[File:KroozSD_R_Edition_Bott.png|300px]]
[[File:KroozSD_R_Edition_Top.png|300px]]

Here is a new boards [http://youtu.be/nJCtAmrrZtU test flight video], made in a pretty windy day.

= Overview =
'''KroozSD''' UAV autopilot board is an all in one rotorcraft solution, with a wide variety of sensors, modules and units on one board in market usual size.

== Features ==
'''KroozSD''' is based on the 64 pins STM32F405RGT6 [http://www.st.com/internet/mcu/product/252144.jsp Cortex M4] 168MHz processor featuring a Floating point unit (FPU), up to 192k of RAM and 1024k of FLASH.

* STM32 microcontroller [http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00037051.pdf datasheet] with 1024kB flash and up to 192kB RAM
* Onboard microSD card slot (SPI interface)
* [http://www.invensense.com/mems/gyro/mpu6050.html MPU6050 Gyro/Accelerometer sensor] and [http://www.memsic.com/userfiles/files/Datasheets/Accelerometer-Datasheets/MXR9500GM__RevD.pdf MXR9500 Accelerometer] (Big Rotorcraft Edition).
* [http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/HMC5883L_3-Axis_Digital_Compass_IC.pdf HMC5883] magnet field sensor.
* [http://www.meas-spec.com/downloads/MS5611-01BA03.pdf MS5611] high precision pressure sensor.
* [ftp://ftp1.digi.com/support/documentation/90000976_C.pdf XBee Pro] module on board connector.
* [http://datasheets.maximintegrated.com/en/ds/MAX7456.pdf MAX7456] OSD module for mixing in a flight data into a camera video screen (using 4 pin connector)
* 3 x 3.3V TTL UART (5V tolerant)
* 11 x Servo PWM outputs (or 10 if using PPM output receiver)
* 2 x [http://en.wikipedia.org/wiki/I2c I<sup>2</sup>C] 5V bus
* 1 x SPI bus
* 5 x Analog input channels
* 1 x Micro USB
* Extra camera control 6 pin connector for flexible camera use
* 3 x status LEDs with attached test point
* Up to 35V (8S LiPo) input power control unit
* Up to 1,5A load current on 3,3V line
* Up to 5A load current on 5V line
* 50mm x 60mm x 10mm
* 2 layers PCB design

So, except for a GPS unit with the '''KroozSD''' you have all necessary sensors for full features all in one rotorcraft solution.

== Flight videos ==
Here you can see some example flight videos, representing basic KroozSD flight properties:

[http://youtu.be/oBh0t4H2l6A KroozSD windy weather flight with autonomous landing]

== Pinout ==
[[File:KroozSD_top_dscr.png|800px]]

== Usage scenarios ==
'''KroozSD''' can be used in different telemetry versions:
* with an XBee wireless module connected to the on-board XBee connector
[[Image:KroozSD_xbee.jpg|250px|The Krooz Autopilot]]
* or without any on-board telemetry solution, with a possibility to connect other telemetry link over one of the UART connectors.

The following picture shows the usage of KroozSD board with I2C bus motor controllers and two camera mount stabilization servos:
[[Image:KroozSD_usage_1.png|750px|The Krooz Autopilot]]

Next picture shows same configuration with HOTT telemetry connection:
[[Image:KroozSD_usage_HOTT.png|750px|The Krooz Autopilot]]

== Mechanical Dimensions ==
[[File:KroozSD_top_dim.png|500px]]

= Schematics =
[[Image:Schematics_KroozSD.jpg|250px|The Krooz Schematics]]

= Programming =
The '''KroozSD''' autopilot can beprogrammed in different ways:
* using the pre-loaded KroozDFU USB bootloader over the on-board USB header
* using the default STM32 serial bootloader over the UART3 connector

== Bootloader ==
The '''KroozSD''' uses an own KroozDFU bootloader (based on [https://github.com/libopencm3/libopencm3 libopencm3] project).
You can find it [https://github.com/softsr/libopencm3/tree/master/examples/stm32/f4/krooz/usb_dfu here], clone to your PC an build or use a precompiled [https://github.com/softsr/libopencm3/downloads binary file] to upload. However the KroozSD board is shipped with the KroozDFU bootloader by default.

== Source code ==
The '''KroozSD''' source code is based on Paparazzi master git branch, and ported on the STM32F4 Cortex™-M4 processor family.
It is available from [https://github.com/softsr/paparazzi/tree/krooz_port here]

== Where to buy ==
If you want to buy the KroozSD board, just write me an Email on:
softsr@yahoo.de

[[Category:Autopilots]]

KroozSD

2013-10-31T21:18:36Z

Softsr:

{| 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:KroozSD_top_bott.jpg|292px|The Krooz Autopilot]]
[[Image:KroozSD_bott.jpg|200px|The Krooz Autopilot]]
[[Image:KroozSD_top.jpg|200px|The Krooz Autopilot]]
</div>
__TOC__

= <font color="red">New KroozSD Version Available!</font> =
There is a new version of the KroozSD available - the <b>KroozSD Big Rotorcraft Edition</b>. Equipped with MXR9500 quality acceleration sensor from Memsic sensing solutions, it brings one of the best motion sensing performances and vibration immunities in it's class. It ensures much better flight stability and higher immunity to vibration noisy aircrafts. There also added an SWD programming/debugging interface connector to simplify the development of high complicated algorithms.
[[File:KroozSD_R_Edition_Bott.png|300px]]
[[File:KroozSD_R_Edition_Top.png|300px]]

Here is a new boards [http://youtu.be/nJCtAmrrZtU test flight video], made in a pretty windy day.

= Overview =
'''KroozSD''' UAV autopilot board is an all in one rotorcraft solution, with a wide variety of sensors, modules and units on one board in market usual size.

== Features ==
'''KroozSD''' is based on the 64 pins STM32F405RGT6 [http://www.st.com/internet/mcu/product/252144.jsp Cortex M4] 168MHz processor featuring a Floating point unit (FPU), up to 192k of RAM and 1024k of FLASH.

* STM32 microcontroller [http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00037051.pdf datasheet] with 1024kB flash and up to 192kB RAM
* Onboard microSD card slot (SPI interface)
* [http://www.invensense.com/mems/gyro/mpu6050.html MPU6050 Gyro/Accelerometer sensor] and [http://www.memsic.com/userfiles/files/Datasheets/Accelerometer-Datasheets/MXR9500GM__RevD.pdf MXR9500 Accelerometer] (Big Rotorcraft Edition).
* [http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/HMC5883L_3-Axis_Digital_Compass_IC.pdf HMC5883] magnet field sensor.
* [http://www.meas-spec.com/downloads/MS5611-01BA03.pdf MS5611] high precision pressure sensor.
* [ftp://ftp1.digi.com/support/documentation/90000976_C.pdf XBee Pro] module on board connector.
* [http://datasheets.maximintegrated.com/en/ds/MAX7456.pdf MAX7456] OSD module for mixing in a flight data into a camera video screen (using 4 pin connector)
* 3 x 3.3V TTL UART (5V tolerant)
* 11 x Servo PWM outputs (or 10 if using PPM output receiver)
* 2 x [http://en.wikipedia.org/wiki/I2c I<sup>2</sup>C] 5V bus
* 1 x SPI bus
* 5 x Analog input channels
* 1 x Micro USB
* Extra camera control 6 pin connector for flexible camera use
* 3 x status LEDs with attached test point
* Up to 35V (8S LiPo) input power control unit
* Up to 1,5A load current on 3,3V line
* Up to 5A load current on 5V line
* 50mm x 60mm x 10mm
* 2 layers PCB design

So, except for a GPS unit with the '''KroozSD''' you have all necessary sensors for full features all in one rotorcraft solution.

== Flight videos ==
Here you can see some example flight videos, representing basic KroozSD flight properties:

[http://youtu.be/oBh0t4H2l6A KroozSD windy weather flight with autonomous landing]

== Pinout ==
[[File:KroozSD_top_dscr.png|800px]]

== Usage scenarios ==
'''KroozSD''' can be used in different telemetry versions:
* with an XBee wireless module connected to the on-board XBee connector
[[Image:KroozSD_xbee.jpg|250px|The Krooz Autopilot]]
* or without any on-board telemetry solution, with a possibility to connect other telemetry link over one of the UART connectors.

The following picture shows the usage of KroozSD board with I2C bus motor controllers and two camera mount stabilization servos:
[[Image:KroozSD_usage_1.png|750px|The Krooz Autopilot]]

== Mechanical Dimensions ==
[[File:KroozSD_top_dim.png|500px]]

= Schematics =
[[Image:Schematics_KroozSD.jpg|250px|The Krooz Schematics]]

= Programming =
The '''KroozSD''' autopilot can beprogrammed in different ways:
* using the pre-loaded KroozDFU USB bootloader over the on-board USB header
* using the default STM32 serial bootloader over the UART3 connector

== Bootloader ==
The '''KroozSD''' uses an own KroozDFU bootloader (based on [https://github.com/libopencm3/libopencm3 libopencm3] project).
You can find it [https://github.com/softsr/libopencm3/tree/master/examples/stm32/f4/krooz/usb_dfu here], clone to your PC an build or use a precompiled [https://github.com/softsr/libopencm3/downloads binary file] to upload. However the KroozSD board is shipped with the KroozDFU bootloader by default.

== Source code ==
The '''KroozSD''' source code is based on Paparazzi master git branch, and ported on the STM32F4 Cortex™-M4 processor family.
It is available from [https://github.com/softsr/paparazzi/tree/krooz_port here]

== Where to buy ==
If you want to buy the KroozSD board, just write me an Email on:
softsr@yahoo.de

[[Category:Autopilots]]

KroozSD

2013-10-31T21:15:02Z

Softsr: /* New KroozSD Version Available! */

{| 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:KroozSD_top_bott.jpg|292px|The Krooz Autopilot]]
[[Image:KroozSD_bott.jpg|200px|The Krooz Autopilot]]
[[Image:KroozSD_top.jpg|200px|The Krooz Autopilot]]
</div>
__TOC__

= <font color="red">New KroozSD Version Available!</font> =
There is a new version of the KroozSD available - the <b>KroozSD Big Rotorcraft Edition</b>. Equipped with MXR9500 quality acceleration sensor from Memsic sensing solutions, it brings one of the best motion sensing performances and vibration immunities in it's class. It ensures much better flight stability and higher immunity to vibration noisy aircrafts. There also added an SWD programming/debugging interface connector to simplify the development of high complicated algorithms.
[[File:KroozSD_R_Edition_Bott.png|300px]]
[[File:KroozSD_R_Edition_Top.png|300px]]

Here is a test flight video, made in a pretty windy day.

= Overview =
'''KroozSD''' UAV autopilot board is an all in one rotorcraft solution, with a wide variety of sensors, modules and units on one board in market usual size.

