Autopilots - Revision history

Flixr: moved overview to the category page

2013-01-25T12:52:08Z

moved overview to the category page

Flixr at 12:40, 25 January 2013

2013-01-25T12:40:43Z

← Older revision		Revision as of 06:40, 25 January 2013
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	\|}		\|}

	[[Category:Hardware]] [[Category:User_Documentation]]		[[Category:Hardware]] [[Category:User_Documentation]] [[Category:Autopilots\|Overview]]

Softsr at 22:02, 5 December 2012

2012-12-05T22:02:08Z

← Older revision		Revision as of 16:02, 5 December 2012
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	\|style="background:#f0f0f0;"\| \|\| align="center" colspan="8"\|'''Comments'''		\|style="background:#f0f0f0;"\| \|\| align="center" colspan="8"\|'''Comments'''
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''Comments'''\|\|IMU and Overo Mount Location, Many Features\|\| \|\|IMU, OSD, rich on board wireless link solutions\|\|Small Dimensions, narrow fuselage form factor, IMU\|\|Smallest Dimensions, IMU, basic version of Umarim\|\|Small Dimensions, IMU, magnetometer & high sensitivity Barometer; designed for small rotorcraft\|\|Onboard u-blox GPS, designed for easy DIY assembly (same as TWOG)\|\|Basic, no onboard sensors (all external for expandability)\|\|Specially designed to work with rs232 sensors such as XSens Mit-G/Crossbow NAV420/ig500/3DM-GX3/DMS-SGP02/MGL-sp-5. Onboard XBee connector		\| style="background:#f0f0f0;"\|'''Comments'''\|\|IMU and Overo Mount Location, Many Features\|\| \|\|High speed Cortex™-M4 168MHz processor with FPU unit, IMU, OSD, rich on board wireless link solutions\|\|Small Dimensions, narrow fuselage form factor, IMU\|\|Smallest Dimensions, IMU, basic version of Umarim\|\|Small Dimensions, IMU, magnetometer & high sensitivity Barometer; designed for small rotorcraft\|\|Onboard u-blox GPS, designed for easy DIY assembly (same as TWOG)\|\|Basic, no onboard sensors (all external for expandability)\|\|Specially designed to work with rs232 sensors such as XSens Mit-G/Crossbow NAV420/ig500/3DM-GX3/DMS-SGP02/MGL-sp-5. Onboard XBee connector
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''Typical Usage'''\|\|Advanced payload and controls development using Gumstix; fixed-wing or rotorcraft\|\|Small, general purpose w/ IMU; fixed-wing or rotorcraft\|\|High integrated, high productivity board w/ IMU and OSD; rotorcraft\|\|Small, general purpose w/ IMU; fixed-wing\|\|Small, general purpose w/ IMU; fixed-wing\|\|Small, general purpose w/ IMU; rotorcraft\|\|Small, general purpose w/ GPS; fixed-wing with external IR or IMU\|\|Small, general purpose; fixed wing with all external sensors\|\|0.1" headers means easier wiring, at the cost of weight		\| style="background:#f0f0f0;"\|'''Typical Usage'''\|\|Advanced payload and controls development using Gumstix; fixed-wing or rotorcraft\|\|Small, general purpose w/ IMU; fixed-wing or rotorcraft\|\|High integrated, high productivity board w/ IMU and OSD; rotorcraft\|\|Small, general purpose w/ IMU; fixed-wing\|\|Small, general purpose w/ IMU; fixed-wing\|\|Small, general purpose w/ IMU; rotorcraft\|\|Small, general purpose w/ GPS; fixed-wing with external IR or IMU\|\|Small, general purpose; fixed wing with all external sensors\|\|0.1" headers means easier wiring, at the cost of weight

Softsr at 21:59, 5 December 2012

2012-12-05T21:59:59Z

← Older revision		Revision as of 15:59, 5 December 2012
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	There are active and current autopilots designs using both architectures. Not all autopilots have the same capabilities, peripherals or features, but each has advantages in different applications.		There are active and current autopilots designs using both architectures. Not all autopilots have the same capabilities, peripherals or features, but each has advantages in different applications.

	The STM32 architecture is relatively new and still has bugs to be worked out. This is more suited for developers who are comfortable with joining in and working out the issues. Currently, boards are designed around the STM32F1 series, but there is future upgrade path capabilities to the F2 and F4 series, giving way to feature rich processors with a variety of peripherals and speeds. Architecture-dependent firmware code is supported in part by [http://www.libopencm3.org libopencm3]. The [[Lisa]] autopilots use the STM32.		The STM32 architecture is relatively new and still has bugs to be worked out. This is more suited for developers who are comfortable with joining in and working out the issues. Currently, boards are designed around the STM32F1 series, but there is future upgrade path capabilities to the F2 and F4 series, giving way to feature rich processors with a variety of peripherals and speeds. Architecture-dependent firmware code is supported in part by [http://www.libopencm3.org libopencm3]. The [[Lisa]] an [[Krooz]] autopilots use the STM32.

