Yapa

"Yet Another Paparazzi Autopilot v1 and v2."

Yapa is very similar to the Twog_v1 but has standard 100mil headers for direct standard servo connections, and has an option to put the xbee/lt2510 on the autopilot-board itself. Yapa still uses the good old LPC21 so if you are looking for the more efficient and performant STM32 you will need a Lisa

When would you use a TWOG:

• size and weight matter
• you have a Molex Crimper

When YAPA might be useful:

• you want to use the exact same airframe file as in a TWOG
• but you want mounting holes
• or you want standard servo connectors or have high power servo's
• a few extra grams don't matter
• want to connect any serial device (from a TLL/RS232 GPS to the latest [RS422 v1 only] XSens Mti-G)
• you want to connect an rs232[/485/422 v1 only] modem or an XBee/LT2510 directly

Hardware Revision History

Version #	Release Date	Release Notes
v2.00	02/2011	Redesign: replaced the dual very expensive rs422/485/232 multiprotocol driver with a single rs232 and much more IO pins
v1.00	07/2010	Initial release of Yapa v1

Yapa v2

• Media:yapa2.pdf Manual Only
• Media:yapa2.zip Gerbers, BOMs, Pick-Place, PDF

• 

  YAPA2

• 

  Sample Use [[1]]

• 

  Comparison

• 

  A few

Features

• upgrade on v1 with
• 10 servo's instead of 8 (caution: standard pprz code only drives 8)
• extra ADC
• GPS-reset
• Cam-Switch
• Remotely locatable USB (without need to unsolder the usb on the board)
• Remotely locatable XBee (or other) modem
• Resistor to select RS232 or 3.3V GPS/IMU/Modem
• 3 LED instead of 1
• More space around the mounting holes

Yapa v1

• 

  Rendering

• 

  Top side

• 

  Bottom side

Features

• Basic Design very similar to Twog_v1 (uses same autopilot configuration file 'tiny2_1_1.h')
• 100mil headers instead of the (nice and lighter) Molex connectors
• Support Holes (e.g. use M3 bobbins: [2])
• 5 x Analog 3.3V inputs with 2 of them low pass filtered
• (Optional) 2x RS232/RS422/RS485/3.3TLL serial ports for connecting virtually any serial device (if using xbee: then 1 port)
• (Optional) Onboard (optional) Xbee Modem
• 8 x PWM outputs on standard 1/10th inch headers
• 1 x R/C receiver PPM frame input
• 1 x SPI bus
• 1 x I²C bus
• 1 x USB (client) with either onboard mini-usb AND/OR remotely located USB Plug
• 2x 3.3v / 1A linear regulator for Processor and for XBee modem separated for safety
• 1 x status LEDs
• 80.0 x 40.0mm
• 23 grams including 2.4GHz Xbee Pro, all 100mil headers, usb connector, 2.5Amp 5V DCDC and serial converter
• 1 power switch with current limiter
• 2 layers PCB design, 0603 components
• (Optional) onboard 5v / 2.25A switching power supply (input voltage range 6.1v → 18v)
• 3 power options using a jumper/bridge to connect the servo power rail to the autopilot 5V power rail:

1. In the case of few very low power servo's: you power your servo's from the autopilot power (not recommended: in any case check to make sure all servo's together never ever use more than 1.5 amp even when blocked)
2. In the case of a high quality external BEC: you can omit the onboard regulator and power everything from the BEC.
3. Otherwise: separated onboard autopilot 5V power and externally supplied servo power

Architecture

Files

Media:Yapa_gerber.zip

Problems Comments Ordering Change Requests Etc

cdewagter