== Features ==
'''KroozSD''' is based on the 64 pins STM32F405RGT6 [http://www.st.com/internet/mcu/product/252144.jsp Cortex M4] 168MHz processor featuring a Floating point unit (FPU), up to 192k of RAM and 1024k of FLASH.

* STM32 microcontroller [http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00037051.pdf datasheet] with 1024kB flash and up to 192kB RAM
* Onboard microSD card slot (SPI interface)
* [http://www.invensense.com/mems/gyro/mpu6050.html MPU6050 Gyro/Accelerometer sensor] and [http://www.memsic.com/userfiles/files/Datasheets/Accelerometer-Datasheets/MXR9500GM__RevD.pdf MXR9500 Accelerometer] (Big Rotorcraft Edition).
* [http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/HMC5883L_3-Axis_Digital_Compass_IC.pdf HMC5883] magnet field sensor.
* [http://www.meas-spec.com/downloads/MS5611-01BA03.pdf MS5611] high precision pressure sensor.
* [ftp://ftp1.digi.com/support/documentation/90000976_C.pdf XBee Pro] module on board connector.
* [http://datasheets.maximintegrated.com/en/ds/MAX7456.pdf MAX7456] OSD module for mixing in a flight data into a camera video screen (using 4 pin connector)
* 3 x 3.3V TTL UART (5V tolerant)
* 11 x Servo PWM outputs (or 10 if using PPM output receiver)
* 2 x [http://en.wikipedia.org/wiki/I2c I<sup>2</sup>C] 5V bus
* 1 x SPI bus
* 5 x Analog input channels
* 1 x Micro USB
* Extra camera control 6 pin connector for flexible camera use
* 3 x status LEDs with attached test point
* Up to 35V (8S LiPo) input power control unit
* Up to 1,5A load current on 3,3V line
* Up to 5A load current on 5V line
* 50mm x 60mm x 10mm
* 2 layers PCB design

So, except for a GPS unit with the '''KroozSD''' you have all necessary sensors for full features all in one rotorcraft solution.

== Flight videos ==
Here you can see some example flight videos, representing basic KroozSD flight properties:

[http://youtu.be/oBh0t4H2l6A KroozSD windy weather flight with autonomous landing]

== Pinout ==
[[File:KroozSD_top_dscr.png|800px]]

== Usage scenarios ==
'''KroozSD''' can be used in different telemetry versions:
* with an XBee wireless module connected to the on-board XBee connector
[[Image:KroozSD_xbee.jpg|250px|The Krooz Autopilot]]
* or without any on-board telemetry solution, with a possibility to connect other telemetry link over one of the UART connectors.

The following picture shows the usage of KroozSD board with I2C bus motor controllers and two camera mount stabilization servos:
[[Image:KroozSD_usage_1.png|750px|The Krooz Autopilot]]

== Mechanical Dimensions ==
[[File:KroozSD_top_dim.png|500px]]

= Schematics =
[[Image:Schematics_KroozSD.jpg|250px|The Krooz Schematics]]

= Programming =
The '''KroozSD''' autopilot can beprogrammed in different ways:
* using the pre-loaded KroozDFU USB bootloader over the on-board USB header
* using the default STM32 serial bootloader over the UART3 connector

== Bootloader ==
The '''KroozSD''' uses an own KroozDFU bootloader (based on [https://github.com/libopencm3/libopencm3 libopencm3] project).
You can find it [https://github.com/softsr/libopencm3/tree/master/examples/stm32/f4/krooz/usb_dfu here], clone to your PC an build or use a precompiled [https://github.com/softsr/libopencm3/downloads binary file] to upload. However the KroozSD board is shipped with the KroozDFU bootloader by default.

== Source code ==
The '''KroozSD''' source code is based on Paparazzi master git branch, and ported on the STM32F4 Cortex™-M4 processor family.
It is available from [https://github.com/softsr/paparazzi/tree/krooz_port here]

== Where to buy ==
If you want to buy the KroozSD board, just write me an Email on:
softsr@yahoo.de

[[Category:Autopilots]]

KroozSD

2013-10-31T21:07:28Z

Softsr: /* Flight videos */

{| 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:KroozSD_top_bott.jpg|292px|The Krooz Autopilot]]
[[Image:KroozSD_bott.jpg|200px|The Krooz Autopilot]]
[[Image:KroozSD_top.jpg|200px|The Krooz Autopilot]]
</div>
__TOC__

= <font color="red">New KroozSD Version Available!</font> =
There is a new version of the KroozSD available - the <b>KroozSD Big Rotorcraft Edition</b>. Equipped with MXR9500 quality acceleration sensor from Memsic sensing solutions, it brings one of the best motion sensing performances and vibration immunities in it's class. It ensures much better flight stability and higher immunity to vibration noisy aircrafts. There also added an SWD programming/debugging interface connector to simplify the development of high complicated algorithms.
[[File:KroozSD_R_Edition_Bott.png|300px]]
[[File:KroozSD_R_Edition_Top.png|300px]]

= Overview =
'''KroozSD''' UAV autopilot board is an all in one rotorcraft solution, with a wide variety of sensors, modules and units on one board in market usual size.

== Features ==
'''KroozSD''' is based on the 64 pins STM32F405RGT6 [http://www.st.com/internet/mcu/product/252144.jsp Cortex M4] 168MHz processor featuring a Floating point unit (FPU), up to 192k of RAM and 1024k of FLASH.

* STM32 microcontroller [http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00037051.pdf datasheet] with 1024kB flash and up to 192kB RAM
* Onboard microSD card slot (SPI interface)
* [http://www.invensense.com/mems/gyro/mpu6050.html MPU6050 Gyro/Accelerometer sensor] and [http://www.memsic.com/userfiles/files/Datasheets/Accelerometer-Datasheets/MXR9500GM__RevD.pdf MXR9500 Accelerometer] (Big Rotorcraft Edition).
* [http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/HMC5883L_3-Axis_Digital_Compass_IC.pdf HMC5883] magnet field sensor.
* [http://www.meas-spec.com/downloads/MS5611-01BA03.pdf MS5611] high precision pressure sensor.
* [ftp://ftp1.digi.com/support/documentation/90000976_C.pdf XBee Pro] module on board connector.
* [http://datasheets.maximintegrated.com/en/ds/MAX7456.pdf MAX7456] OSD module for mixing in a flight data into a camera video screen (using 4 pin connector)
* 3 x 3.3V TTL UART (5V tolerant)
* 11 x Servo PWM outputs (or 10 if using PPM output receiver)
* 2 x [http://en.wikipedia.org/wiki/I2c I<sup>2</sup>C] 5V bus
* 1 x SPI bus
* 5 x Analog input channels
* 1 x Micro USB
* Extra camera control 6 pin connector for flexible camera use
* 3 x status LEDs with attached test point
* Up to 35V (8S LiPo) input power control unit
* Up to 1,5A load current on 3,3V line
* Up to 5A load current on 5V line
* 50mm x 60mm x 10mm
* 2 layers PCB design

So, except for a GPS unit with the '''KroozSD''' you have all necessary sensors for full features all in one rotorcraft solution.

== Flight videos ==
Here you can see some example flight videos, representing basic KroozSD flight properties:

[http://youtu.be/oBh0t4H2l6A KroozSD windy weather flight with autonomous landing]

== Pinout ==
[[File:KroozSD_top_dscr.png|800px]]

== Usage scenarios ==
'''KroozSD''' can be used in different telemetry versions:
* with an XBee wireless module connected to the on-board XBee connector
[[Image:KroozSD_xbee.jpg|250px|The Krooz Autopilot]]
* or without any on-board telemetry solution, with a possibility to connect other telemetry link over one of the UART connectors.

The following picture shows the usage of KroozSD board with I2C bus motor controllers and two camera mount stabilization servos:
[[Image:KroozSD_usage_1.png|750px|The Krooz Autopilot]]

== Mechanical Dimensions ==
[[File:KroozSD_top_dim.png|500px]]

= Schematics =
[[Image:Schematics_KroozSD.jpg|250px|The Krooz Schematics]]

= Programming =
The '''KroozSD''' autopilot can beprogrammed in different ways:
* using the pre-loaded KroozDFU USB bootloader over the on-board USB header
* using the default STM32 serial bootloader over the UART3 connector

== Bootloader ==
The '''KroozSD''' uses an own KroozDFU bootloader (based on [https://github.com/libopencm3/libopencm3 libopencm3] project).
You can find it [https://github.com/softsr/libopencm3/tree/master/examples/stm32/f4/krooz/usb_dfu here], clone to your PC an build or use a precompiled [https://github.com/softsr/libopencm3/downloads binary file] to upload. However the KroozSD board is shipped with the KroozDFU bootloader by default.

== Source code ==
The '''KroozSD''' source code is based on Paparazzi master git branch, and ported on the STM32F4 Cortex™-M4 processor family.
It is available from [https://github.com/softsr/paparazzi/tree/krooz_port here]

== Where to buy ==
If you want to buy the KroozSD board, just write me an Email on:
softsr@yahoo.de

[[Category:Autopilots]]

KroozSD

2013-10-31T21:06:57Z

Softsr: /* Features */

{| 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:KroozSD_top_bott.jpg|292px|The Krooz Autopilot]]
[[Image:KroozSD_bott.jpg|200px|The Krooz Autopilot]]
[[Image:KroozSD_top.jpg|200px|The Krooz Autopilot]]
</div>
__TOC__

= <font color="red">New KroozSD Version Available!</font> =
There is a new version of the KroozSD available - the <b>KroozSD Big Rotorcraft Edition</b>. Equipped with MXR9500 quality acceleration sensor from Memsic sensing solutions, it brings one of the best motion sensing performances and vibration immunities in it's class. It ensures much better flight stability and higher immunity to vibration noisy aircrafts. There also added an SWD programming/debugging interface connector to simplify the development of high complicated algorithms.
[[File:KroozSD_R_Edition_Bott.png|300px]]
[[File:KroozSD_R_Edition_Top.png|300px]]

= Overview =
'''KroozSD''' UAV autopilot board is an all in one rotorcraft solution, with a wide variety of sensors, modules and units on one board in market usual size.

== Features ==
'''KroozSD''' is based on the 64 pins STM32F405RGT6 [http://www.st.com/internet/mcu/product/252144.jsp Cortex M4] 168MHz processor featuring a Floating point unit (FPU), up to 192k of RAM and 1024k of FLASH.