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

Softsr at 21:55, 5 December 2012

2012-12-05T21:55:23Z

Openuas at 22:12, 16 September 2012

2012-09-16T22:12:07Z

← Older revision		Revision as of 16:12, 16 September 2012
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	\|-		\|-
	\|<h2>~~When will the~~ Schematics, CAD files, Gerber files, BOM ~~be released?~~</h2>		\|<h2>Schematics, CAD files, Gerber files, BOM release strategy</h2>
	\|-		\|-
	\|<h3>~~The~~ hardware development and release process.</h3>		\|<h3>About the hardware development and release process.</h3>

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

	<P>8 June 2011 13:25:47 Antoine Drouin wrote on the mailing list:</P>		<P>8 June 2011 13:25:47 Antoine Drouin wrote on the mailing list:</P>

	~~Schematics will be released ASAP, CAD files will come later. When ? I don't know.... Worst case would be when Joby Robotics releases a new version of the board, but I hope it will be sooner than that.~~

	~~Lisa/L CAD files have been released (http://svn.savannah.nongnu.org/viewvc/paparazzi-hardware/trunk/lisa/v1.1/?root=paparazzi ) 3 month ago. (...)~~

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

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

	# Unlike software, where an unskilled user can type make and get a piece of complex software to successfully build, assembling hardware requires tools and skills. Providing gerbers and BOM have lured a bunch of new users into believing otherwise and has created tons of frustration. I've myself fixed a number of badly assembled boards and I even recall that while helping debugging a board (so after assembly), discovering that the person had manufactured two layers PCBs instead of four layers. As the technology of the autopilot increases, this problem becomes more and more important.		# Unlike software, where an unskilled user can type make and get a piece of complex software to successfully build, assembling hardware requires tools and skills. Providing gerbers and BOM have lured a bunch of new users into believing otherwise and has created tons of frustration. I've myself fixed a number of badly assembled boards and I even recall that while helping debugging a board (so after assembly), discovering that the person had manufactured two layers PCBs instead of four layers. As the technology of the autopilot increases, this problem becomes more and more important.
	# The success of the project depends on the availability of affordable hardware. The price of hardware is directly and exponentially dependent on the number of manufactured units. If ten persons manufacture 10 boards each, the cost will be much higher than if one person manufactures 100.		# The success of the project depends on the availability of affordable hardware. The price of hardware is directly and exponentially dependent on the number of manufactured units. If ten persons manufacture 10 boards each, the cost will be much higher than if one person manufactures 100.

Michel at 06:55, 14 July 2012

2012-07-14T06:55:30Z

← Older revision		Revision as of 00:55, 14 July 2012
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	\| style="background:#f0f0f0;"\|'''CAN'''\|\|1\|\|1\|\|no\|\|no\|\|no\|\|no\|\|no\|\|no		\| style="background:#f0f0f0;"\|'''CAN'''\|\|1\|\|1\|\|no\|\|no\|\|no\|\|no\|\|no\|\|no
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''Other'''\|\|Overo w/ I/O incl. USB Host\|\|Aspirin footprint, JTAG header\|\| \|\| \|\| \|\| \|\| \|\|XBee connector, RS232 options		\| style="background:#f0f0f0;"\|'''Other'''\|\|Overo w/ I/O incl. USB Host\|\|Aspirin footprint, JTAG header\|\| \|\|On-board mini-USB B header\|\| \|\| \|\| \|\|XBee connector, RS232 options
	\|-		\|-
	\|style="background:#f0f0f0;"\| \|\| align="center" colspan="8"\|'''Power Management'''		\|style="background:#f0f0f0;"\| \|\| align="center" colspan="8"\|'''Power Management'''

