PaparazziUAV - User contributions [en]

Tuning

2008-06-26T13:19:13Z

Turbotas: /* Neutrals */

This page provides some tips and guidelines for tuning a new aircraft. Be sure to familiarize yourself with the theory of [[Theory_of_Operation#PID|PID Controllers]] before you begin. Use of the [[RTPlotter|real time plotter]] may help to visualize and understand the behavior of the control loops.

== Sensors ==

=== Neutrals ===
* Put the aircraft in a styrofoam container or completely seal the IR sensors with styrofoam or similar blocks and get a reading of the neutrals for each axis. Also take the gyro neutrals at this time. Update your airframe file, flash the AP and re-check the neutrals.

Using the roll gyro as a worked example: Run up your GCS and ensure it
is communicating with your airframe. Make sure your airframe is roughly
level and that it cannot move. Now run the Messages Tool and the [[RTPlotter|real time plotter]] tool. The messages tool will have lots of flashing lights
indicating when it receives various telemetry packets. In the Messages
tool, Click on Gyro Rates and you should see a list of variables. Click
on Roll_ADC and drag and drop in onto the main window of the Real Time plotter. Now give it a while to build a stable graph.

Once things have been running this way for a while, in the Real Time
Plotter, click on Curves in the menu and select the
1:telemetry:GYRO_RATES:Roll_ADC entry. As you select it, you should see
the average and standard deviation values. We need the average value.
Jot down the number you have. I have -24.536.

Now go edit your airframe file and look for the ADC_ROLL_NEUTRAL value.
In my airframe file the value is 520. As my average value from the Plotter is a
negative figure, it indicates that the roll Neutral is too high, subtract the average value from the present setting. So I edited my airframe file to be 495.464 (520-24.536).

Recompile and reflash (Don't worry about restarting the GCS, The
messages program or the other running processes - they will catch up just
fine after flashing). Once the Board is back up and the plotter continues, reset it from the menu to get rid of the average. Watch it for a while and check that the line and acculmulated average is on or around 0. You are done. Use the same process for the IR sensors!

=== Directions ===
* Reverse any servos and make sure no mechanical binding occurs at the limits of travel in Manual mode.
* Take the plane outside and engage AUTO1. Bank and pitch the plane and verify that the controls respond in the correct direction. Note that your body will have a tremendous impact on the measured angles.
* Verify that AUTO1 stick movements respond in the correct direction - important!
* Move the plane rapidly to ensure the gyro response resists motion - increase the gain if needed for better visualization.

== R/C, Modem, and GPS ==
Make sure the GPS signal is strong (outdoors) - you should have a 3-D fix in less than 1 minute and at least some satellite signals above 40dB. The plane should not drift on the map by more than 10 meters. Perform a range test of R/C and modem signals.

== Trim ==
Important: You must never keep any trim, mixers, or rates in your R/C transmitter. R/C trim can be applied in flight but must be corrected and removed on the ground before attempting autonomous flight. Exponential can be useful and will not adversely affect AUTO1 flight but if "low rates" are needed they should be programmed on the same transmitter switch with AUTO1 so that you always have full travel in AUTO1.
* Fly the plane at what you feel is a suitable "cruise" throttle setting and set the trims. Note that setting in the GCS and try to return to that exact setting in subsequent tests. Enter that throttle setting in your airframe file.
* Check maximum pitch and roll response and adjust the mixer parameters or mechanical linkages after landing.
* Land and adjust the linkages. If necessary, the PPM values can be read from the GCS and servo neutrals adjusted electronically, but manual adjustment will produce far better results.
* Fly again to verify trim and control response. If satisfactory, check for any significant throttle-dependent roll. Again, this is best to correct mechanically but can be addressed with the ''AILERON_OF_THROTTLE'' mixer in the autopilot. Check also for any odd behavior at full throttle.
* Make sure that GPS and modem data is reliable during these test flights. Note particularly any tendency for the aircraft to appear to fly sideways on the map - this is an indication of weak GPS signals.

== Auto 1 ==
* Engage Auto1 and ''immediately'' make sure you can turn both left and right!
* Fly at your "cruise" throttle and adjust the ''ROLL_PGAIN'' until the plane doesn't quite oscillate
* Adjust the IR roll neutral as needed
* Verify adequate pitch response and adjust PITCH_PGAIN as needed
* Experiment with different throttle settings and tune P and D gains as needed

== Auto 2 ==
* Engage Auto2 and you're done!

Tuning

2008-06-26T13:16:38Z

Turbotas: /* Neutrals */

This page provides some tips and guidelines for tuning a new aircraft. Be sure to familiarize yourself with the theory of [[Theory_of_Operation#PID|PID Controllers]] before you begin. Use of the [[RTPlotter|real time plotter]] may help to visualize and understand the behavior of the control loops.