* STM32 microcontroller [http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00037051.pdf datasheet] with 1024kB flash and up to 192kB RAM
* Onboard microSD card slot (SPI interface)
* [http://www.invensense.com/mems/gyro/mpu6050.html MPU6050 Gyro/Accelerometer sensor] and [http://www.memsic.com/userfiles/files/Datasheets/Accelerometer-Datasheets/MXR9500GM__RevD.pdf MXR9500 Accelerometer] (Big Rotorcraft Edition).
* [http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/HMC5883L_3-Axis_Digital_Compass_IC.pdf HMC5883] magnet field sensor.
* [http://www.meas-spec.com/downloads/MS5611-01BA03.pdf MS5611] high precision pressure sensor.
* [ftp://ftp1.digi.com/support/documentation/90000976_C.pdf XBee Pro] module on board connector.
* [http://datasheets.maximintegrated.com/en/ds/MAX7456.pdf MAX7456] OSD module for mixing in a flight data into a camera video screen (using 4 pin connector)
* 3 x 3.3V TTL UART (5V tolerant)
* 11 x Servo PWM outputs (or 10 if using PPM output receiver)
* 2 x [http://en.wikipedia.org/wiki/I2c I<sup>2</sup>C] 5V bus
* 1 x SPI bus
* 5 x Analog input channels
* 1 x Micro USB
* Extra camera control 6 pin connector for flexible camera use
* 3 x status LEDs with attached test point
* Up to 35V (8S LiPo) input power control unit
* Up to 1,5A load current on 3,3V line
* Up to 5A load current on 5V line
* 50mm x 60mm x 10mm
* 2 layers PCB design

So, except for a GPS unit with the '''KroozSD''' you have all necessary sensors for full features all in one rotorcraft solution.

== Flight videos ==
Here you can see some example flight videos, representing basic KroozSD flight properties:

[http://youtu.be/oBh0t4H2l6A Windy flight with autonomous landing]

== Pinout ==
[[File:KroozSD_top_dscr.png|800px]]

== Usage scenarios ==
'''KroozSD''' can be used in different telemetry versions:
* with an XBee wireless module connected to the on-board XBee connector
[[Image:KroozSD_xbee.jpg|250px|The Krooz Autopilot]]
* or without any on-board telemetry solution, with a possibility to connect other telemetry link over one of the UART connectors.

The following picture shows the usage of KroozSD board with I2C bus motor controllers and two camera mount stabilization servos:
[[Image:KroozSD_usage_1.png|750px|The Krooz Autopilot]]

== Mechanical Dimensions ==
[[File:KroozSD_top_dim.png|500px]]

= Schematics =
[[Image:Schematics_KroozSD.jpg|250px|The Krooz Schematics]]

= Programming =
The '''KroozSD''' autopilot can beprogrammed in different ways:
* using the pre-loaded KroozDFU USB bootloader over the on-board USB header
* using the default STM32 serial bootloader over the UART3 connector

== Bootloader ==
The '''KroozSD''' uses an own KroozDFU bootloader (based on [https://github.com/libopencm3/libopencm3 libopencm3] project).
You can find it [https://github.com/softsr/libopencm3/tree/master/examples/stm32/f4/krooz/usb_dfu here], clone to your PC an build or use a precompiled [https://github.com/softsr/libopencm3/downloads binary file] to upload. However the KroozSD board is shipped with the KroozDFU bootloader by default.

== Source code ==
The '''KroozSD''' source code is based on Paparazzi master git branch, and ported on the STM32F4 Cortex™-M4 processor family.
It is available from [https://github.com/softsr/paparazzi/tree/krooz_port here]

== Where to buy ==
If you want to buy the KroozSD board, just write me an Email on:
softsr@yahoo.de

[[Category:Autopilots]]

KroozSD

2013-10-28T21:04:39Z

Softsr: /* New KroozSD Version Available! */

{| 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:KroozSD_top_bott.jpg|292px|The Krooz Autopilot]]
[[Image:KroozSD_bott.jpg|200px|The Krooz Autopilot]]
[[Image:KroozSD_top.jpg|200px|The Krooz Autopilot]]
</div>
__TOC__

= <font color="red">New KroozSD Version Available!</font> =
There is a new version of the KroozSD available - the <b>KroozSD Big Rotorcraft Edition</b>. Equipped with MXR9500 quality acceleration sensor from Memsic sensing solutions, it brings one of the best motion sensing performances and vibration immunities in it's class. It ensures much better flight stability and higher immunity to vibration noisy aircrafts. There also added an SWD programming/debugging interface connector to simplify the development of high complicated algorithms.
[[File:KroozSD_R_Edition_Bott.png|300px]]
[[File:KroozSD_R_Edition_Top.png|300px]]

= Overview =
'''KroozSD''' UAV autopilot board is an all in one rotorcraft solution, with a wide variety of sensors, modules and units on one board in market usual size.

== Features ==
'''KroozSD''' is based on the 64 pins STM32F405RGT6 [http://www.st.com/internet/mcu/product/252144.jsp Cortex M4] 168MHz processor featuring a Floating point unit (FPU), up to 192k of RAM and 1024k of FLASH.

* STM32 microcontroller [http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00037051.pdf datasheet] with 1024kB flash and up to 192kB RAM
* Onboard microSD card slot (SPI interface)
* [http://www.invensense.com/mems/gyro/mpu6050.html MPU6050 Gyro/Accelerometer sensor] and [http://www.memsic.com/userfiles/files/Datasheets/Accelerometer-Datasheets/MXR9500GM__RevD.pdf MXR9500 Accelerometer] (Big Rotorcraft Edition).
* [http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/HMC5883L_3-Axis_Digital_Compass_IC.pdf HMC5883] magnet field sensor.
* [http://www.meas-spec.com/downloads/MS5611-01BA03.pdf MS5611] high precision pressure sensor.
* [ftp://ftp1.digi.com/support/documentation/90000976_C.pdf XBee Pro] module on board connector.
* [http://datasheets.maximintegrated.com/en/ds/MAX7456.pdf MAX7456] OSD module for mixing in a flight data into a camera video screen (using 4 pin connector)
* 3 x 3.3V TTL UART (5V tolerant)
* 11 x Servo PPM outputs (or 10 if using PPM output receiver)
* 2 x [http://en.wikipedia.org/wiki/I2c I<sup>2</sup>C] 5V bus
* 1 x SPI bus
* 5 x Analog input channels
* 1 x Micro USB
* Extra camera control 6 pin connector for flexible camera use
* 3 x status LEDs with attached test point
* Up to 35V (8S LiPo) input power control unit
* Up to 1,5A load current on 3,3V line
* Up to 5A load current on 5V line
* 50mm x 60mm x 10mm
* 2 layers PCB design

So, except for a GPS unit with the '''KroozSD''' you have all necessary sensors for full features all in one rotorcraft solution.

== Flight videos ==
Here you can see some example flight videos, representing basic KroozSD flight properties:

[http://youtu.be/oBh0t4H2l6A Windy flight with autonomous landing]

== Pinout ==
[[File:KroozSD_top_dscr.png|800px]]

== Usage scenarios ==
'''KroozSD''' can be used in different telemetry versions:
* with an XBee wireless module connected to the on-board XBee connector
[[Image:KroozSD_xbee.jpg|250px|The Krooz Autopilot]]
* or without any on-board telemetry solution, with a possibility to connect other telemetry link over one of the UART connectors.

The following picture shows the usage of KroozSD board with I2C bus motor controllers and two camera mount stabilization servos:
[[Image:KroozSD_usage_1.png|750px|The Krooz Autopilot]]

== Mechanical Dimensions ==
[[File:KroozSD_top_dim.png|500px]]

= Schematics =
[[Image:Schematics_KroozSD.jpg|250px|The Krooz Schematics]]

= Programming =
The '''KroozSD''' autopilot can beprogrammed in different ways:
* using the pre-loaded KroozDFU USB bootloader over the on-board USB header
* using the default STM32 serial bootloader over the UART3 connector

== Bootloader ==
The '''KroozSD''' uses an own KroozDFU bootloader (based on [https://github.com/libopencm3/libopencm3 libopencm3] project).
You can find it [https://github.com/softsr/libopencm3/tree/master/examples/stm32/f4/krooz/usb_dfu here], clone to your PC an build or use a precompiled [https://github.com/softsr/libopencm3/downloads binary file] to upload. However the KroozSD board is shipped with the KroozDFU bootloader by default.

== Source code ==
The '''KroozSD''' source code is based on Paparazzi master git branch, and ported on the STM32F4 Cortex™-M4 processor family.
It is available from [https://github.com/softsr/paparazzi/tree/krooz_port here]

== Where to buy ==
If you want to buy the KroozSD board, just write me an Email on:
softsr@yahoo.de

[[Category:Autopilots]]

KroozSD

2013-10-26T16:19:41Z

Softsr: /* Features */

{| 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:KroozSD_top_bott.jpg|292px|The Krooz Autopilot]]
[[Image:KroozSD_bott.jpg|200px|The Krooz Autopilot]]
[[Image:KroozSD_top.jpg|200px|The Krooz Autopilot]]
</div>
__TOC__

= <font color="red">New KroozSD Version Available!</font> =
There is a new version of the KroozSD available - the KroozSD Big Rotorcraft Edition. Equipped with MXR9500 quality acceleration sensor from Memsic sensing solutions, it brings one of the best motion sensing performances and vibration immunities in it's class. It ensures much better flight stability and higher immunity to vibration noisy aircrafts. There also added an SWD programming/debugging interface connector to simplify the development of high complicated algorithms.
[[File:KroozSD_R_Edition_Bott.png|300px]]
[[File:KroozSD_R_Edition_Top.png|300px]]

= Overview =
'''KroozSD''' UAV autopilot board is an all in one rotorcraft solution, with a wide variety of sensors, modules and units on one board in market usual size.

== Features ==
'''KroozSD''' is based on the 64 pins STM32F405RGT6 [http://www.st.com/internet/mcu/product/252144.jsp Cortex M4] 168MHz processor featuring a Floating point unit (FPU), up to 192k of RAM and 1024k of FLASH.

* STM32 microcontroller [http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00037051.pdf datasheet] with 1024kB flash and up to 192kB RAM
* Onboard microSD card slot (SPI interface)
* [http://www.invensense.com/mems/gyro/mpu6050.html MPU6050 Gyro/Accelerometer sensor] and [http://www.memsic.com/userfiles/files/Datasheets/Accelerometer-Datasheets/MXR9500GM__RevD.pdf MXR9500 Accelerometer] (Big Rotorcraft Edition).
* [http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/HMC5883L_3-Axis_Digital_Compass_IC.pdf HMC5883] magnet field sensor.
* [http://www.meas-spec.com/downloads/MS5611-01BA03.pdf MS5611] high precision pressure sensor.
* [ftp://ftp1.digi.com/support/documentation/90000976_C.pdf XBee Pro] module on board connector.
* [http://datasheets.maximintegrated.com/en/ds/MAX7456.pdf MAX7456] OSD module for mixing in a flight data into a camera video screen (using 4 pin connector)
* 3 x 3.3V TTL UART (5V tolerant)
* 11 x Servo PPM outputs (or 10 if using PPM output receiver)
* 2 x [http://en.wikipedia.org/wiki/I2c I<sup>2</sup>C] 5V bus
* 1 x SPI bus
* 5 x Analog input channels
* 1 x Micro USB
* Extra camera control 6 pin connector for flexible camera use
* 3 x status LEDs with attached test point
* Up to 35V (8S LiPo) input power control unit
* Up to 1,5A load current on 3,3V line
* Up to 5A load current on 5V line
* 50mm x 60mm x 10mm
* 2 layers PCB design

So, except for a GPS unit with the '''KroozSD''' you have all necessary sensors for full features all in one rotorcraft solution.