Michel at 06:50, 14 July 2012

2012-07-14T06:50:05Z

Michel at 06:24, 14 July 2012

2012-07-14T06:24:39Z

Show changes

Dconger at 14:42, 19 June 2012

2012-06-19T14:42:24Z

← Older revision		Revision as of 08:42, 19 June 2012
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	\|style="background:#f0f0f0;"\| \|\| align="center" colspan="6"\|'''Comments'''		\|style="background:#f0f0f0;"\| \|\| align="center" colspan="6"\|'''Comments'''
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''Comments'''\|\|IMU and Overo Mount Location, Many Features\|\|\|\|\|\|\|\|No onboard sensors ~~or RF systems can help deal with interference challenges~~\|\|Onboard XBee connector ~~allows clean and easy radio modem integration~~		\| style="background:#f0f0f0;"\|'''Comments'''\|\|IMU and Overo Mount Location, Many Features\|\|\|\|Smallest Dimensions, New even smaller "Lite" version coming soon\|\|Onboard u-blox GPS, designed for easy DIY assembly (same as TWOG)\|\|Basic, no onboard sensors (all external for expandability)\|\|Specially designed to work with rs232 sensors such as XSens Mit-G/Crossbow NAV420/ig500/3DM-GX3/DMS-SGP02/MGL-sp-5. Onboard XBee connector
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''Typical Usage'''\|\|Advanced payload and controls development using Gumstix; fixed-wing or rotorcraft\|\|Small, general purpose w/ IMU; fixed-wing or rotorcraft\|\|Small, general purpose w/ IMU; fixed-wing\|\|Small, general purpose w/ GPS; fixed-wing with external IR or IMU\|\|Small, general purpose; fixed wing with all external sensors\|\|0.1" headers means easier wiring, at the cost of weight		\| style="background:#f0f0f0;"\|'''Typical Usage'''\|\|Advanced payload and controls development using Gumstix; fixed-wing or rotorcraft\|\|Small, general purpose w/ IMU; fixed-wing or rotorcraft\|\|Small, general purpose w/ IMU; fixed-wing or rotorcraft\|\|Small, general purpose w/ GPS; fixed-wing with external IR or IMU\|\|Small, general purpose; fixed wing with all external sensors\|\|0.1" headers means easier wiring, at the cost of weight
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''Date Introduced'''\|\|Summer 2010\|\|Winter 2012\|\|Fall 2011\|\|Fall 2007\|\|Spring 2008\|\|Spring 2011		\| style="background:#f0f0f0;"\|'''Date Introduced'''\|\|Summer 2010\|\|Winter 2012\|\|Fall 2011\|\|Fall 2007\|\|Spring 2008\|\|Spring 2011