== Sensors ==

=== Neutrals ===
* Put the aircraft in a styrofoam container or completely seal the IR sensors with styrofoam or similar blocks and get a reading of the neutrals for each axis. Also take the gyro neutrals at this time. Update your airframe file, flash the AP and re-check the neutrals.

Using the roll gyro as a worked example: Run up your GCS and ensure it
is communicating with your airframe. Make sure your airframe is roughly
level and that it cannot move. Now run the Messages Tool and the Real
Time Graphing tool. The messages tool will have lots of flashing lights
indicating when it receives various telemetry packets. In the Messages
tool, Click on Gyro Rates and you should see a list of variables. Click
on Roll_ADC and drag and drop in onto the main window of the Real Time plotter. Now give it a while to build a stable graph.

Once things have been running this way for a while, in the Real Time
Plotter, click on Curves in the menu and select the
1:telemetry:GYRO_RATES:Roll_ADC entry. As you select it, you should see
the average and standard deviation values. We need the average value.
Jot down the number you have. I have -24.536.

Now go edit your airframe file and look for the ADC_ROLL_NEUTRAL value.
In my airframe file the value is 520. As my average value from the Plotter is a
negative figure, it indicates that the roll Neutral is too high, subtract the average value from the present setting. So I edited my airframe file to be 495.464 (520-24.536).

Recompile and reflash (Don't worry about restarting the GCS, The
messages program or the other running processes - they will catch up just
fine after flashing). Once the Board is back up and the plotter continues, reset it from the menu to get rid of the average. Watch it for a while and check that the line and acculmulated average is on or around 0. You are done. Use the same process for the IR sensors!

=== Directions ===
* Reverse any servos and make sure no mechanical binding occurs at the limits of travel in Manual mode.
* Take the plane outside and engage AUTO1. Bank and pitch the plane and verify that the controls respond in the correct direction. Note that your body will have a tremendous impact on the measured angles.
* Verify that AUTO1 stick movements respond in the correct direction - important!
* Move the plane rapidly to ensure the gyro response resists motion - increase the gain if needed for better visualization.

== R/C, Modem, and GPS ==
Make sure the GPS signal is strong (outdoors) - you should have a 3-D fix in less than 1 minute and at least some satellite signals above 40dB. The plane should not drift on the map by more than 10 meters. Perform a range test of R/C and modem signals.

== Trim ==
Important: You must never keep any trim, mixers, or rates in your R/C transmitter. R/C trim can be applied in flight but must be corrected and removed on the ground before attempting autonomous flight. Exponential can be useful and will not adversely affect AUTO1 flight but if "low rates" are needed they should be programmed on the same transmitter switch with AUTO1 so that you always have full travel in AUTO1.
* Fly the plane at what you feel is a suitable "cruise" throttle setting and set the trims. Note that setting in the GCS and try to return to that exact setting in subsequent tests. Enter that throttle setting in your airframe file.
* Check maximum pitch and roll response and adjust the mixer parameters or mechanical linkages after landing.
* Land and adjust the linkages. If necessary, the PPM values can be read from the GCS and servo neutrals adjusted electronically, but manual adjustment will produce far better results.
* Fly again to verify trim and control response. If satisfactory, check for any significant throttle-dependent roll. Again, this is best to correct mechanically but can be addressed with the ''AILERON_OF_THROTTLE'' mixer in the autopilot. Check also for any odd behavior at full throttle.
* Make sure that GPS and modem data is reliable during these test flights. Note particularly any tendency for the aircraft to appear to fly sideways on the map - this is an indication of weak GPS signals.

== Auto 1 ==
* Engage Auto1 and ''immediately'' make sure you can turn both left and right!
* Fly at your "cruise" throttle and adjust the ''ROLL_PGAIN'' until the plane doesn't quite oscillate
* Adjust the IR roll neutral as needed
* Verify adequate pitch response and adjust PITCH_PGAIN as needed
* Experiment with different throttle settings and tune P and D gains as needed

== Auto 2 ==
* Engage Auto2 and you're done!

Tuning

2008-06-26T13:12:03Z

Turbotas: /* Neutrals */

This page provides some tips and guidelines for tuning a new aircraft. Be sure to familiarize yourself with the theory of [[Theory_of_Operation#PID|PID Controllers]] before you begin. Use of the [[RTPlotter|real time plotter]] may help to visualize and understand the behavior of the control loops.