== Flight videos ==
Here you can see some example flight videos, representing basic KroozSD flight properties:

[http://youtu.be/oBh0t4H2l6A Windy flight with autonomous landing]

== Pinout ==
[[File:KroozSD_top_dscr.png|800px]]

== Usage scenarios ==
'''KroozSD''' can be used in different telemetry versions:
* with an XBee wireless module connected to the on-board XBee connector
[[Image:KroozSD_xbee.jpg|250px|The Krooz Autopilot]]
* or without any on-board telemetry solution, with a possibility to connect other telemetry link over one of the UART connectors.

The following picture shows the usage of KroozSD board with I2C bus motor controllers and two camera mount stabilization servos:
[[Image:KroozSD_usage_1.png|750px|The Krooz Autopilot]]

== Mechanical Dimensions ==
[[File:KroozSD_top_dim.png|500px]]

= Schematics =
[[Image:Schematics_KroozSD.jpg|250px|The Krooz Schematics]]

= Programming =
The '''KroozSD''' autopilot can beprogrammed in different ways:
* using the pre-loaded KroozDFU USB bootloader over the on-board USB header
* using the default STM32 serial bootloader over the UART3 connector

== Bootloader ==
The '''KroozSD''' uses an own KroozDFU bootloader (based on [https://github.com/libopencm3/libopencm3 libopencm3] project).
You can find it [https://github.com/softsr/libopencm3/tree/master/examples/stm32/f4/krooz/usb_dfu here], clone to your PC an build or use a precompiled [https://github.com/softsr/libopencm3/downloads binary file] to upload. However the KroozSD board is shipped with the KroozDFU bootloader by default.

== Source code ==
The '''KroozSD''' source code is based on Paparazzi master git branch, and ported on the STM32F4 Cortex™-M4 processor family.
It is available from [https://github.com/softsr/paparazzi/tree/krooz_port here]

== Where to buy ==
If you want to buy the KroozSD board, just write me an Email on:
softsr@yahoo.de

[[Category:Autopilots]]

KroozSD

2013-10-26T12:29:33Z

Softsr: /* New KroozSD Version Available! */

{| 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:KroozSD_top_bott.jpg|292px|The Krooz Autopilot]]
[[Image:KroozSD_bott.jpg|200px|The Krooz Autopilot]]
[[Image:KroozSD_top.jpg|200px|The Krooz Autopilot]]
</div>
__TOC__

= <font color="red">New KroozSD Version Available!</font> =
There is a new version of the KroozSD available - the KroozSD Big Rotorcraft Edition. Equipped with MXR9500 quality acceleration sensor from Memsic sensing solutions, it brings one of the best motion sensing performances and vibration immunities in it's class. It ensures much better flight stability and higher immunity to vibration noisy aircrafts. There also added an SWD programming/debugging interface connector to simplify the development of high complicated algorithms.
[[File:KroozSD_R_Edition_Bott.png|300px]]
[[File:KroozSD_R_Edition_Top.png|300px]]

= Overview =
'''KroozSD''' UAV autopilot board is an all in one rotorcraft solution, with a wide variety of sensors, modules and units on one board in market usual size.

== Features ==
'''KroozSD''' is based on the 64 pins STM32F405RGT6 [http://www.st.com/internet/mcu/product/252144.jsp Cortex M4] 168MHz processor featuring a Floating point unit (FPU), up to 192k of RAM and 1024k of FLASH.

* STM32 microcontroller [http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00037051.pdf datasheet] with 1024kB flash and up to 192kB RAM
* Onboard microSD card slot (SPI interface)
* [http://www.invensense.com/mems/gyro/mpu6050.html MPU6050 Gyro/Accelerometer sensor] and [http://www.memsic.com/userfiles/files/Datasheets/Accelerometer-Datasheets/MXR9500GM__RevD.pdf MXR9500 Accelerometer] (Rotorcraft Edition).
* [http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/HMC5883L_3-Axis_Digital_Compass_IC.pdf HMC5883] magnet field sensor.
* [http://www.meas-spec.com/downloads/MS5611-01BA03.pdf MS5611] high precision pressure sensor.
* [ftp://ftp1.digi.com/support/documentation/90000976_C.pdf XBee Pro] module on board connector.
* [http://datasheets.maximintegrated.com/en/ds/MAX7456.pdf MAX7456] OSD module for mixing in a flight data into a camera video screen (using 4 pin connector)
* 3 x 3.3V TTL UART (5V tolerant)
* 11 x Servo PPM outputs (or 10 if using PPM output receiver)
* 2 x [http://en.wikipedia.org/wiki/I2c I<sup>2</sup>C] 5V bus
* 1 x SPI bus
* 5 x Analog input channels
* 1 x Micro USB
* Extra camera control 6 pin connector for flexible camera use
* 3 x status LEDs with attached test point
* Up to 35V (8S LiPo) input power control unit
* Up to 1,5A load current on 3,3V line
* Up to 5A load current on 5V line
* 50mm x 60mm x 10mm
* 2 layers PCB design

So, except for a GPS unit with the '''KroozSD''' you have all necessary sensors for full features all in one rotorcraft solution.

== Flight videos ==
Here you can see some example flight videos, representing basic KroozSD flight properties:

[http://youtu.be/oBh0t4H2l6A Windy flight with autonomous landing]

== Pinout ==
[[File:KroozSD_top_dscr.png|800px]]

== Usage scenarios ==
'''KroozSD''' can be used in different telemetry versions:
* with an XBee wireless module connected to the on-board XBee connector
[[Image:KroozSD_xbee.jpg|250px|The Krooz Autopilot]]
* or without any on-board telemetry solution, with a possibility to connect other telemetry link over one of the UART connectors.

The following picture shows the usage of KroozSD board with I2C bus motor controllers and two camera mount stabilization servos:
[[Image:KroozSD_usage_1.png|750px|The Krooz Autopilot]]

== Mechanical Dimensions ==
[[File:KroozSD_top_dim.png|500px]]

= Schematics =
[[Image:Schematics_KroozSD.jpg|250px|The Krooz Schematics]]

= Programming =
The '''KroozSD''' autopilot can beprogrammed in different ways:
* using the pre-loaded KroozDFU USB bootloader over the on-board USB header
* using the default STM32 serial bootloader over the UART3 connector

== Bootloader ==
The '''KroozSD''' uses an own KroozDFU bootloader (based on [https://github.com/libopencm3/libopencm3 libopencm3] project).
You can find it [https://github.com/softsr/libopencm3/tree/master/examples/stm32/f4/krooz/usb_dfu here], clone to your PC an build or use a precompiled [https://github.com/softsr/libopencm3/downloads binary file] to upload. However the KroozSD board is shipped with the KroozDFU bootloader by default.

== Source code ==
The '''KroozSD''' source code is based on Paparazzi master git branch, and ported on the STM32F4 Cortex™-M4 processor family.
It is available from [https://github.com/softsr/paparazzi/tree/krooz_port here]

== Where to buy ==
If you want to buy the KroozSD board, just write me an Email on:
softsr@yahoo.de

[[Category:Autopilots]]

KroozSD

2013-10-26T12:19:10Z

Softsr: /* New KroozSD Version Available! */

{| 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:KroozSD_top_bott.jpg|292px|The Krooz Autopilot]]
[[Image:KroozSD_bott.jpg|200px|The Krooz Autopilot]]
[[Image:KroozSD_top.jpg|200px|The Krooz Autopilot]]
</div>
__TOC__

= <font color="red">New KroozSD Version Available!</font> =
There is a new version of the KroozSD available - the KroozSD Rotorcraft Edition. Equipped with MXR9500 quality acceleration sensor from Memsic sensing solutions, it brings one of the best motion sensing performances and vibration immunities in it's class. It ensures much better flight stability and higher immunity to vibration noisy aircrafts. There also added an SWD programming/debugging interface connector to simplify the development of high complicated algorithms.
[[File:KroozSD_R_Edition_Bott.png|300px]]
[[File:KroozSD_R_Edition_Top.png|300px]]

= Overview =
'''KroozSD''' UAV autopilot board is an all in one rotorcraft solution, with a wide variety of sensors, modules and units on one board in market usual size.

== Features ==
'''KroozSD''' is based on the 64 pins STM32F405RGT6 [http://www.st.com/internet/mcu/product/252144.jsp Cortex M4] 168MHz processor featuring a Floating point unit (FPU), up to 192k of RAM and 1024k of FLASH.

* STM32 microcontroller [http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00037051.pdf datasheet] with 1024kB flash and up to 192kB RAM
* Onboard microSD card slot (SPI interface)
* [http://www.invensense.com/mems/gyro/mpu6050.html MPU6050 Gyro/Accelerometer sensor] and [http://www.memsic.com/userfiles/files/Datasheets/Accelerometer-Datasheets/MXR9500GM__RevD.pdf MXR9500 Accelerometer] (Rotorcraft Edition).
* [http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/HMC5883L_3-Axis_Digital_Compass_IC.pdf HMC5883] magnet field sensor.
* [http://www.meas-spec.com/downloads/MS5611-01BA03.pdf MS5611] high precision pressure sensor.
* [ftp://ftp1.digi.com/support/documentation/90000976_C.pdf XBee Pro] module on board connector.
* [http://datasheets.maximintegrated.com/en/ds/MAX7456.pdf MAX7456] OSD module for mixing in a flight data into a camera video screen (using 4 pin connector)
* 3 x 3.3V TTL UART (5V tolerant)
* 11 x Servo PPM outputs (or 10 if using PPM output receiver)
* 2 x [http://en.wikipedia.org/wiki/I2c I<sup>2</sup>C] 5V bus
* 1 x SPI bus
* 5 x Analog input channels
* 1 x Micro USB
* Extra camera control 6 pin connector for flexible camera use
* 3 x status LEDs with attached test point
* Up to 35V (8S LiPo) input power control unit
* Up to 1,5A load current on 3,3V line
* Up to 5A load current on 5V line
* 50mm x 60mm x 10mm
* 2 layers PCB design

So, except for a GPS unit with the '''KroozSD''' you have all necessary sensors for full features all in one rotorcraft solution.