← Older revision		Revision as of 15:55, 5 December 2012
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	\| align="center" width="11%" style="background:#f0f0f0;"\|'''[[Lisa/L\|Lisa/L v1.1]]'''		\| align="center" width="11%" style="background:#f0f0f0;"\|'''[[Lisa/L\|Lisa/L v1.1]]'''
	\| align="center" width="11%" style="background:#f0f0f0;"\|'''[[Lisa/M_v20\|Lisa/M v2.0]]'''		\| align="center" width="11%" style="background:#f0f0f0;"\|'''[[Lisa/M_v20\|Lisa/M v2.0]]'''
			\| align="center" width="11%" style="background:#f0f0f0;"\|'''[[Krooz\|Krooz]]'''
	\| align="center" width="11%" style="background:#f0f0f0;"\|'''[[Umarim_v10\|Umarim v1.0]]'''		\| align="center" width="11%" style="background:#f0f0f0;"\|'''[[Umarim_v10\|Umarim v1.0]]'''
	\| align="center" width="11%" style="background:#f0f0f0;"\|'''[[Umarim_Lite_v2\|Umarim Lite v2]]'''		\| align="center" width="11%" style="background:#f0f0f0;"\|'''[[Umarim_Lite_v2\|Umarim Lite v2]]'''
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	\|style="background:#f0f0f0;"\| \|\| align="center" colspan="8"\|'''MCU'''		\|style="background:#f0f0f0;"\| \|\| align="center" colspan="8"\|'''MCU'''
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''Part'''\|\|STM32F103RE\|\|STM32F105RCT6\|\|LPC2148\|\|LPC2148\|\|LPC2148\|\|LPC2148\|\|LPC2148\|\|LPC2148		\| style="background:#f0f0f0;"\|'''Part'''\|\|STM32F103RE\|\|STM32F105RCT6\|\|STM32F405RGT6\|\|LPC2148\|\|LPC2148\|\|LPC2148\|\|LPC2148\|\|LPC2148\|\|LPC2148
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''Clock'''\|\|72MHz\|\|72MHz\|\|60MHz\|\|60MHz\|\|60MHz\|\|60MHz\|\|60MHz\|\|60MHz		\| style="background:#f0f0f0;"\|'''Clock'''\|\|72MHz\|\|72MHz\|\|168MHz\|\|60MHz\|\|60MHz\|\|60MHz\|\|60MHz\|\|60MHz\|\|60MHz
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''Flash'''\|\|512kB\|\|256kB\|\|512kB\|\|512kB\|\|512kB\|\|512kB\|\|512kB\|\|512kB		\| style="background:#f0f0f0;"\|'''Flash'''\|\|512kB\|\|256kB\|\|1024kB\|\|512kB\|\|512kB\|\|512kB\|\|512kB\|\|512kB\|\|512kB
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''RAM<sup>2</sup>'''\|\|64kB\|\|64kB\|\|32kB & 8kB\|\|32kB & 8kB\|\|32kB & 8kB\|\|32kB & 8kB\|\|32kB & 8kB\|\|32kB & 8kB		\| style="background:#f0f0f0;"\|'''RAM<sup>2</sup>'''\|\|64kB\|\|64kB\|\|128 & 64kB\|\|32kB & 8kB\|\|32kB & 8kB\|\|32kB & 8kB\|\|32kB & 8kB\|\|32kB & 8kB\|\|32kB & 8kB
	\|-		\|-
	\|style="background:#f0f0f0;"\| \|\| align="center" colspan="8"\|'''Onboard Sensors<sup>3</sup>'''		\|style="background:#f0f0f0;"\| \|\| align="center" colspan="8"\|'''Onboard Sensors<sup>3</sup>'''
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''MEMS IMU'''\|\|no\|\|aspirin\|\|yes\|\|yes\|\|yes\|\|no\|\|no\|\|no		\| style="background:#f0f0f0;"\|'''MEMS IMU'''\|\|no\|\|aspirin\|\|krooz\|\|yes\|\|yes\|\|yes\|\|no\|\|no\|\|no
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''Magnetometer'''\|\| \|\| \|\|no\|\|no\|\|yes\|\|no\|\|no\|\|no		\| style="background:#f0f0f0;"\|'''Magnetometer'''\|\| \|\| \|\|yes\|\|no\|\|no\|\|yes\|\|no\|\|no\|\|no
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''Barometer'''\|\|yes\|\|yes\|\|yes\|\|no\|\|yes\|\|no\|\|no\|\|no		\| style="background:#f0f0f0;"\|'''Barometer'''\|\|yes\|\|yes\|\|yes\|\|yes\|\|no\|\|yes\|\|no\|\|no\|\|no
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''Diff Pressure'''\|\|yes\|\|no\|\|no\|\|no\|\|no\|\|no\|\|no\|\|no		\| style="background:#f0f0f0;"\|'''Diff Pressure'''\|\|yes\|\|no\|\|no\|\|no\|\|no\|\|no\|\|no\|\|no\|\|no
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''GPS'''\|\|no\|\|no\|\|no\|\|no\|\|no\|\|yes\|\|no\|\|no		\| style="background:#f0f0f0;"\|'''GPS'''\|\|no\|\|no\|\|no\|\|no\|\|no\|\|no\|\|yes\|\|no\|\|no
	\|-		\|-
	\|style="background:#f0f0f0;"\| \|\| align="center" colspan="8"\|'''Input/Output<sup>4</sup>'''		\|style="background:#f0f0f0;"\| \|\| align="center" colspan="8"\|'''Input/Output<sup>4</sup>'''
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''UART'''\|\|3 & 1RX\|\|2 & 2RX\|\|2\|\|2\|\| \|\|1\|\|2\|\|2		\| style="background:#f0f0f0;"\|'''UART'''\|\|3 & 1RX\|\|2 & 2RX\|\|4\|\|2\|\|2\|\| \|\|1\|\|2\|\|2
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''I2C'''\|\|2\|\|1 + 1<sup>5</sup>\|\|2\|\|2\|\|2\|\|1\|\|1\|\|1		\| style="background:#f0f0f0;"\|'''I2C'''\|\|2\|\|1 + 1<sup>5</sup>\|\|2\|\|2\|\|1\|\|2\|\|1\|\|1\|\|1
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''SPI'''\|\|2\|\|1\|\|1\|\|1\|\|1\|\|1\|\|1\|\|1		\| style="background:#f0f0f0;"\|'''SPI'''\|\|2\|\|1\|\|no\|\|1\|\|1\|\|1\|\|1\|\|1\|\|1