== Sensors ==

=== Neutrals ===
* Put the aircraft in a styrofoam container or completely seal the IR sensors with styrofoam or similar blocks and get a reading of the neutrals for each axis. Also take the gyro neutrals at this time. Update your airframe file, flash the AP and re-check the neutrals.

Using the roll gyro as a worked example: Run up your GCS and ensure it
is communicating with your airframe. Make sure your airframe is roughly
level and that it cannot move. Now run the Messages Tool and the Real
Time Graphing tool. The messages tool will have lots of flashing lights
indicating when it receives various telemetry packets. In the Messages
tool, Click on Gyro Rates and you should see a list of variables. Click
on Roll_ADC and drag and drop in onto the main window of the Real Time plotter. Now give it a while to build a stable graph.

Once things have been running this way for a while, in the Real Time
Plotter, click on Curves in tmenu and select the
1:telemetry:GYRO_RATES:Roll_ADC entry. As you select it, you should see
the average and standard deviation values. We need the average value.
Jot down the number you have. I have -24.536.

Now go edit your airframe file and look for the ADC_ROLL_NEUTRAL value.
In my airframe file the value is 520. As my average value from the Plotter is a
negative figure, it indicates that the roll Neutral is too high, subtract the average value from the present setting. So I edited my airframe file to be 495.464 (520-24.536).

Recompile and reflash (Don't worry about restarting the GCS, The
messages program or the other running processes - they will catch up just
fine after flashing). Once the Board is back up and the plotter continues, reset it from the menu to get rid of the average. Watch it for a while and check that the line and acculmulated average is on or around 0. You are done. Use the same process for the IR sensors!

=== Directions ===
* Reverse any servos and make sure no mechanical binding occurs at the limits of travel in Manual mode.
* Take the plane outside and engage AUTO1. Bank and pitch the plane and verify that the controls respond in the correct direction. Note that your body will have a tremendous impact on the measured angles.
* Verify that AUTO1 stick movements respond in the correct direction - important!
* Move the plane rapidly to ensure the gyro response resists motion - increase the gain if needed for better visualization.

== R/C, Modem, and GPS ==
Make sure the GPS signal is strong (outdoors) - you should have a 3-D fix in less than 1 minute and at least some satellite signals above 40dB. The plane should not drift on the map by more than 10 meters. Perform a range test of R/C and modem signals.

== Trim ==
Important: You must never keep any trim, mixers, or rates in your R/C transmitter. R/C trim can be applied in flight but must be corrected and removed on the ground before attempting autonomous flight. Exponential can be useful and will not adversely affect AUTO1 flight but if "low rates" are needed they should be programmed on the same transmitter switch with AUTO1 so that you always have full travel in AUTO1.
* Fly the plane at what you feel is a suitable "cruise" throttle setting and set the trims. Note that setting in the GCS and try to return to that exact setting in subsequent tests. Enter that throttle setting in your airframe file.
* Check maximum pitch and roll response and adjust the mixer parameters or mechanical linkages after landing.
* Land and adjust the linkages. If necessary, the PPM values can be read from the GCS and servo neutrals adjusted electronically, but manual adjustment will produce far better results.
* Fly again to verify trim and control response. If satisfactory, check for any significant throttle-dependent roll. Again, this is best to correct mechanically but can be addressed with the ''AILERON_OF_THROTTLE'' mixer in the autopilot. Check also for any odd behavior at full throttle.
* Make sure that GPS and modem data is reliable during these test flights. Note particularly any tendency for the aircraft to appear to fly sideways on the map - this is an indication of weak GPS signals.

== Auto 1 ==
* Engage Auto1 and ''immediately'' make sure you can turn both left and right!
* Fly at your "cruise" throttle and adjust the ''ROLL_PGAIN'' until the plane doesn't quite oscillate
* Adjust the IR roll neutral as needed
* Verify adequate pitch response and adjust PITCH_PGAIN as needed
* Experiment with different throttle settings and tune P and D gains as needed

== Auto 2 ==
* Engage Auto2 and you're done!

Gyroscopes

2008-02-27T20:28:13Z

Turbotas: /* Sparkfun Breakout Board */

== Paparazzi ADXR Gyro board ==

[http://cvs.savannah.gnu.org/viewvc/paparazzi/paparazzi3/hw/sensors/ CVS]

== Sparkfun Breakout Board ==

Example Gyroscope for MicroJet: this is the 150 degrees per second sensor from [http://www.sparkfun.com sparkfun]. The sensor is a 5 volt sensor while the tiny ADC is 3.3 volts. Using a resistor bridge of say 220k on 330k gives a nice 5 -> 3 volt conversion of the output. Ideally the gyro should be fed with very smooth stable 5V but as it will not be integrated but just used to help the slow thermopiles, the 5 Volts from the servos-receiver also work.

