Difference between revisions of "KroozSD"
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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 = | = Overview = | ||
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'''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. | '''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/ | * 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 | * Onboard microSD card slot (SPI interface) | ||
* [http://www.invensense.com/mems/gyro/mpu6050.html MPU6050 Gyro/Accelerometer sensor] | * [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://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. | * [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. | * [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 | * [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) | |||
* 11 x Servo | * 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 | * 1 x Micro USB | ||
* Extra camera control | * Extra camera control 6 pin connector for flexible camera use | ||
* 3 x status LEDs with attached test point | * 3 x status LEDs with attached test point | ||
* Up to 35V (8S LiPo) input power control unit | * Up to 35V (8S LiPo) input power control unit | ||
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* 2 layers PCB design | * 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 == | == Usage scenarios == | ||
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* with an XBee wireless module connected to the on-board XBee connector | * with an XBee wireless module connected to the on-board XBee connector | ||
[[Image:KroozSD_xbee.jpg|250px|The Krooz Autopilot]] | [[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. | * 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 = | = Programming = | ||
The '''KroozSD''' autopilot can beprogrammed in different ways: | The '''KroozSD''' autopilot can beprogrammed in different ways: | ||
* using the pre-loaded KroozDFU USB bootloader over the on-board USB header | * using the pre-loaded KroozDFU USB bootloader over the on-board USB header | ||
* using the default STM32 serial bootloader over the | * using the default STM32 serial bootloader over the UART3 connector | ||
== Bootloader == | == Bootloader == | ||
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It is available from [https://github.com/softsr/paparazzi/tree/krooz_port here] | 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]] | [[Category:Autopilots]] | ||
Latest revision as of 08:20, 21 February 2017
There is an alternative version of the KroozSD available - the KroozSD Big Rotorcraft Edition (BRE). 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.
Here is a new boards 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 Cortex M4 168MHz processor featuring a Floating point unit (FPU), up to 192k of RAM and 1024k of FLASH.
- STM32 microcontroller datasheet with 1024kB flash and up to 192kB RAM
- Onboard microSD card slot (SPI interface)
- MPU6050 Gyro/Accelerometer sensor and MXR9500 Accelerometer with 16 bit ADC (Big Rotorcraft Edition).
- HMC5883 magnet field sensor.
- MS5611 high precision pressure sensor.
- XBee Pro module on board connector.
- 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 I2C 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:
2 hours 9 minutes 37 seconds multicopter flight time record with KroozSD
KroozSD flight performance on endurance octocopter with payload
KroozSD windy weather flight with autonomous landing
KroozSD Big Rotorcraft Edition heavy wind flight
KroozSD Big Rotorcraft Edition 3 kilogram payload on the big ST800 hexarotor frame, takeoff and automatic landing detection
Pinout
Usage scenarios
KroozSD can be used in different telemetry versions:
- with an XBee wireless module connected to the on-board XBee connector
- 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:
Next picture shows same configuration with HOTT telemetry connection:
Mechanical Dimensions
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 libopencm3 project). You can find it here, clone to your PC an build or use a precompiled 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 here
Where to buy
If you want to buy the KroozSD board, just write me an Email on: softsr@yahoo.de