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''ADC'''\|\|3 (12bit)\|\|3 + 2 (12bit)<sup>5</sup>\|\|0 + 4 (10bit)<sup>6</sup>\|\|0 + 4 (10bit)<sup>6</sup>\|\|0 + 1 (10bit)<sup>6</sup>\|\|8 (10bit)\|\|8 (10bit)\|\|6 (10bit)		\| style="background:#f0f0f0;"\|'''ADC'''\|\|3 (12bit)\|\|3 + 2 (12bit)<sup>5</sup>\|\|4 + 1 (12bit)<sup>5</sup>\|\|0 + 4 (10bit)<sup>6</sup>\|\|0 + 4 (10bit)<sup>6</sup>\|\|0 + 1 (10bit)<sup>6</sup>\|\|8 (10bit)\|\|8 (10bit)\|\|6 (10bit)
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''PWM'''\|\|6\|\|6 + 2<sup>5</sup>\|\|6\|\|6\|\|0 + 1<sup>5</sup>\|\|8\|\|8\|\|10		\| style="background:#f0f0f0;"\|'''PWM'''\|\|6\|\|6 + 2<sup>5</sup>\|\|10 + 1<sup>5</sup>\|\|6\|\|6\|\|0 + 1<sup>5</sup>\|\|8\|\|8\|\|10
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''PPM Output'''\|\|no\|\|no\|\|no\|\|no\|\|no\|\|1\|\|1\|\|no		\| style="background:#f0f0f0;"\|'''PPM Output'''\|\|no\|\|no\|\|no\|\|no\|\|no\|\|no\|\|1\|\|1\|\|no
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''PPM Capture'''\|\|1\|\|0 + 1<sup>5</sup>\|\|1 + 1<sup>5</sup>\|\|1 + 1<sup>5</sup>\|\|1 + 1<sup>5</sup>\|\|1\|\|1\|\|1		\| style="background:#f0f0f0;"\|'''PPM Capture'''\|\|1\|\|0 + 1<sup>5</sup>\|\|0 + 1<sup>5</sup>\|\|1 + 1<sup>5</sup>\|\|1 + 1<sup>5</sup>\|\|1 + 1<sup>5</sup>\|\|1\|\|1\|\|1
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''GPIO<sup>7</sup>'''\|\|?\|\|1\|\|0 + 4<sup>6</sup>\|\|0 + 4<sup>6</sup>\|\|0 + 2<sup>6</sup>\|\|2\|\|2\|\|1		\| style="background:#f0f0f0;"\|'''GPIO<sup>7</sup>'''\|\|?\|\|1\|\|2 + 1<sup>5</sup>\|\|0 + 4<sup>6</sup>\|\|0 + 4<sup>6</sup>\|\|0 + 2<sup>6</sup>\|\|2\|\|2\|\|1
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''Onboard LEDs'''\|\|8\|\|5\|\|2\|\|2\|\|4\|\|3\|\|3\|\|3		\| style="background:#f0f0f0;"\|'''Onboard LEDs'''\|\|8\|\|5\|\|3\|\|2\|\|2\|\|4\|\|3\|\|3\|\|3
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''USB Peripheral'''\|\|Onboard USB JTAG + UART\|\|bootloader\|\|bootloader\|\|bootloader\|\|bootloader\|\|bootloader\|\|bootloader\|\|bootloader		\| style="background:#f0f0f0;"\|'''USB Peripheral'''\|\|Onboard USB JTAG + UART\|\|bootloader\|\|bootloader\|\|bootloader\|\|bootloader\|\|bootloader\|\|bootloader\|\|bootloader\|\|bootloader
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''CAN'''\|\|1\|\|1\|\|no\|\|no\|\|no\|\|no\|\|no\|\|no		\| style="background:#f0f0f0;"\|'''CAN'''\|\|1\|\|1\|\|no\|\|no\|\|no\|\|no\|\|no\|\|no\|\|no
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''Other'''\|\|Overo w/ I/O incl. USB Host\|\|Aspirin footprint, JTAG header\|\| \|\|On-board mini-USB B header\|\| \|\| \|\| \|\|XBee connector, RS232 options		\| style="background:#f0f0f0;"\|'''Other'''\|\|Overo w/ I/O incl. USB Host\|\|Aspirin footprint, JTAG header\|\|On-board micro-USB B header, XBee connector, onboard Bluetooth or WiFi\|\| \|\|On-board mini-USB B header\|\| \|\| \|\| \|\|XBee connector, RS232 options
	\|-		\|-
	\|style="background:#f0f0f0;"\| \|\| align="center" colspan="8"\|'''Power Management'''		\|style="background:#f0f0f0;"\| \|\| align="center" colspan="8"\|'''Power Management'''
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''Supply Input'''\|\|6.1V - 18V\|\|5V - 16V\|\|5.5V - 17V\|\|5.5V - 17V\|\|5.5V - 16V\|\|6.1V - 18V\|\|6.1V - 18V\|\|6.1V - 18V		\| style="background:#f0f0f0;"\|'''Supply Input'''\|\|6.1V - 18V\|\|5V - 16V\|\|7V - 32V\|\|5.5V - 17V\|\|5.5V - 17V\|\|5.5V - 16V\|\|6.1V - 18V\|\|6.1V - 18V\|\|6.1V - 18V
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''Supply Output'''\|\|2.25@5V, 2.25A@3.3V, Other\|\|500mA@3.3V, 250mA@5V\|\|1A@3.3V, 1.5A@5V\|\|1A@3.3V, 1.5A@5V\|\|1A@3.3V, 1.5A@5V\|\|1A@3.3V, 2.25A@5V\|\|1A@3.3V, 2.25A@5V\|\|2x 1A@3.3V, 2.25A@5V		\| style="background:#f0f0f0;"\|'''Supply Output'''\|\|2.25@5V, 2.25A@3.3V, Other\|\|500mA@3.3V, 250mA@5V\|\|2.5A@5V, 1A@3.3V\|\|1A@3.3V, 1.5A@5V\|\|1A@3.3V, 1.5A@5V\|\|1A@3.3V, 1.5A@5V\|\|1A@3.3V, 2.25A@5V\|\|1A@3.3V, 2.25A@5V\|\|2x 1A@3.3V, 2.25A@5V
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''Software Switch'''\|\|2\|\|no\|\|no\|\|no\|\|no\|\|1\|\|1\|\|1		\| style="background:#f0f0f0;"\|'''Software Switch'''\|\|2\|\|no\|\|no\|\|no\|\|no\|\|no\|\|1\|\|1\|\|1
	\|-		\|-
	\|style="background:#f0f0f0;"\| \|\| align="center" colspan="8"\|'''Mechanical'''		\|style="background:#f0f0f0;"\| \|\| align="center" colspan="8"\|'''Mechanical'''
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''Size'''\|\|~100mm x ~50mm\|\|34mm x 60mm x 10mm\|\|56mm x 25mm\|\|53mm x 25mm\|\|35mm x 35mm\|\|70.8mm x 40mm\|\|40.2mm x 30.5mm\|\|80.0mm x 40.0mm?		\| style="background:#f0f0f0;"\|'''Size'''\|\|~100mm x ~50mm\|\|34mm x 60mm x 10mm\|\|50mm x 70mm x 10mm\|\|56mm x 25mm\|\|53mm x 25mm\|\|35mm x 35mm\|\|70.8mm x 40mm\|\|40.2mm x 30.5mm\|\|80.0mm x 40.0mm?