Note the cut tracks - the 2.5v and ST2 pins are re-purposed as the midpoint in the resistor bridges as they are not needed for tiny. These become our connections for Rate and Temp to the tiny.

[[Image:ModifiedSparkfunCdw.jpg|thumb|Modified ADXR Sparkfun breakout board]]
 

[[User:Cdewagter|cdewagter]] 12:59, 25 January 2008 (CET)

Gyroscopes

2008-02-27T20:27:12Z

Turbotas: /* Sparkfun Breakout Board */

== Paparazzi ADXR Gyro board ==

[http://cvs.savannah.gnu.org/viewvc/paparazzi/paparazzi3/hw/sensors/ CVS]

== Sparkfun Breakout Board ==

Example Gyroscope for MicroJet: this is the 150 degrees per second sensor from [http://www.sparkfun.com sparkfun]. The sensor is a 5 volt sensor while the tiny ADC is 3.3 volts. Using a resistor bridge of say 220k on 330k gives a nice 5 -> 3 volt conversion of the output. Ideally the gyro should be fed with very smooth stable 5V but as it will not be integrated but just used to help the slow thermopiles, the 5 Volts from the servos-receiver also work.

Note the cut tracks - the 2.5v and ST2 pins are re-purposed as the midpoint in the resistor bridges as they are not needed for tiny.

[[Image:ModifiedSparkfunCdw.jpg|thumb|Modified ADXR Sparkfun breakout board]]
 

[[User:Cdewagter|cdewagter]] 12:59, 25 January 2008 (CET)

Gyroscopes

2008-02-27T20:26:59Z

Turbotas: /* Sparkfun Breakout Board */

== Paparazzi ADXR Gyro board ==

[http://cvs.savannah.gnu.org/viewvc/paparazzi/paparazzi3/hw/sensors/ CVS]

== Sparkfun Breakout Board ==

Example Gyroscope for MicroJet: this is the 150 degrees per second sensor from [http://www.sparkfun.com sparkfun]. The sensor is a 5 volt sensor while the tiny ADC is 3.3 volts. Using a resistor bridge of say 220k on 330k gives a nice 5 -> 3 volt conversion of the output. Ideally the gyro should be fed with very smooth stable 5V but as it will not be integrated but just used to help the slow thermopiles, the 5 Volts from the servos-receiver also work.

Note the cut tracks - The 2.5v and ST2 pins are re-purposed as the midpoint in the resistor bridges as they are not needed for tiny.

[[Image:ModifiedSparkfunCdw.jpg|thumb|Modified ADXR Sparkfun breakout board]]
 

[[User:Cdewagter|cdewagter]] 12:59, 25 January 2008 (CET)

Logs

2008-02-19T21:27:03Z

Turbotas: /* Format */

On each launch, the <tt>server</tt> creates a ''log'' of all the messages sent by the aircraft. This log can be used to analyse flight data and to replay the flight.

==Format==

The log files are stored in the <tt>var/logs/</tt> folder (under <tt>PAPARAZZI_HOME</tt>). A log is split into two files:
* A <tt>.log</tt> file, an XML file, which contains a copy of the whole configuration (airframes, flight plans, ...).
* A <tt>.data</tt> file, an ascii file, which contains the list of the received messages. Each message is time-stamped in seconds since the creation of the file and marked with the id of the sending aircraft.

The basename of these two files is the same and is build from the date and time at the creation.

The lines of the <tt>.data</tt> file are formatted according to the message description listed in the <tt>conf/messages.xml</tt> file. For example, the following line:
3.300 6 GPS 3 36028551 481359212 899 18500 0 -8 960 31 0
contains a <tt>GPS</tt> message received at time 3.3s, from aircraft 6. According the GPS message description:
<message name="GPS" ID="8">
<field name="mode" type="uint8" unit="byte_mask"></field>
<field name="utm_east" type="int32" unit="cm"></field>
<field name="utm_north" type="int32" unit="cm"></field>
<field name="course" type="int16" unit="decideg"></field>
<field name="alt" type="int32" unit="cm"></field>
...
</message>
UTM position is 360285.51m east, 4813592.12m north, course is 89.9° (east), altitude is 185m, ...
Note that the appropriate <tt>messages.xml</tt> description, i.e. the one which has been used while the log was created, is itself stored in the associated <tt>.log</tt> file. It may differ from the current one installed in your <tt>conf/</tt> folder.

Note: The <tt>.data</tt> files may be huge (about 4M per hour with a standard telemetry configuration). They can be efficiently compressed. The tools described in the next sections handle most of the compressed format (.zip, .gz, .bz2, ...). The bzip2 compression seems to perform better than others on these files.