== Flight videos ==
Here you can see some example flight videos, representing basic KroozSD flight properties:

[http://youtu.be/oBh0t4H2l6A Windy flight with autonomous landing]

== Pinout ==
[[File:KroozSD_top_dscr.png|800px]]

== Usage scenarios ==
'''KroozSD''' can be used in different telemetry versions:
* with an XBee wireless module connected to the on-board XBee connector
[[Image:KroozSD_xbee.jpg|250px|The Krooz Autopilot]]
* or without any on-board telemetry solution, with a possibility to connect other telemetry link over one of the UART connectors.

The following picture shows the usage of KroozSD board with I2C bus motor controllers and two camera mount stabilization servos:
[[Image:KroozSD_usage_1.png|750px|The Krooz Autopilot]]

== Mechanical Dimensions ==
[[File:KroozSD_top_dim.png|500px]]

= Schematics =
[[Image:Schematics_KroozSD.jpg|250px|The Krooz Schematics]]

= Programming =
The '''KroozSD''' autopilot can beprogrammed in different ways:
* using the pre-loaded KroozDFU USB bootloader over the on-board USB header
* using the default STM32 serial bootloader over the UART3 connector

== Bootloader ==
The '''KroozSD''' uses an own KroozDFU bootloader (based on [https://github.com/libopencm3/libopencm3 libopencm3] project).
You can find it [https://github.com/softsr/libopencm3/tree/master/examples/stm32/f4/krooz/usb_dfu here], clone to your PC an build or use a precompiled [https://github.com/softsr/libopencm3/downloads binary file] to upload. However the KroozSD board is shipped with the KroozDFU bootloader by default.

== Source code ==
The '''KroozSD''' source code is based on Paparazzi master git branch, and ported on the STM32F4 Cortex™-M4 processor family.
It is available from [https://github.com/softsr/paparazzi/tree/krooz_port here]

== Where to buy ==
If you want to buy the KroozSD board, just write me an Email on:
softsr@yahoo.de

[[Category:Autopilots]]

KroozSD

2013-10-26T12:18:31Z

Softsr:

{| 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:KroozSD_top_bott.jpg|292px|The Krooz Autopilot]]
[[Image:KroozSD_bott.jpg|200px|The Krooz Autopilot]]
[[Image:KroozSD_top.jpg|200px|The Krooz Autopilot]]
</div>
__TOC__

= <font color="red">New KroozSD Version Available!</font> =
There is a new version of the KroozSD available - the KroozSD Rotorcraft Edition. Equipped with a quality acceleration sensor from Memsic sensing solutions, it brings one of the best motion sensing performances and vibration immunities in it's class. It ensures much better flight stability and higher immunity to vibration noisy aircrafts. There also added an SWD programming/debugging interface connector to simplify the development of high complicated algorithms.
[[File:KroozSD_R_Edition_Bott.png|300px]]
[[File:KroozSD_R_Edition_Top.png|300px]]

= Overview =
'''KroozSD''' UAV autopilot board is an all in one rotorcraft solution, with a wide variety of sensors, modules and units on one board in market usual size.

== Features ==
'''KroozSD''' is based on the 64 pins STM32F405RGT6 [http://www.st.com/internet/mcu/product/252144.jsp Cortex M4] 168MHz processor featuring a Floating point unit (FPU), up to 192k of RAM and 1024k of FLASH.

* STM32 microcontroller [http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00037051.pdf datasheet] with 1024kB flash and up to 192kB RAM
* Onboard microSD card slot (SPI interface)
* [http://www.invensense.com/mems/gyro/mpu6050.html MPU6050 Gyro/Accelerometer sensor] and [http://www.memsic.com/userfiles/files/Datasheets/Accelerometer-Datasheets/MXR9500GM__RevD.pdf MXR9500 Accelerometer] (Rotorcraft Edition).
* [http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/HMC5883L_3-Axis_Digital_Compass_IC.pdf HMC5883] magnet field sensor.
* [http://www.meas-spec.com/downloads/MS5611-01BA03.pdf MS5611] high precision pressure sensor.
* [ftp://ftp1.digi.com/support/documentation/90000976_C.pdf XBee Pro] module on board connector.
* [http://datasheets.maximintegrated.com/en/ds/MAX7456.pdf MAX7456] OSD module for mixing in a flight data into a camera video screen (using 4 pin connector)
* 3 x 3.3V TTL UART (5V tolerant)
* 11 x Servo PPM outputs (or 10 if using PPM output receiver)
* 2 x [http://en.wikipedia.org/wiki/I2c I<sup>2</sup>C] 5V bus
* 1 x SPI bus
* 5 x Analog input channels
* 1 x Micro USB
* Extra camera control 6 pin connector for flexible camera use
* 3 x status LEDs with attached test point
* Up to 35V (8S LiPo) input power control unit
* Up to 1,5A load current on 3,3V line
* Up to 5A load current on 5V line
* 50mm x 60mm x 10mm
* 2 layers PCB design

So, except for a GPS unit with the '''KroozSD''' you have all necessary sensors for full features all in one rotorcraft solution.

== Flight videos ==
Here you can see some example flight videos, representing basic KroozSD flight properties:

[http://youtu.be/oBh0t4H2l6A Windy flight with autonomous landing]

== Pinout ==
[[File:KroozSD_top_dscr.png|800px]]

== Usage scenarios ==
'''KroozSD''' can be used in different telemetry versions:
* with an XBee wireless module connected to the on-board XBee connector
[[Image:KroozSD_xbee.jpg|250px|The Krooz Autopilot]]
* or without any on-board telemetry solution, with a possibility to connect other telemetry link over one of the UART connectors.

The following picture shows the usage of KroozSD board with I2C bus motor controllers and two camera mount stabilization servos:
[[Image:KroozSD_usage_1.png|750px|The Krooz Autopilot]]

== Mechanical Dimensions ==
[[File:KroozSD_top_dim.png|500px]]

= Schematics =
[[Image:Schematics_KroozSD.jpg|250px|The Krooz Schematics]]

= Programming =
The '''KroozSD''' autopilot can beprogrammed in different ways:
* using the pre-loaded KroozDFU USB bootloader over the on-board USB header
* using the default STM32 serial bootloader over the UART3 connector

== Bootloader ==
The '''KroozSD''' uses an own KroozDFU bootloader (based on [https://github.com/libopencm3/libopencm3 libopencm3] project).
You can find it [https://github.com/softsr/libopencm3/tree/master/examples/stm32/f4/krooz/usb_dfu here], clone to your PC an build or use a precompiled [https://github.com/softsr/libopencm3/downloads binary file] to upload. However the KroozSD board is shipped with the KroozDFU bootloader by default.

== Source code ==
The '''KroozSD''' source code is based on Paparazzi master git branch, and ported on the STM32F4 Cortex™-M4 processor family.
It is available from [https://github.com/softsr/paparazzi/tree/krooz_port here]

== Where to buy ==
If you want to buy the KroozSD board, just write me an Email on:
softsr@yahoo.de

[[Category:Autopilots]]

File:KroozSD R Edition Top.png

2013-10-26T12:16:19Z

Softsr:

File:KroozSD R Edition Bott.png

2013-10-26T12:12:16Z

Softsr:

KroozSD

2013-09-09T13:00:55Z

Softsr:

{| 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:KroozSD_top_bott.jpg|292px|The Krooz Autopilot]]
[[Image:KroozSD_bott.jpg|200px|The Krooz Autopilot]]
[[Image:KroozSD_top.jpg|200px|The Krooz Autopilot]]
</div>
__TOC__

= Overview =
'''KroozSD''' UAV autopilot board is an all in one rotorcraft solution, with a wide variety of sensors, modules and units on one board in market usual size.

== Features ==
'''KroozSD''' is based on the 64 pins STM32F405RGT6 [http://www.st.com/internet/mcu/product/252144.jsp Cortex M4] 168MHz processor featuring a Floating point unit (FPU), up to 192k of RAM and 1024k of FLASH.

* STM32 microcontroller [http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/DATASHEET/DM00037051.pdf STM32F405RGT6 datasheet] with 1024kB flash and up to 192kB RAM
* Onboard microSD card slot
* [http://www.invensense.com/mems/gyro/mpu6050.html MPU6050 Gyro/Accelerometer sensor]
* [http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/HMC5883L_3-Axis_Digital_Compass_IC.pdf HMC5883] magnet field sensor.
* [http://www.meas-spec.com/downloads/MS5611-01BA03.pdf MS5611] high precision pressure sensor.
* [ftp://ftp1.digi.com/support/documentation/90000976_C.pdf XBee Pro] module on board connector.
* [http://datasheets.maximintegrated.com/en/ds/MAX7456.pdf MAX7456] OSD module for mixing in a flight data into a camera video screen (using 4 pin connector)
* 3 x 3.3V TTL UART (5V tolerant)
* 11 x Servo PPM outputs (or 10 if using PPM output receiver)
* 2 x [http://en.wikipedia.org/wiki/I2c I<sup>2</sup>C] 5V bus
* 1 x SPI bus
* 5 x Analog input channels
* 1 x Micro USB
* Extra camera control 6 pin connector for flexible camera use
* 3 x status LEDs with attached test point
* Up to 35V (8S LiPo) input power control unit
* Up to 1,5A load current on 3,3V line
* Up to 5A load current on 5V line
* 50mm x 60mm x 10mm
* 2 layers PCB design

So, except for a GPS unit with the '''KroozSD''' you have all necessary sensors for full features all in one rotorcraft solution.

== Flight videos ==
Here you can see some example flight videos, representing basic KroozSD flight properties:

[http://youtu.be/oBh0t4H2l6A Windy flight with autonomous landing]

== Pinout ==
[[File:KroozSD_top_dscr.png|800px]]

== Usage scenarios ==
'''KroozSD''' can be used in different telemetry versions:
* with an XBee wireless module connected to the on-board XBee connector
[[Image:KroozSD_xbee.jpg|250px|The Krooz Autopilot]]
* or without any on-board telemetry solution, with a possibility to connect other telemetry link over one of the UART connectors.

The following picture shows the usage of KroozSD board with I2C bus motor controllers and two camera mount stabilization servos:
[[Image:KroozSD_usage_1.png|750px|The Krooz Autopilot]]

== Mechanical Dimensions ==
[[File:KroozSD_top_dim.png|500px]]

= Schematics =
[[Image:Schematics_KroozSD.jpg|250px|The Krooz Schematics]]

= Programming =
The '''KroozSD''' autopilot can beprogrammed in different ways:
* using the pre-loaded KroozDFU USB bootloader over the on-board USB header
* using the default STM32 serial bootloader over the UART3 connector

== Bootloader ==
The '''KroozSD''' uses an own KroozDFU bootloader (based on [https://github.com/libopencm3/libopencm3 libopencm3] project).
You can find it [https://github.com/softsr/libopencm3/tree/master/examples/stm32/f4/krooz/usb_dfu here], clone to your PC an build or use a precompiled [https://github.com/softsr/libopencm3/downloads binary file] to upload. However the KroozSD board is shipped with the KroozDFU bootloader by default.