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''Weight'''\|\|?\|\|9.9g - 10.8g\|\|9g\|\|8g\|\|?\|\|24g\|\|8g\|\|23g w/ XBee?		\| style="background:#f0f0f0;"\|'''Weight'''\|\|?\|\|9.9g - 10.8g\|\|30g - 50g\|\|9g\|\|8g\|\|?\|\|24g\|\|8g\|\|23g w/ XBee?
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''Connector Style'''\|\|Picoblade\|\|Picoblade & 0.1" Servo\|\|Picoblade\|\|Picoblade\|\|Picoblade\|\|Picoblade\|\|Picoblade\|\|0.1" Headers		\| style="background:#f0f0f0;"\|'''Connector Style'''\|\|Picoblade\|\|Picoblade & 0.1" Servo\|\|Picoblade & 0.1" Servo\|\|Picoblade\|\|Picoblade\|\|Picoblade\|\|Picoblade\|\|Picoblade\|\|0.1" Headers
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''PCB Style'''\|\|4-layer\|\|4-layer\|\|4-layer\|\|4-layer\|\|4-layer\|\|2-layer\|\|2-layer\|\|2-layer		\| style="background:#f0f0f0;"\|'''PCB Style'''\|\|4-layer\|\|4-layer\|\|2-layer\|\|4-layer\|\|4-layer\|\|4-layer\|\|2-layer\|\|2-layer\|\|2-layer
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''Mounting Holes'''\|\|4x M3\|\|4x 2mm\|\|4x 2mm\|\|4x 2mm\|\|4x 2mm\|\|no\|\|no\|\|4x M3		\| style="background:#f0f0f0;"\|'''Mounting Holes'''\|\|4x M3\|\|4x 2mm\|\|4x M3\|\|4x 2mm\|\|4x 2mm\|\|4x 2mm\|\|no\|\|no\|\|4x M3
	\|-		\|-
	\|style="background:#f0f0f0;"\| \|\| align="center" colspan="8"\|'''Comments'''		\|style="background:#f0f0f0;"\| \|\| align="center" colspan="8"\|'''Comments'''
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''Comments'''\|\|IMU and Overo Mount Location, Many Features\|\| \|\|Small Dimensions, narrow fuselage form factor, IMU\|\|Smallest Dimensions, IMU, basic version of Umarim\|\|Small Dimensions, IMU, magnetometer & high sensitivity Barometer; designed for small rotorcraft\|\|Onboard u-blox GPS, designed for easy DIY assembly (same as TWOG)\|\|Basic, no onboard sensors (all external for expandability)\|\|Specially designed to work with rs232 sensors such as XSens Mit-G/Crossbow NAV420/ig500/3DM-GX3/DMS-SGP02/MGL-sp-5. Onboard XBee connector		\| style="background:#f0f0f0;"\|'''Comments'''\|\|IMU and Overo Mount Location, Many Features\|\| \|\|IMU, OSD, rich on board wireless link solutions\|\|Small Dimensions, narrow fuselage form factor, IMU\|\|Smallest Dimensions, IMU, basic version of Umarim\|\|Small Dimensions, IMU, magnetometer & high sensitivity Barometer; designed for small rotorcraft\|\|Onboard u-blox GPS, designed for easy DIY assembly (same as TWOG)\|\|Basic, no onboard sensors (all external for expandability)\|\|Specially designed to work with rs232 sensors such as XSens Mit-G/Crossbow NAV420/ig500/3DM-GX3/DMS-SGP02/MGL-sp-5. Onboard XBee connector
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''Typical Usage'''\|\|Advanced payload and controls development using Gumstix; fixed-wing or rotorcraft\|\|Small, general purpose w/ IMU; fixed-wing or rotorcraft\|\|Small, general purpose w/ IMU; fixed-wing\|\|Small, general purpose w/ IMU; fixed-wing\|\|Small, general purpose w/ IMU; rotorcraft\|\|Small, general purpose w/ GPS; fixed-wing with external IR or IMU\|\|Small, general purpose; fixed wing with all external sensors\|\|0.1" headers means easier wiring, at the cost of weight		\| style="background:#f0f0f0;"\|'''Typical Usage'''\|\|Advanced payload and controls development using Gumstix; fixed-wing or rotorcraft\|\|Small, general purpose w/ IMU; fixed-wing or rotorcraft\|\|High integrated, high productivity board w/ IMU and OSD; rotorcraft\|\|Small, general purpose w/ IMU; fixed-wing\|\|Small, general purpose w/ IMU; fixed-wing\|\|Small, general purpose w/ IMU; rotorcraft\|\|Small, general purpose w/ GPS; fixed-wing with external IR or IMU\|\|Small, general purpose; fixed wing with all external sensors\|\|0.1" headers means easier wiring, at the cost of weight
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''Date Introduced'''\|\|Summer 2010\|\|Winter 2012\|\|Fall 2011\|\|Summer 2012\|\|Summer 2012\|\|Fall 2007\|\|Spring 2008\|\|Spring 2011		\| style="background:#f0f0f0;"\|'''Date Introduced'''\|\|Summer 2010\|\|Winter 2012\|\|Fall 2012\|\|Fall 2011\|\|Summer 2012\|\|Summer 2012\|\|Fall 2007\|\|Spring 2008\|\|Spring 2011
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''Previous Versions'''\|\|[[Lisa/L]] v1.0\|\|[[Lisa/M_v10\|Lisa/M v1.0]]\|\| \|\| \|\| \|\|[[Tiny/v1.1\|Tiny v1.1]], [[Tiny/v0.99\|Tiny v0.99]]\|\| \|\|[[YAPA/v1.0\|YAPA v1.0]]		\| style="background:#f0f0f0;"\|'''Previous Versions'''\|\|[[Lisa/L]] v1.0\|\|[[Lisa/M_v10\|Lisa/M v1.0]]\|\| \|\| \|\| \|\| \|\|[[Tiny/v1.1\|Tiny v1.1]], [[Tiny/v0.99\|Tiny v0.99]]\|\| \|\|[[YAPA/v1.0\|YAPA v1.0]]
	\|}		\|}