==Data Plotting==

Data stored in log files can be plotted with the [[Plotter]] (<tt>sw/logalizer/plot</tt> or launchable from the [[Paparazzi Center]]). This tool can plot data from different logs in the same window and data from the same log in different windows. It also offers to export the track as a KML file for [http://earth.google.com Google Earth].

==Replay==
A flight can be replayed with the Log Flight Player (<tt>sw/logalizer/play</tt>, launchable from the [[Paparazzi Center]]). This agent then is a substitute for the Data Link agent and will send over the bus the messages which had been send by the aircraft while the log was recorded.

Note: While replaying a log, it is a good idea to disable a new log creation from the server (<tt>-n</tt> option).

When doing a log replay it is very valuable to launch the messages window (in the tools menu) as well. This allows for the use of the the real time plotter and also gives the data from the aircraft to the user.

Logs

2008-02-19T21:26:28Z

Turbotas: /* Format */

On each launch, the <tt>server</tt> creates a ''log'' of all the messages sent by the aircraft. This log can be used to analyse flight data and to replay the flight.

==Format==

The log files are stored in the <tt>var/logs/</tt> folder (under <tt>PAPARAZZI_HOME</tt>). A log is split into two files:
* A <tt>.log</tt> file, an XML file, which contains a copy of the whole configuration (airframes, flight plans, ...).
* A <tt>.data</tt> file, an ascii file, which contains the list of the received messages. Each message is time-stamped in seconds since the creation of the file and marked with the id of the sending aircraft.

The basename of these two files is the same and is build from the date and time at the creation.

The lines of the <tt>.data</tt> file are formatted according to the message description listed in the <tt>conf/messages.xml</tt> file. For example, the following line
3.300 6 GPS 3 36028551 481359212 899 18500 0 -8 960 31 0
contains a <tt>GPS</tt> message received at time 3.3s, from aircraft 6. According the GPS message description:
<message name="GPS" ID="8">
<field name="mode" type="uint8" unit="byte_mask"></field>
<field name="utm_east" type="int32" unit="cm"></field>
<field name="utm_north" type="int32" unit="cm"></field>
<field name="course" type="int16" unit="decideg"></field>
<field name="alt" type="int32" unit="cm"></field>
...
</message>
UTM position is 360285.51m east, 4813592.12m north, course is 89.9° (east), altitude is 185m, ...
Note that the appropriate <tt>messages.xml</tt> description, i.e. the one which has been used while the log was created, is itself stored in the associated <tt>.log</tt> file. It may differ from the current one installed in your <tt>conf/</tt> folder.

Note: The <tt>.data</tt> files may be huge (about 4M per hour with a standard telemetry configuration). They can be efficiently compressed. The tools described in the next sections handle most of the compressed format (.zip, .gz, .bz2, ...). The bzip2 compression seems to perform better than others on these files.

==Data Plotting==

Data stored in log files can be plotted with the [[Plotter]] (<tt>sw/logalizer/plot</tt> or launchable from the [[Paparazzi Center]]). This tool can plot data from different logs in the same window and data from the same log in different windows. It also offers to export the track as a KML file for [http://earth.google.com Google Earth].

==Replay==
A flight can be replayed with the Log Flight Player (<tt>sw/logalizer/play</tt>, launchable from the [[Paparazzi Center]]). This agent then is a substitute for the Data Link agent and will send over the bus the messages which had been send by the aircraft while the log was recorded.

Note: While replaying a log, it is a good idea to disable a new log creation from the server (<tt>-n</tt> option).

When doing a log replay it is very valuable to launch the messages window (in the tools menu) as well. This allows for the use of the the real time plotter and also gives the data from the aircraft to the user.

Tiny v1.1

2007-09-27T14:56:49Z

Turbotas: /* Tiny 1.1 BOM */

The Tiny autopilot was designed with an end user application in mind.

== Features ==

* Single LPC2148 MCU
* 8 Analog input channels 0V - 3.3V
* 1 3.3V TTL UART (5V tolerant)
* 7 PWM outputs
* 1 R/C receiver PWM frame input
* 1 [http://en.wikipedia.org/wiki/Serial_Peripheral_Interface SPI] bus
* 1 [http://en.wikipedia.org/wiki/I2c I2C] bus
* 1 USB (client)
* Integrated GPS receiver and patch antenna (4Hz update)
* 5V/2A switching power supply & 3.3V linear regulator
* 2 LEDs (status display)
* 1 button (initiate launch)
* 25 grams
* 63 x 35mm (smaller then a business card)

The Tiny autopilot uses a single Philips LPC2148 ARM7 based microcontroller.
The [http://www.arm.com/products/CPUs/families/ARM7Family.html ARM7] is a low-power 32-bit RISC processor core and the [http://www.standardics.philips.com/products/lpc2000/ Philips LPC2148] has 512KB on-chip Flash ROM, 40KB RAM and can be clocked at 60MHz.