== Source code ==
The '''KroozSD''' source code is based on Paparazzi master git branch, and ported on the STM32F4 Cortex™-M4 processor family.
It is available from [https://github.com/softsr/paparazzi/tree/krooz_port here]

== Where to buy ==
If you want to buy the KroozSD board, just write me an Email on:
softsr@yahoo.de

[[Category:Autopilots]]

KroozSD

2013-06-09T17:36:53Z

Softsr: /* Usage scenarios */

{| 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:KroozSD_top_bott.jpg|292px|The Krooz Autopilot]]
[[Image:KroozSD_bott.jpg|200px|The Krooz Autopilot]]
[[Image:KroozSD_top.jpg|200px|The Krooz Autopilot]]
</div>
__TOC__

= Overview =
'''KroozSD''' UAV autopilot board is an all in one rotorcraft solution, with a wide variety of sensors, modules and units on one board in market usual size.

== Features ==
'''KroozSD''' is based on the 64 pins STM32F405RGT6 [http://www.st.com/internet/mcu/product/252144.jsp Cortex M4] 168MHz processor featuring a Floating point unit (FPU), up to 192k of RAM and 1024k of FLASH.

* STM32 microcontroller [http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/DATASHEET/DM00037051.pdf STM32F405RGT6 datasheet] with 1024kB flash and up to 192kB RAM
* Onboard microSD card slot
* [http://www.invensense.com/mems/gyro/mpu6050.html MPU6050 Gyro/Accelerometer sensor]
* [http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/HMC5883L_3-Axis_Digital_Compass_IC.pdf HMC5883] magnet field sensor.
* [http://www.meas-spec.com/downloads/MS5611-01BA03.pdf MS5611] high precision pressure sensor.
* [ftp://ftp1.digi.com/support/documentation/90000976_C.pdf XBee Pro] module on board connector.
* [http://datasheets.maximintegrated.com/en/ds/MAX7456.pdf MAX7456] OSD module for mixing in a flight data into a camera video screen (using 4 pin connector)
* 3 x 3.3V TTL UART (5V tolerant)
* 11 x Servo PPM outputs (or 10 if using PPM output receiver)
* 2 x [http://en.wikipedia.org/wiki/I2c I<sup>2</sup>C] 5V bus
* 1 x SPI bus
* 5 x Analog input channels
* 1 x Micro USB
* Extra camera control 6 pin connector for flexible camera use
* 3 x status LEDs with attached test point
* Up to 35V (8S LiPo) input power control unit
* Up to 1,5A load current on 3,3V line
* Up to 5A load current on 5V line
* 50mm x 60mm x 10mm
* 2 layers PCB design

So, except for a GPS unit with the '''KroozSD''' you have all necessary sensors for full features all in one rotorcraft solution.

== Pinout ==
[[File:KroozSD_top_dscr.png|800px]]

== Usage scenarios ==
'''KroozSD''' can be used in different telemetry versions:
* with an XBee wireless module connected to the on-board XBee connector
[[Image:KroozSD_xbee.jpg|250px|The Krooz Autopilot]]
* or without any on-board telemetry solution, with a possibility to connect other telemetry link over one of the UART connectors.

The following picture shows the usage of KroozSD board with I2C bus motor controllers and two camera mount stabilization servos:
[[Image:KroozSD_usage_1.png|750px|The Krooz Autopilot]]

== Mechanical Dimensions ==
[[File:KroozSD_top_dim.png|500px]]

= Schematics =
[[Image:Schematics_KroozSD.jpg|250px|The Krooz Schematics]]

= Programming =
The '''KroozSD''' autopilot can beprogrammed in different ways:
* using the pre-loaded KroozDFU USB bootloader over the on-board USB header
* using the default STM32 serial bootloader over the UART3 connector

== Bootloader ==
The '''KroozSD''' uses an own KroozDFU bootloader (based on [https://github.com/libopencm3/libopencm3 libopencm3] project).
You can find it [https://github.com/softsr/libopencm3/tree/master/examples/stm32/f4/krooz/usb_dfu here], clone to your PC an build or use a precompiled [https://github.com/softsr/libopencm3/downloads binary file] to upload. However the KroozSD board is shipped with the KroozDFU bootloader by default.

== Source code ==
The '''KroozSD''' source code is based on Paparazzi master git branch, and ported on the STM32F4 Cortex™-M4 processor family.
It is available from [https://github.com/softsr/paparazzi/tree/krooz_port here]

== Where to buy ==
If you want to buy the KroozSD board, just write me an Email on:
softsr@yahoo.de

[[Category:Autopilots]]

KroozSD

2013-06-09T17:36:19Z

Softsr: /* Usage scenarios */

{| 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:KroozSD_top_bott.jpg|292px|The Krooz Autopilot]]
[[Image:KroozSD_bott.jpg|200px|The Krooz Autopilot]]
[[Image:KroozSD_top.jpg|200px|The Krooz Autopilot]]
</div>
__TOC__

= Overview =
'''KroozSD''' UAV autopilot board is an all in one rotorcraft solution, with a wide variety of sensors, modules and units on one board in market usual size.

== Features ==
'''KroozSD''' is based on the 64 pins STM32F405RGT6 [http://www.st.com/internet/mcu/product/252144.jsp Cortex M4] 168MHz processor featuring a Floating point unit (FPU), up to 192k of RAM and 1024k of FLASH.

* STM32 microcontroller [http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/DATASHEET/DM00037051.pdf STM32F405RGT6 datasheet] with 1024kB flash and up to 192kB RAM
* Onboard microSD card slot
* [http://www.invensense.com/mems/gyro/mpu6050.html MPU6050 Gyro/Accelerometer sensor]
* [http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/HMC5883L_3-Axis_Digital_Compass_IC.pdf HMC5883] magnet field sensor.
* [http://www.meas-spec.com/downloads/MS5611-01BA03.pdf MS5611] high precision pressure sensor.
* [ftp://ftp1.digi.com/support/documentation/90000976_C.pdf XBee Pro] module on board connector.
* [http://datasheets.maximintegrated.com/en/ds/MAX7456.pdf MAX7456] OSD module for mixing in a flight data into a camera video screen (using 4 pin connector)
* 3 x 3.3V TTL UART (5V tolerant)
* 11 x Servo PPM outputs (or 10 if using PPM output receiver)
* 2 x [http://en.wikipedia.org/wiki/I2c I<sup>2</sup>C] 5V bus
* 1 x SPI bus
* 5 x Analog input channels
* 1 x Micro USB
* Extra camera control 6 pin connector for flexible camera use
* 3 x status LEDs with attached test point
* Up to 35V (8S LiPo) input power control unit
* Up to 1,5A load current on 3,3V line
* Up to 5A load current on 5V line
* 50mm x 60mm x 10mm
* 2 layers PCB design

So, except for a GPS unit with the '''KroozSD''' you have all necessary sensors for full features all in one rotorcraft solution.

== Pinout ==
[[File:KroozSD_top_dscr.png|800px]]

== Usage scenarios ==
'''KroozSD''' can be used in different telemetry versions:
* with an XBee wireless module connected to the on-board XBee connector
[[Image:KroozSD_xbee.jpg|250px|The Krooz Autopilot]]
* or without any on-board telemetry solution, with a possibility to connect other telemetry link over one of the UART connectors.

The following picture shows the usage of KroozSD board with I2C bus motor controllers and two camera mount stabilization servos:
[[Image:KroozSD_usage_1.png|250px|The Krooz Autopilot]]

== Mechanical Dimensions ==
[[File:KroozSD_top_dim.png|500px]]

= Schematics =
[[Image:Schematics_KroozSD.jpg|250px|The Krooz Schematics]]

= Programming =
The '''KroozSD''' autopilot can beprogrammed in different ways:
* using the pre-loaded KroozDFU USB bootloader over the on-board USB header
* using the default STM32 serial bootloader over the UART3 connector

== Bootloader ==
The '''KroozSD''' uses an own KroozDFU bootloader (based on [https://github.com/libopencm3/libopencm3 libopencm3] project).
You can find it [https://github.com/softsr/libopencm3/tree/master/examples/stm32/f4/krooz/usb_dfu here], clone to your PC an build or use a precompiled [https://github.com/softsr/libopencm3/downloads binary file] to upload. However the KroozSD board is shipped with the KroozDFU bootloader by default.

== Source code ==
The '''KroozSD''' source code is based on Paparazzi master git branch, and ported on the STM32F4 Cortex™-M4 processor family.
It is available from [https://github.com/softsr/paparazzi/tree/krooz_port here]

== Where to buy ==
If you want to buy the KroozSD board, just write me an Email on:
softsr@yahoo.de

[[Category:Autopilots]]

KroozSD

2013-06-09T17:35:57Z

Softsr: /* Usage scenarios */

{| 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:KroozSD_top_bott.jpg|292px|The Krooz Autopilot]]
[[Image:KroozSD_bott.jpg|200px|The Krooz Autopilot]]
[[Image:KroozSD_top.jpg|200px|The Krooz Autopilot]]
</div>
__TOC__

= Overview =
'''KroozSD''' UAV autopilot board is an all in one rotorcraft solution, with a wide variety of sensors, modules and units on one board in market usual size.

== Features ==
'''KroozSD''' is based on the 64 pins STM32F405RGT6 [http://www.st.com/internet/mcu/product/252144.jsp Cortex M4] 168MHz processor featuring a Floating point unit (FPU), up to 192k of RAM and 1024k of FLASH.

* STM32 microcontroller [http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/DATASHEET/DM00037051.pdf STM32F405RGT6 datasheet] with 1024kB flash and up to 192kB RAM
* Onboard microSD card slot
* [http://www.invensense.com/mems/gyro/mpu6050.html MPU6050 Gyro/Accelerometer sensor]
* [http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/HMC5883L_3-Axis_Digital_Compass_IC.pdf HMC5883] magnet field sensor.
* [http://www.meas-spec.com/downloads/MS5611-01BA03.pdf MS5611] high precision pressure sensor.
* [ftp://ftp1.digi.com/support/documentation/90000976_C.pdf XBee Pro] module on board connector.
* [http://datasheets.maximintegrated.com/en/ds/MAX7456.pdf MAX7456] OSD module for mixing in a flight data into a camera video screen (using 4 pin connector)
* 3 x 3.3V TTL UART (5V tolerant)
* 11 x Servo PPM outputs (or 10 if using PPM output receiver)
* 2 x [http://en.wikipedia.org/wiki/I2c I<sup>2</sup>C] 5V bus
* 1 x SPI bus
* 5 x Analog input channels
* 1 x Micro USB
* Extra camera control 6 pin connector for flexible camera use
* 3 x status LEDs with attached test point
* Up to 35V (8S LiPo) input power control unit
* Up to 1,5A load current on 3,3V line
* Up to 5A load current on 5V line
* 50mm x 60mm x 10mm
* 2 layers PCB design

So, except for a GPS unit with the '''KroozSD''' you have all necessary sensors for full features all in one rotorcraft solution.