← Older revision		Revision as of 00:50, 14 July 2012
Line 29:		Line 29:
	The STM32 architecture is relatively new and still has bugs to be worked out. This is more suited for developers who are comfortable with joining in and working out the issues. Currently, boards are designed around the STM32F1 series, but there is future upgrade path capabilities to the F2 and F4 series, giving way to feature rich processors with a variety of peripherals and speeds. Architecture-dependent firmware code is supported in part by [http://www.libopencm3.org libopencm3]. The [[Lisa]] autopilots use the STM32.		The STM32 architecture is relatively new and still has bugs to be worked out. This is more suited for developers who are comfortable with joining in and working out the issues. Currently, boards are designed around the STM32F1 series, but there is future upgrade path capabilities to the F2 and F4 series, giving way to feature rich processors with a variety of peripherals and speeds. Architecture-dependent firmware code is supported in part by [http://www.libopencm3.org libopencm3]. The [[Lisa]] autopilots use the STM32.

	The LPC21xx based boards use the LPC2148 and have been flying fixed wing and multi-rotors for many years. This architecture is more mature and stable but at the expense of speed and extra ports available on the newer STM32 series processors. The [[Tiny]] series, [[Booz]], [[TWOG/v1.0 \| TWOG]], [[YAPA]] and [[~~Umarim_v10~~ \| ~~Umarim~~]] autopilots all use the LPC2148.		The LPC21xx based boards use the LPC2148 and have been flying fixed wing and multi-rotors for many years. This architecture is more mature and stable but at the expense of speed and extra ports available on the newer STM32 series processors. The [[Tiny]] series, [[Booz]], [[TWOG/v1.0 \| TWOG]], [[YAPA]], [[Umarim_Lite_v2 \| Umarim]] and [[NavGo_v3 \| NavGo]] autopilots all use the LPC2148.