Although critical control code such as the R/C interface and servo output are well segregated in Paparazzi software and well protected from interference from flaws in the stability/navigation/comm/payload code, great care must be taken when experimenting with new software as some errors can cause a the processor to halt or stall for extended periods causing total loss of control. The dual processor [[Classix]] addresses this risk by runnning critical code on a separate independent processor.

The schematics are available from the [http://cvs.savannah.nongnu.org/viewcvs/paparazzi3/hw/controller/?root=paparazzi CVS repository].
 

[[Image:TINY_1.3_MCU_300PX.jpg]]
[[Image:TINY_1.3_MCU_BOTTOM_300PX.jpg]]

== Architecture ==

[[Image:Tiny_v099_Architecture.gif]]

== Pinout ==
'''(Tiny13 v1.1)'''

[[Image:Tiny13_v1_1_pinout.gif]]

Wire colors:
* USB- : white
* USB+ : green
* LPC_SSEL : orange

'''SERIAL 1'''

{|
|1
|GND
|''self explanatory''
|-
|2
|3.3V
|''self explanatory''
|-
|3
|SDA0
|OD OUTPUT, INPUT - I2C0 data input/output
|-
|4
|SCL0
|OD OUTPUT, INPUT - I2C0 clock input/output
|-
|5
|P0.14
|INPUT - In-Circuit Serial Programming (ISP) enable - LOW on this pin during boot up to enable
|-
|6
|RESET
|INPUT - External Reset input - A LOW on this pin performs a hardware reset
|-
|7
|RXD_0
|INPUT - UART0 Serial Input (used by ISP Serial Bootloader) (5V TOLERANT)
|-
|8
|TXD_0
|OUTPUT - UART0 Serial Output (used by ISP Serial Bootloader) (5V TOLERANT)
|}

'''SERIAL 2'''

{|
|1
|GND
|''self explanatory''
|-
|2
|3.3V
|''self explanatory''
|-
|3
|SCK
|INPUT, OUTPUT - Serial clock for SPI0. SPI clock output from master or input to slave
|-
|4
|MISO
|INPUT, OUTPUT - Master In Slave OUT for SPI0. Data input to SPI master or data output from SPI slave
|-
|5
|MOSI
|INPUT, OUTPUT - Master Out Slave In for SPI0. Data output from SPI master or data input to SPI slave
|-
|6
|SSEL
|INPUT - Slave Select for SSP. Selects the SSP interface as a slave (SSEL1)
|-
|7
|INT
|INPUT - External interrupt 2 input (EINT2)
|-
|8
|USB+
|INPUT, OUTPUT - USB bidirectional D+ line
|-
|9
|USB-
|INPUT, OUTPUT - USB bidirectional D- line
|-
|10
|P0.23
|INPUT - Indicates the presence of USB bus power (VBUS) (5V TOLERANT)
|-
|}

'''RC'''

{|
|1
|GND
|common ground
|-
|2
|5V
|POWER_OUTPUT - 5V Rail from Tiny
|-
|3
|PPM_IN
|INPUT - PPM Stream from RC Receiver (5V TOLERANT)
|-
|4
|NC
|''no connection''
|-
|5
|NC
|''no connection''
|-
|}

'''ANALOG'''

{|
|1
|GND
|
|-
|2
|3.3V
|
|-
|3
|ADC_0
|
|-
|4
|ADC_1
|
|-
|5
|ADC_2
|
|-
|6
|ADC_3
|
|-
|7
|ADC_4
|
|-
|8
|ADC_5
|
|-
|9
|ADC_6
|
|-
|10
|ADC_7
|
|-
|}

P0.14 - Holding this pin low for at least 3mS after a RESET (or power up) instructs the controller to enter programming mode.

For reference, Matthew Currie is assembling his Tiny(s) with WS Deans Micro 2R connectors for power as they are a commonly available R/C connector and are of high quality and durability. They do not have a positive lock mechanism but insert under a lot of pressure. They do not require any special crimping tools and withstand up to 10A.

[[Image:Wsdm3007.png]]

== Bill of Materials (BOM) ==

Please note that there are differences between 0.9, 0.99, and 1.1. Choose the version that matches your hardware.

'''Warning''': C20 needs to be a low ESR capacitor and the one listed on the BOM isn't. A proper replacement would be B45197A2226K209. This could potentially cause instability of the 3V3 supply which, of course, is critical.