== Pinout ==
[[File:KroozSD_top_dscr.png|800px]]

== Usage scenarios ==
'''KroozSD''' can be used in different telemetry versions:
* with an XBee wireless module connected to the on-board XBee connector
[[Image:KroozSD_xbee.jpg|250px|The Krooz Autopilot]]
* or without any on-board telemetry solution, with a possibility to connect other telemetry link over one of the UART connectors.

The following picture shows the usage of KroozSD board with I2C bus motor controllers and two camera mount stabilization servos:
[[Image:KroozSD_usage_1.jpg|250px|The Krooz Autopilot]]

== Mechanical Dimensions ==
[[File:KroozSD_top_dim.png|500px]]

= Schematics =
[[Image:Schematics_KroozSD.jpg|250px|The Krooz Schematics]]

= Programming =
The '''KroozSD''' autopilot can beprogrammed in different ways:
* using the pre-loaded KroozDFU USB bootloader over the on-board USB header
* using the default STM32 serial bootloader over the UART3 connector

== Bootloader ==
The '''KroozSD''' uses an own KroozDFU bootloader (based on [https://github.com/libopencm3/libopencm3 libopencm3] project).
You can find it [https://github.com/softsr/libopencm3/tree/master/examples/stm32/f4/krooz/usb_dfu here], clone to your PC an build or use a precompiled [https://github.com/softsr/libopencm3/downloads binary file] to upload. However the KroozSD board is shipped with the KroozDFU bootloader by default.

== Source code ==
The '''KroozSD''' source code is based on Paparazzi master git branch, and ported on the STM32F4 Cortex™-M4 processor family.
It is available from [https://github.com/softsr/paparazzi/tree/krooz_port here]

== Where to buy ==
If you want to buy the KroozSD board, just write me an Email on:
softsr@yahoo.de

[[Category:Autopilots]]

File:KroozSD usage 1.png

2013-06-09T17:35:23Z

Softsr:

KroozSD

2013-05-02T19:21:44Z

Softsr:

{| 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:KroozSD_top_bott.jpg|292px|The Krooz Autopilot]]
[[Image:KroozSD_bott.jpg|200px|The Krooz Autopilot]]
[[Image:KroozSD_top.jpg|200px|The Krooz Autopilot]]
</div>
__TOC__

= Overview =
'''KroozSD''' UAV autopilot board is an all in one rotorcraft solution, with a wide variety of sensors, modules and units on one board in market usual size.

== Features ==
'''KroozSD''' is based on the 64 pins STM32F405RGT6 [http://www.st.com/internet/mcu/product/252144.jsp Cortex M4] 168MHz processor featuring a Floating point unit (FPU), up to 192k of RAM and 1024k of FLASH.

* STM32 microcontroller [http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/DATASHEET/DM00037051.pdf STM32F405RGT6 datasheet] with 1024kB flash and up to 192kB RAM
* Onboard microSD card slot
* [http://www.invensense.com/mems/gyro/mpu6050.html MPU6050 Gyro/Accelerometer sensor]
* [http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/HMC5883L_3-Axis_Digital_Compass_IC.pdf HMC5883] magnet field sensor.
* [http://www.meas-spec.com/downloads/MS5611-01BA03.pdf MS5611] high precision pressure sensor.
* [ftp://ftp1.digi.com/support/documentation/90000976_C.pdf XBee Pro] module on board connector.
* [http://datasheets.maximintegrated.com/en/ds/MAX7456.pdf MAX7456] OSD module for mixing in a flight data into a camera video screen (using 4 pin connector)
* 3 x 3.3V TTL UART (5V tolerant)
* 11 x Servo PPM outputs (or 10 if using PPM output receiver)
* 2 x [http://en.wikipedia.org/wiki/I2c I<sup>2</sup>C] 5V bus
* 1 x SPI bus
* 5 x Analog input channels
* 1 x Micro USB
* Extra camera control 6 pin connector for flexible camera use
* 3 x status LEDs with attached test point
* Up to 35V (8S LiPo) input power control unit
* Up to 1,5A load current on 3,3V line
* Up to 5A load current on 5V line
* 50mm x 60mm x 10mm
* 2 layers PCB design

So, except for a GPS unit with the '''KroozSD''' you have all necessary sensors for full features all in one rotorcraft solution.

== Pinout ==
[[File:KroozSD_top_dscr.png|800px]]

== Usage scenarios ==
'''KroozSD''' can be used in different telemetry versions:
* with an XBee wireless module connected to the on-board XBee connector
[[Image:KroozSD_xbee.jpg|250px|The Krooz Autopilot]]
* with the external [http://www.wiznet.co.kr/Sub_Modules/en/product/Product_Detail.asp?cate1=&cate2=&cate3=&pid=1134 WizFi220] WiFi module connected to the on-board XBee connector
(coming soon)
* with the external [http://www.taiwantrade.com.tw/resources/member/276716/productcatalog/b9ee22e4-e94a-45cd-8db0-ac88b3a11a75_BTM222%20DataSheet.pdf BTM-222] Bluetooth module connected to the on-board XBee connector
(coming soon)
* or without any on-board telemetry solution, with a possibility to connect other telemetry link over one of the UART connectors.

== Mechanical Dimensions ==
[[File:KroozSD_top_dim.png|500px]]

= Schematics =
[[Image:Schematics_KroozSD.jpg|250px|The Krooz Schematics]]

= Programming =
The '''KroozSD''' autopilot can beprogrammed in different ways:
* using the pre-loaded KroozDFU USB bootloader over the on-board USB header
* using the default STM32 serial bootloader over the UART3 connector

== Bootloader ==
The '''KroozSD''' uses an own KroozDFU bootloader (based on [https://github.com/libopencm3/libopencm3 libopencm3] project).
You can find it [https://github.com/softsr/libopencm3/tree/master/examples/stm32/f4/krooz/usb_dfu here], clone to your PC an build or use a precompiled [https://github.com/softsr/libopencm3/downloads binary file] to upload. However the KroozSD board is shipped with the KroozDFU bootloader by default.

== Source code ==
The '''KroozSD''' source code is based on Paparazzi master git branch, and ported on the STM32F4 Cortex™-M4 processor family.
It is available from [https://github.com/softsr/paparazzi/tree/krooz_port here]

== Where to buy ==
If you want to buy the KroozSD board, just write me an Email on:
softsr@yahoo.de

[[Category:Autopilots]]

File:KroozSD top dim.png

2013-04-20T17:57:50Z

Softsr: uploaded a new version of "File:KroozSD top dim.png"

File:KroozSD top dim.png

2013-04-20T17:51:24Z

Softsr: uploaded a new version of "File:KroozSD top dim.png"

KroozSD

2013-04-20T17:50:33Z

Softsr:

{| 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:KroozSD_top_bott.jpg|292px|The Krooz Autopilot]]
[[Image:KroozSD_bott.jpg|200px|The Krooz Autopilot]]
[[Image:KroozSD_top.jpg|200px|The Krooz Autopilot]]
</div>
__TOC__

= Overview =
'''KroozSD''' UAV autopilot board is an all in one rotorcraft solution, with a wide variety of sensors, modules and units on one board in market usual size.

== Features ==
'''KroozSD''' is based on the 64 pins STM32F405RGT6 [http://www.st.com/internet/mcu/product/252144.jsp Cortex M4] 168MHz processor featuring a Floating point unit (FPU), up to 192k of RAM and 1024k of FLASH.

* STM32 microcontroller [http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/DATASHEET/DM00037051.pdf STM32F405RGT6 datasheet] with 1024kB flash and up to 192kB RAM
* Onboard microSD card slot
* [http://www.invensense.com/mems/gyro/mpu6050.html MPU6050 Gyro/Accelerometer sensor]
* [http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/HMC5883L_3-Axis_Digital_Compass_IC.pdf HMC5883] magnet field sensor.
* [http://www.meas-spec.com/downloads/MS5611-01BA03.pdf MS5611] high precision pressure sensor.
* [ftp://ftp1.digi.com/support/documentation/90000976_C.pdf XBee Pro] module on board connector.
* [http://datasheets.maximintegrated.com/en/ds/MAX7456.pdf MAX7456] OSD module for mixing in a flight data into a camera video screen (using 4 pin connector)
* 3 x 3.3V TTL UART (5V tolerant)
* 11 x Servo PPM outputs (or 10 if using PPM output receiver)
* 2 x [http://en.wikipedia.org/wiki/I2c I<sup>2</sup>C] 5V bus
* 1 x SPI bus
* 5 x Analog input channels
* 1 x Micro USB
* Extra camera control 6 pin connector for flexible camera use
* 3 x status LEDs with attached test point
* Up to 35V (8S LiPo) input power control unit
* Up to 1,5A load current on 3,3V line
* Up to 5A load current on 5V line
* 50mm x 60mm x 10mm
* 2 layers PCB design

So, except for a GPS unit with the '''KroozSD''' you have all necessary sensors for full features all in one rotorcraft solution.

== Pinout ==
[[File:KroozSD_top_dscr.png|800px]]

== Usage scenarios ==
'''KroozSD''' can be used in different telemetry versions:
* with an XBee wireless module connected to the on-board XBee connector
[[Image:KroozSD_xbee.jpg|250px|The Krooz Autopilot]]
* with the external [http://www.wiznet.co.kr/Sub_Modules/en/product/Product_Detail.asp?cate1=&cate2=&cate3=&pid=1134 WizFi220] WiFi module connected to the on-board XBee connector
(coming soon)
* with the external [http://www.taiwantrade.com.tw/resources/member/276716/productcatalog/b9ee22e4-e94a-45cd-8db0-ac88b3a11a75_BTM222%20DataSheet.pdf BTM-222] Bluetooth module connected to the on-board XBee connector
(coming soon)
* or without any on-board telemetry solution, with a possibility to connect other telemetry link over one of the UART connectors.

== Mechanical Dimensions ==
[[File:KroozSD_top_dim.png|500px]]

= Schematics =
[[Image:Schematics_KroozSD.jpg|250px|The Krooz Schematics]]

= Programming =
The '''KroozSD''' autopilot can beprogrammed in different ways:
* using the pre-loaded KroozDFU USB bootloader over the on-board USB header
* using the default STM32 serial bootloader over the UART3 connector

== Bootloader ==
The '''KroozSD''' uses an own KroozDFU bootloader (based on [https://github.com/libopencm3/libopencm3 libopencm3] project).
You can find it [https://github.com/softsr/libopencm3/tree/master/examples/stm32/f4/krooz/usb_dfu here], clone to your PC an build or use a precompiled [https://github.com/softsr/libopencm3/downloads binary file] to upload. However the KroozSD board is shipped with the KroozDFU bootloader by default.