	Some autopilots have also been designed for close integration with small single-board computers, particularly those based on [[OMAP]] processors such as the [http://www.gumstix.com/ Gumstix] [https://www.gumstix.com/store/index.php?cPath=33 Overo] series. The [[Lisa/L]] and [[Classix]] boards are designed with this in mind, though other autopilots can be easily interfaced. Further information can be found [[OMAP\|here]].		Some autopilots have also been designed for close integration with small single-board computers, particularly those based on [[OMAP]] processors such as the [http://www.gumstix.com/ Gumstix] [https://www.gumstix.com/store/index.php?cPath=33 Overo] series. The [[Lisa/L]] and [[Classix]] boards are designed with this in mind, though other autopilots can be easily interfaced. Further information can be found [[OMAP\|here]].
Line 82:		Line 82:
	\| style="background:#f0f0f0;"\|'''SPI'''\|\|2\|\|1\|\|1\|\|1\|\|1\|\|1\|\|1\|\|1		\| style="background:#f0f0f0;"\|'''SPI'''\|\|2\|\|1\|\|1\|\|1\|\|1\|\|1\|\|1\|\|1
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''ADC'''\|\|3 (12bit)\|\|3 + 2 (12bit)<sup>5</sup>\|\|0 + 4 (10bit)<sup>6</sup>\|\| \|\| \|\|8 (10bit)\|\|8 (10bit)\|\|6 (10bit)		\| style="background:#f0f0f0;"\|'''ADC'''\|\|3 (12bit)\|\|3 + 2 (12bit)<sup>5</sup>\|\|0 + 4 (10bit)<sup>6</sup>\|\|0 + 4 (10bit)<sup>6</sup>\|\|0 + 1 (10bit)<sup>6</sup>\|\|8 (10bit)\|\|8 (10bit)\|\|6 (10bit)
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''PWM'''\|\|6\|\|6 + 2<sup>5</sup>\|\|6\|\| \|\| \|\|8\|\|8\|\|10		\| style="background:#f0f0f0;"\|'''PWM'''\|\|6\|\|6 + 2<sup>5</sup>\|\|6\|\|6\|\|0 + 1<sup>5</sup>\|\|8\|\|8\|\|10
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''PPM Output'''\|\|no\|\|no\|\|1\|\| \|\| \|\|1\|\|1\|\|no		\| style="background:#f0f0f0;"\|'''PPM Output'''\|\|no\|\|no\|\|no\|\|no\|\|no\|\|1\|\|1\|\|no
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''PPM Capture'''\|\|1\|\|0 + 1<sup>5</sup>\|\|1\|\|1\|\|1\|\|1\|\|1\|\|1		\| style="background:#f0f0f0;"\|'''PPM Capture'''\|\|1\|\|0 + 1<sup>5</sup>\|\|1 + 1<sup>5</sup>\|\|1 + 1<sup>5</sup>\|\|1 + 1<sup>5</sup>\|\|1\|\|1\|\|1
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''GPIO<sup>7</sup>'''\|\|?\|\|1\|\|0 + 4<sup>6</sup>\|\| \|\| \|\|2\|\|2\|\|1		\| style="background:#f0f0f0;"\|'''GPIO<sup>7</sup>'''\|\|?\|\|1\|\|0 + 4<sup>6</sup>\|\|0 + 4<sup>6</sup>\|\|0 + 2<sup>6</sup>\|\|2\|\|2\|\|1
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''Onboard LEDs'''\|\|8\|\|5\|\|2\|\|2\|\|4\|\|3\|\|3\|\|3		\| style="background:#f0f0f0;"\|'''Onboard LEDs'''\|\|8\|\|5\|\|2\|\|2\|\|4\|\|3\|\|3\|\|3
Line 122:		Line 122:
	\|style="background:#f0f0f0;"\| \|\| align="center" colspan="8"\|'''Comments'''		\|style="background:#f0f0f0;"\| \|\| align="center" colspan="8"\|'''Comments'''
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''Comments'''\|\|IMU and Overo Mount Location, Many Features\|\| \|\|Small Dimensions~~, IMU~~, narrow fuselage form factor\|\|Smallest Dimensions, IMU, basic version of Umarim\|\|Small Dimensions, IMU, magnetometer & high sensitivity Barometer; designed for rotorcraft\|\|Onboard u-blox GPS, designed for easy DIY assembly (same as TWOG)\|\|Basic, no onboard sensors (all external for expandability)\|\|Specially designed to work with rs232 sensors such as XSens Mit-G/Crossbow NAV420/ig500/3DM-GX3/DMS-SGP02/MGL-sp-5. Onboard XBee connector		\| style="background:#f0f0f0;"\|'''Comments'''\|\|IMU and Overo Mount Location, Many Features\|\| \|\|Small Dimensions, narrow fuselage form factor, IMU\|\|Smallest Dimensions, IMU, basic version of Umarim\|\|Small Dimensions, IMU, magnetometer & high sensitivity Barometer; designed for small rotorcraft\|\|Onboard u-blox GPS, designed for easy DIY assembly (same as TWOG)\|\|Basic, no onboard sensors (all external for expandability)\|\|Specially designed to work with rs232 sensors such as XSens Mit-G/Crossbow NAV420/ig500/3DM-GX3/DMS-SGP02/MGL-sp-5. Onboard XBee connector
	\|-		\|-
	\| style="background:#f0f0f0;"\|'''Typical Usage'''\|\|Advanced payload and controls development using Gumstix; fixed-wing or rotorcraft\|\|Small, general purpose w/ IMU; fixed-wing or rotorcraft\|\|Small, general purpose w/ IMU; fixed-wing\|\|Small, general purpose w/ IMU; fixed-wing\|\|Small, general purpose w/ IMU; rotorcraft\|\|Small, general purpose w/ GPS; fixed-wing with external IR or IMU\|\|Small, general purpose; fixed wing with all external sensors\|\|0.1" headers means easier wiring, at the cost of weight		\| style="background:#f0f0f0;"\|'''Typical Usage'''\|\|Advanced payload and controls development using Gumstix; fixed-wing or rotorcraft\|\|Small, general purpose w/ IMU; fixed-wing or rotorcraft\|\|Small, general purpose w/ IMU; fixed-wing\|\|Small, general purpose w/ IMU; fixed-wing\|\|Small, general purpose w/ IMU; rotorcraft\|\|Small, general purpose w/ GPS; fixed-wing with external IR or IMU\|\|Small, general purpose; fixed wing with all external sensors\|\|0.1" headers means easier wiring, at the cost of weight