=== Tiny 1.1 BOM ===

[http://www.recherche.enac.fr/paparazzi/wiki_images/b/b1/1.1_bom.zip 1.1_bom.zip]

Addendum: There are digikey part numbers for two more of the components.
Murata inductor is 490-1116-1-ND
Tactile Switch is either SW1020CT-ND (grounded) or SW1021CT-ND.

=== Tiny 0.99 BOM ===

{|
|-valign="top"
|Qty ||Value||Device||Parts||Manufacturer||PN||distr PN
|-valign="top"
||7 || - ||53047-03 ||CAMERA, RC_RX, S0, S1, S3, S4, S5 ||Molex ||53047-0310 ||DK WM1732-ND
|-valign="top"
||1 || - ||53047-04 ||VIDEO_TX ||Molex ||53047-0410 ||DK WM1733-ND
|-valign="top"
||1 || - ||53047-08 ||SERIAL_1 ||Molex ||53047-0810 ||DK WM1737-ND
|-valign="top"
||2 || - ||53047-10 ||ANALOG, SERIAL_2 ||Molex ||53047-1010 ||DK WM1739-ND
|-valign="top"
||1 ||FUTABA_BEND ||FUTABA_BEND ||CON_ESC || - || - || -
|-valign="top"
||2 ||LEDCHIP ||LED0805 ||LED1, LED2 ||Kingbright ||APT2012EC ||MO 604-APT2012EC
|-valign="top"
||1 ||B3S ||B3S ||SW1 || OMRON ELECTRONICS || B3S-1002 || RS 183-717
|-valign="top"
||1 ||0.47uH ||L-EUL2012C ||L2 || WURTH ELEKTRONIK || 74479032 || RS 308-8564
|-valign="top"
||1 ||15uH ||WE_PD ||L1 ||Pulse ||P1168.153T ||MO 673-P1168.153T
|-valign="top"
||2 ||33R ||R-EU_R1005 ||R9, R10 ||Yageo ||RC0402JR-0733L ||DK 311-33JRCT-ND
|-valign="top"
||1 ||150R ||R-EU_R1005 ||R12 ||Yageo ||RC0402JR-07150L ||DK 311-150JRCT-ND
|-valign="top"
||3 ||1K ||R-EU_R1005 ||R2, R3, R8 ||Yageo ||RC0402JR-071KL ||DK 311-1.0KJRCT-ND
|-valign="top"
||1 ||1.5K ||R-EU_R1005 ||R11 ||Yageo ||RC0402JR-071K5L ||DK 311-1.5KJRCT-ND
|-valign="top"
||2 ||3.3K ||R-EU_R1005 ||R6, R15 ||Yageo ||RC0402JR-073K3L ||DK 311-3.3KJRCT-ND
|-valign="top"
||1 ||4.7K ||R-EU_R1005 ||R1 ||Yageo ||RC0402JR-074K7L ||DK 311-4.7KJRCT-ND
|-valign="top"
||7 ||10K ||R-EU_R1005 ||R4, R5, R13, R14, R16, R17, R18 ||Yageo ||RC0402JR-0710KL ||DK 311-10KJRCT-ND
|-valign="top"
||2 ||12K ||R-EU_R1005 ||R103, R105 ||Yageo ||RC0402JR-0712KL ||DK 311-12KJRCT-ND
|-valign="top"
||1 ||15K ||R-EU_R1005 ||R7 ||Yageo ||RC0402JR-0715KL ||DK 311-15KJRCT-ND
|-valign="top"
||2 ||56K ||R-EU_R1005 ||R102, R104 ||Yageo ||RC0402JR-0756KL ||DK 311-56KJRCT-ND
|-valign="top"
||1 ||100K ||R-EU_R1005 ||R101 ||Yageo ||RC0402JR-07100KL ||DK 311-100KJRCT-ND
|-valign="top"
||3 ||18pF ||C-EUC0402K ||C3, C7, C10 ||TDK ||C1005C0G1H180J ||DK 445-1238-1-ND
|-valign="top"
||2 ||22pF ||C-EUC0402K ||C8_1, C9_1 ||Yageo ||CC0402JRNPO9BN220 ||DK 311-1018-1-ND
|-valign="top"
||1 ||100pF ||C-EUC0402K ||C103 ||Kemet ||C0402C101J3GACTU ||DK 399-1022-1-ND
|-valign="top"
||1 ||220pF ||C-EUC0402K ||C102 ||Kemet ||C0402C221K5RACTU ||DK 399-1030-1-ND
|-valign="top"
||1 ||220pF/50V ||C-EUC1206K ||C4 ||Yageo ||CC1206KRX7R9BB221 ||DK 311-1164-1-ND
|-valign="top"
||1 ||1nF ||C-EUC0402K ||C104 ||Kemet ||C0402C102K3RACTU ||DK 399-1031-1-ND
|-valign="top"