== Source code ==
The '''KroozSD''' source code is based on Paparazzi master git branch, and ported on the STM32F4 Cortex™-M4 processor family.
It is available from [https://github.com/softsr/paparazzi/tree/krooz_port here]

[[Category:Autopilots]]

KroozSD

2013-04-20T17:32:32Z

Softsr: /* Programming */

{| 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:KroozSD_top_bott.jpg|292px|The Krooz Autopilot]]
[[Image:KroozSD_bott.jpg|200px|The Krooz Autopilot]]
[[Image:KroozSD_top.jpg|200px|The Krooz Autopilot]]
</div>
__TOC__

= Overview =
'''KroozSD''' UAV autopilot board is an all in one rotorcraft solution, with a wide variety of sensors, modules and units on one board in market usual size.

== Features ==
'''KroozSD''' is based on the 64 pins STM32F405RGT6 [http://www.st.com/internet/mcu/product/252144.jsp Cortex M4] 168MHz processor featuring a Floating point unit (FPU), up to 192k of RAM and 1024k of FLASH.

* STM32 microcontroller [http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/DATASHEET/DM00037051.pdf STM32F405RGT6 datasheet] with 1024kB flash and up to 192kB RAM
* Onboard microSD card slot
* [http://www.invensense.com/mems/gyro/mpu6050.html MPU6050 Gyro/Accelerometer sensor]
* [http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/HMC5883L_3-Axis_Digital_Compass_IC.pdf HMC5883] magnet field sensor.
* [http://www.meas-spec.com/downloads/MS5611-01BA03.pdf MS5611] high precision pressure sensor.
* [ftp://ftp1.digi.com/support/documentation/90000976_C.pdf XBee Pro] module on board connector.
* [http://datasheets.maximintegrated.com/en/ds/MAX7456.pdf MAX7456] OSD module for mixing in a flight data into a camera video screen (using 4 pin connector)
* 3 x 3.3V TTL UART (5V tolerant)
* 11 x Servo PPM outputs (or 10 if using PPM output receiver)
* 2 x [http://en.wikipedia.org/wiki/I2c I<sup>2</sup>C] 5V bus
* 1 x SPI bus
* 5 x Analog input channels
* 1 x Micro USB
* Extra camera control 6 pin connector for flexible camera use
* 3 x status LEDs with attached test point
* Up to 35V (8S LiPo) input power control unit
* Up to 1,5A load current on 3,3V line
* Up to 5A load current on 5V line
* 50mm x 60mm x 10mm
* 2 layers PCB design

So, except for a GPS unit with the '''KroozSD''' you have all necessary sensors for full features all in one rotorcraft solution.

== Usage scenarios ==
'''KroozSD''' can be used in different telemetry versions:
* with an XBee wireless module connected to the on-board XBee connector
[[Image:KroozSD_xbee.jpg|250px|The Krooz Autopilot]]
* with the external [http://www.wiznet.co.kr/Sub_Modules/en/product/Product_Detail.asp?cate1=&cate2=&cate3=&pid=1134 WizFi220] WiFi module connected to the on-board XBee connector
(coming soon)
* with the external [http://www.taiwantrade.com.tw/resources/member/276716/productcatalog/b9ee22e4-e94a-45cd-8db0-ac88b3a11a75_BTM222%20DataSheet.pdf BTM-222] Bluetooth module connected to the on-board XBee connector
(coming soon)
* or without any on-board telemetry solution, with a possibility to connect other telemetry link over one of the UART connectors.

= Schematics =
[[Image:Schematics_KroozSD.jpg|250px|The Krooz Schematics]]

== Pinout ==
[[File:KroozSD_top_dscr.png|800px]]

== Mechanical Dimensions ==
[[File:KroozSD_top_dim.png|500px]]

= Programming =
The '''KroozSD''' autopilot can beprogrammed in different ways:
* using the pre-loaded KroozDFU USB bootloader over the on-board USB header
* using the default STM32 serial bootloader over the UART3 connector

== Bootloader ==
The '''KroozSD''' uses an own KroozDFU bootloader (based on [https://github.com/libopencm3/libopencm3 libopencm3] project).
You can find it [https://github.com/softsr/libopencm3/tree/master/examples/stm32/f4/krooz/usb_dfu here], clone to your PC an build or use a precompiled [https://github.com/softsr/libopencm3/downloads binary file] to upload. However the KroozSD board is shipped with the KroozDFU bootloader by default.

== Source code ==
The '''KroozSD''' source code is based on Paparazzi master git branch, and ported on the STM32F4 Cortex™-M4 processor family.
It is available from [https://github.com/softsr/paparazzi/tree/krooz_port here]

[[Category:Autopilots]]

KroozSD

2013-04-20T17:32:07Z

Softsr: /* Mechanical Dimensions */

{| 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:KroozSD_top_bott.jpg|292px|The Krooz Autopilot]]
[[Image:KroozSD_bott.jpg|200px|The Krooz Autopilot]]
[[Image:KroozSD_top.jpg|200px|The Krooz Autopilot]]
</div>
__TOC__

= Overview =
'''KroozSD''' UAV autopilot board is an all in one rotorcraft solution, with a wide variety of sensors, modules and units on one board in market usual size.

== Features ==
'''KroozSD''' is based on the 64 pins STM32F405RGT6 [http://www.st.com/internet/mcu/product/252144.jsp Cortex M4] 168MHz processor featuring a Floating point unit (FPU), up to 192k of RAM and 1024k of FLASH.

* STM32 microcontroller [http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/DATASHEET/DM00037051.pdf STM32F405RGT6 datasheet] with 1024kB flash and up to 192kB RAM
* Onboard microSD card slot
* [http://www.invensense.com/mems/gyro/mpu6050.html MPU6050 Gyro/Accelerometer sensor]
* [http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/HMC5883L_3-Axis_Digital_Compass_IC.pdf HMC5883] magnet field sensor.
* [http://www.meas-spec.com/downloads/MS5611-01BA03.pdf MS5611] high precision pressure sensor.
* [ftp://ftp1.digi.com/support/documentation/90000976_C.pdf XBee Pro] module on board connector.
* [http://datasheets.maximintegrated.com/en/ds/MAX7456.pdf MAX7456] OSD module for mixing in a flight data into a camera video screen (using 4 pin connector)
* 3 x 3.3V TTL UART (5V tolerant)
* 11 x Servo PPM outputs (or 10 if using PPM output receiver)
* 2 x [http://en.wikipedia.org/wiki/I2c I<sup>2</sup>C] 5V bus
* 1 x SPI bus
* 5 x Analog input channels
* 1 x Micro USB
* Extra camera control 6 pin connector for flexible camera use
* 3 x status LEDs with attached test point
* Up to 35V (8S LiPo) input power control unit
* Up to 1,5A load current on 3,3V line
* Up to 5A load current on 5V line
* 50mm x 60mm x 10mm
* 2 layers PCB design

So, except for a GPS unit with the '''KroozSD''' you have all necessary sensors for full features all in one rotorcraft solution.

== Usage scenarios ==
'''KroozSD''' can be used in different telemetry versions:
* with an XBee wireless module connected to the on-board XBee connector
[[Image:KroozSD_xbee.jpg|250px|The Krooz Autopilot]]
* with the external [http://www.wiznet.co.kr/Sub_Modules/en/product/Product_Detail.asp?cate1=&cate2=&cate3=&pid=1134 WizFi220] WiFi module connected to the on-board XBee connector
(coming soon)
* with the external [http://www.taiwantrade.com.tw/resources/member/276716/productcatalog/b9ee22e4-e94a-45cd-8db0-ac88b3a11a75_BTM222%20DataSheet.pdf BTM-222] Bluetooth module connected to the on-board XBee connector
(coming soon)
* or without any on-board telemetry solution, with a possibility to connect other telemetry link over one of the UART connectors.

= Schematics =
[[Image:Schematics_KroozSD.jpg|250px|The Krooz Schematics]]

== Pinout ==
[[File:KroozSD_top_dscr.png|800px]]

== Mechanical Dimensions ==
[[File:KroozSD_top_dim.png|500px]]

= Programming =
The '''KroozSD''' autopilot can beprogrammed in different ways:
* using the pre-loaded KroozDFU USB bootloader over the on-board USB header
* using the default STM32 serial bootloader over the GPS connector

== Bootloader ==
The '''KroozSD''' uses an own KroozDFU bootloader (based on [https://github.com/libopencm3/libopencm3 libopencm3] project).
You can find it [https://github.com/softsr/libopencm3/tree/master/examples/stm32/f4/krooz/usb_dfu here], clone to your PC an build or use a precompiled [https://github.com/softsr/libopencm3/downloads binary file] to upload. However the KroozSD board is shipped with the KroozDFU bootloader by default.

== Source code ==
The '''KroozSD''' source code is based on Paparazzi master git branch, and ported on the STM32F4 Cortex™-M4 processor family.
It is available from [https://github.com/softsr/paparazzi/tree/krooz_port here]

[[Category:Autopilots]]

File:KroozSD top dim.png

2013-04-20T17:31:30Z

Softsr:

File:KroozSD top dimension.png

2013-04-20T17:29:42Z

Softsr: uploaded a new version of "File:KroozSD top dimension.png": Reverted to version as of 17:21, 20 April 2013

File:KroozSD top dimension.png

2013-04-20T17:29:26Z

Softsr: uploaded a new version of "File:KroozSD top dimension.png": Reverted to version as of 17:09, 20 April 2013

File:KroozSD top dimension.png

2013-04-20T17:26:02Z

Softsr: uploaded a new version of "File:KroozSD top dimension.png": Reverted to version as of 17:24, 20 April 2013

File:KroozSD top dimension.png

2013-04-20T17:24:49Z

Softsr: uploaded a new version of "File:KroozSD top dimension.png": Reverted to version as of 17:21, 20 April 2013

File:KroozSD top dimension.png

2013-04-20T17:24:14Z

Softsr: uploaded a new version of "File:KroozSD top dimension.png": Reverted to version as of 17:19, 20 April 2013

File:KroozSD top dimension.png

2013-04-20T17:21:48Z

Softsr: uploaded a new version of "File:KroozSD top dimension.png": Reverted to version as of 17:19, 20 April 2013

File:KroozSD top dimension.png

2013-04-20T17:21:07Z

Softsr: uploaded a new version of "File:KroozSD top dimension.png"

File:KroozSD top dimension.png

2013-04-20T17:19:31Z

Softsr: uploaded a new version of "File:KroozSD top dimension.png"