||1 ||3.3nF ||C-EUC0402K ||C101 ||Kemet ||C0402C332K5RACTU ||DK 399-3070-1-ND
|-valign="top"
||1 ||22nF/50V ||C-EUC1206K ||C6 ||Yageo ||CC1206KRX7R9BB222 ||DK 311-1176-1-ND
|-valign="top"
||8 ||100nF ||C-EUC0402K ||C1_1, C2, C3_1, C4_1, C5_1, C6_1, C7_1, C106 ||Kemet ||C0402C104K8PACTU ||DK 99-3027-1-ND
|-valign="top"
||3 ||100nF ||C-EUC0603 ||C8, C9, C21 ||Kemet ||C0603C104J4RACTU ||DK 399-1097-1-ND
|-valign="top"
||1 ||10uF ||CPOL-EUA/3216-18R ||C18, C105 ||Kemet ||T491A106M010AS ||DK 399-1564-1-ND MO-80-T491A106K010
|-valign="top"
||1 ||22uF ||CPOL-EUB/3528-21R ||C20 ||Kemet ||B45196H1226M209 ||DK 495-2185-1-ND
|-valign="top"
||1 ||47uF/16V ||CPOL-EUD/7343-31R ||C5 ||Kemet ||B45197A3476K409 ||DK 495-1544-1-ND
|-valign="top"
||1 ||330uF/10V ||CPOL-EUD/7343-31R ||C1 ||Kemet ||B45197A2337K509 ||DK 495-1536-1-ND
|-valign="top"
||1 ||0.2F ||J1ROUND ||C77 ||Panasonic - ECG ||EEC-EN0F204J1 ||DK P11070CT-ND
|-valign="top"
||1 ||AD8552RU ||AD8552RU ||IC2 ||Analog Devices Inc ||AD8552ARU ||DK AD8552ARU-ND
|-valign="top"
||1 ||BAS70 ||BAS70 ||D1 ||Micro Commercial Co. ||BAS40-TP ||DK BAS40TPMSCT-ND
|-valign="top"
||1 ||STPS2L ||STPS2L ||D2 ||STMicroelectronics ||STPS2L30A ||DK 497-3759-1-ND
|-valign="top"
||1 ||CD4015B ||CD4015B ||IC1 ||Texas Instruments ||CD4015BPWR ||DK 296-14090-1-ND
|-valign="top"
||1 ||12MHz ||CRYSTAL_CTS ||Q1 ||CTS-Frequency Controls ||405C35B12M00000 ||DK CTX639CT-ND
|-valign="top"
||1 ||DDTA143 ||MUN2111T1 ||T1 ||Diodes Inc ||DDTA143ZCA-7 ||DK DDTA143ZCADICT-ND
|-valign="top"
||1 ||L5973D ||L5973D ||REG1 ||STMicroelectronics ||L5973D013TR ||DK 497-3638-1-ND
|-valign="top"
||1 ||REG1117 ||REG1117 ||REG2 ||National Semiconductor ||LM1117MP-3.3 ||DK LM1117MP-3.3CT-ND
|-valign="top"
||1 ||LEA-4P ||LEA-4P ||GPS ||Microblox ||LEA-4P-0-000-0 || -
|-valign="top"
||1 ||GPS_ANT_13 ||GPS_ANT_13 ||ANTENNA ||Sangshin || KSA-ST1580MS13 || -
|-valign="top"
||1 ||LPC2148 ||LPC2148 ||MCU ||Philips ||LPC2148FBD64-S ||DK 568-1765-ND
|-
|}

DK = digikey

MO = mouser

RS = radiospares


== Home Assembly ==

Visit here for the wiki page on [[Tiny_Assembly|Self Assembly Tips and Techniques]].

== Programming ==
[[Image:Tiny_test_wiring.jpg|thumb|Example wiring for programming and telemetry]]
The Philips LPC21xx series ARM7 microcontrollers include hardware ISP (InCircuit Serial Programming) and can be programmed through the serial interface UART0 (Serial1) by holding pin P0.14 low during power-up. Paparazzi software includes a USB bootloader program that allows for easy 1-second programming through a standard USB port with no adapters needed. This allows us to upload new settings, flight plans, or software updates quickly and conveniently without the need to disconnect the modem from UART0. See the [[Compiling|Compiling and Flashing]] page for instructions on installing the bootloader and autopilot software.