Difference between revisions of "NavGo v3"

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Image:NavGo_v3_top_side.png|NavGo v3 top side
Image:NavGo_v3_top_side.png|NavGo v3 top side
Image:NavGo_v3_bottom_side.png|NavGo v3 bottom side
Image:NavGo_v3_bottom_side.png|NavGo v3 bottom side
File:NavGoV302.jpg|NavGo v3 Assembled
</gallery>
</gallery>


Line 48: Line 49:


[[Image:NavGo_v3_pinout.png]]
[[Image:NavGo_v3_pinout.png]]
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''R/C'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="15%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2||+3.3V||PWR||3.3V Rail from autopilot||style="background:red; color:white"|Red
|-
|3||+5v||PWR||5V Rail from autopilot||style="background:Orange; color:white"|Orange
|-
|4||PPM_IN||IN||PPM Stream from R/C Receiver (5V tolerant)||style="background:white; color:black"|White
|}
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''SPI1'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="15%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2||+3.3V||PWR||3.3V Rail from autopilot||style="background:red; color:white"|Red
|-
|3||+5V||PWR||5V Rail from autopilot||style="background:Orange; color:white"|Orange
|-
|4||CSE||I/O||External Chip Select output or General Purpose I/O digital ''(P1.19) (Note 3)''||style="background:sienna; color:white"|Brown
|-
|5||SCK1||I/O||SPI1 Serial clock. Clock output from master or input to slave||style="background:Yellow; color:black"|Yellow
|-
|6||MISO1||I/O||SPI1 Master In Slave Out. Data input to master / data output from slave||style="background:Green; color:white"|Green
|-
|7||MOSI1||I/O||SPI1 Master Out Slave In. Data output from master / data input to slave||style="background:Grey; color:white"|Grey
|}
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART0'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="15%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2||+3.3V||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3||+5V||PWR||5V Rail from autopilot||style="background:Orange; color:white"|Orange
|-
|4||RX0||IN||UART0 Serial Input (3.3V level, 5V Tolerant)||style="background:green; color:white"|Green
|-
|5||TX0||OUT||UART0 Serial Output (3.3V level)||style="background:blue; color:white"|Blue
|}
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''UART1'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="15%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2||+3.3V||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3||+5V||PWR||5V Rail from autopilot||style="background:Orange; color:white"|Orange
|-
|4||RX1||IN||UART1 Serial Input (3.3V level, 5V Tolerant)||style="background:green; color:white"|Green
|-
|5||TX1||OUT||UART1 Serial Output (3.3V level)||style="background:blue; color:white"|Blue
|}
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''I2C0'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="15%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2||+3.3V||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3||+5V||PWR||5V Rail from autopilot||style="background:Orange; color:white"|Orange
|-
|4||VBAT||PWR||+V Battery Rail ''(Note 1)''||style="background:Yellow; color:black"|Yellow
|-
|5||SDA0||Open Drain I/O||I2C0 bus Serial DAta||style="background:sienna; color:white"|Brown
|-
|6||SCL0||Open Drain I/O||I2C0 bus Serial CLock||style="background:blue; color:white"|Blue
|}


{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''I2C1'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="15%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2||+3.3V||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3||+5V||PWR||5V Rail from autopilot||style="background:Orange; color:white"|Orange
|-
|4||SCL1||Open Drain I/O||I2C1 bus Serial CLock||style="background:blue; color:white"|Blue
|-
|5||SDA1<br>BOOT||Open Drain I/O||I2C1 bus Serial DAta<br>In-Circuit Serial Programming (ISP) enable (P0.14, +3.3V pullup) ''(Note 2)''||style="background:sienna; color:white"|Brown
|}
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''AUX1'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2||+5V||PWR||5V Rail from autopilot||style="background:Orange; color:white"|Orange
|-
|3||AUX1||I/O||General Purpose I/O digital ''(P0.7/SSEL0/PWM2/EINT2) (Note 3)''||
|}
{|border="1"  cellspacing="0" style="text-align:center" cellpadding="2%" width="70%"
|+'''AUX2'''
!width="7%"|''Pin #''!!width="10%"|''Name''!!width="10%"|''Type''!!''Description''!!width="5%"|''Color''
|-
|1||GND||PWR||common ground||style="background:black; color:white"|Black
|-
|2||+3.3V||PWR||3.3V Rail from autopilot||style="background:Red; color:white"|Red
|-
|3||+5V||PWR||5V Rail from autopilot||style="background:Orange; color:white"|Orange
|-
|4||AUX2||I/O||General Purpose I/O digital ''(P0.21/PWM5/CAP1.3)'' or ADC Input ''(AD1.6) (Note 3)''||
|}
:*''Note 1: Can be used as alternate battery connection (source or sink).''<br>
:*''Note 2: Holding this pin low for at least 3ms after a RESET (or power up) instructs the controller to enter programming mode.''<br>
:*''Note 3: see LPC2148 documentation for detailed pin function description.''<br>


== Schematic ==
== Schematic ==
Line 55: Line 185:


== Example of Airborne Equipment Electrical Connections ==
== Example of Airborne Equipment Electrical Connections ==
[[Image:NavGo_v3_rotorcraft_airborne_connection_diagram_1.png|left|900px|NavGo v3 rotorcraft airborne equipment electrical connections #1]]
<br style="clear:both">


== PCB ==
== PCB ==
Line 66: Line 199:
RS274X, units = Inches, format = 2:5
RS274X, units = Inches, format = 2:5


:*NavGo_v3_SILKSCREEN_TOP.GBR (Top Component Print Layer)
:*Navgo_v3_Silkscreen_Top.GBR (Top Component Print Layer)
:*NavGo_v3_SOLDERMASK_TOP.GBR (Top Solder Mask)
:*Navgo_v3_Soldermask_Top.GBR (Top Solder Mask)
:*NavGo_v3_SIGNAL_TOP.GBR (Top Copper Layer)
:*Navgo_v3_Paste_Mask_Top.GBR (Top Paste Mask)
:*NavGo_v3_INTERNAL_PLANE_1.GBR (Internal Copper Layer GND)
:*Navgo_v3_Signal_Top.GBR (Top Copper Layer)
:*NavGo_v3_INTERNAL_PLANE_2.GBR (Internal Copper Layer +3.3V)
:*Navgo_v3_Internal_Plane_1.GBR (Internal Copper Layer Gnd)
:*NavGo_v3_SIGNAL_BOTTOM.GBR (Bottom Copper Layer)
:*Navgo_v3_Internal_Plane_2.GBR (Internal Copper Layer +3.3v)
:*NavGo_v3_SOLDERMASK_BOTTOM.GBR (Bottom Solder Mask)
:*Navgo_v3_Signal_Bottom.GBR (Bottom Copper Layer)
:*NavGo_v3_OUTLINE.GBR (Board Outline)
:*Navgo_v3_Paste_Mask_Bottom.GBR (Bottom Paste Mask)
:*NavGo_v3_DRILL.GBR (NC XY coordinates & Drill tools sizes)
:*Navgo_v3_Soldermask_Bottom.GBR (Bottom Solder Mask)
 
:*Navgo_v3_Outline.GBR (Board Outline)
:*Navgo_v3_Drill.GBR (NC XY Coordinates & Drill Tools Sizes)


== Assembly ==
== Assembly ==
Line 215: Line 349:
Check availability on [[Get_Hardware|Get Hardware]] page
Check availability on [[Get_Hardware|Get Hardware]] page


== Design source files ==
:*download ''[[Media:Navgo_v3_Protel_design.zip|NavGo v3 Protel 99SE SP6 design (zipped Protel 99 ddb file)]]''


== Mechanical Dimensions ==
== Mechanical Dimensions ==

Latest revision as of 11:08, 14 December 2012

Autopilots
Booz
HB Autopilots
Lisa
Tiny
YAPA Autopilots
Ap.parrot minidrone
Apogee/v1.00
HITL
Autopilots
Bebop
Booz
Chimera/v1.00
Classix
CrazybeeF4Pro
Disco
Elle
Elle0
Future Autopilots
Krooz
KroozSD
LinAM V4
Lisa
Lisa/Bone
Lisa/L
Lisa/M
Lisa/M v1.0
Lisa/M v2.0
Lisa/MX
Lisa/S
NavGo v3
NavStik
Pixhawk
Pixracer
Previous Autopilots
STM32F4 Discovery
STM32F429I Discovery
Tawaki/v1.00
Tawaki/v1.10
Tawaki/v2.01
TWOG/v1.0
Umarim Lite v2
Umarim v1.0
Xvert
NavGo v3 bottom side


Hardware Revision History

Version # Release Date Release Notes
v3 07/2012 Minor PCB modifications
v2 11/2011 Barometer redesign
v1 08/2011 Initial release of NavGo


Features

  • NXP LPC2148 MCU based
  • 1 x Triple axis Digital Gyroscope (Invensense ITG-3200)
  • 1 x Triple axis Digital Accelerometer (Analog Devices ADXL345)
  • 1 x Triple axis Magnetometer (Honeywell HMC5883L)
  • 1 x Digital Baro-altimeter (Freescale MPXA6115 pressure sensor + Microchip MCP3550-60 22bits ADC)
  • 1 x R/C receiver PPM frame input
  • 2 x UART (TTL 3.3V, 5V tolerant)
  • 2 x I2C bus
  • 1 x SPI bus
  • 1 x USB (client)
  • 2 x General Purpose I/O or Analog input channels (0V - 3.3V)
  • 5v / 1.5A switching power supply (input voltage range 5.5V min → 16.0v max)
  • 3.3v / 1A linear regulator
  • 4 x status LEDs
  • ?? grams (?,? oz)
  • 35 x 35mm (1.38" x 1.38")
  • 4 layers PCB design

  • NavGo v3 3D bottom view

  • NavGo v3 3D top view

  • NavGo v3 top side.png

    NavGo v3 top side

  • NavGo v3 bottom side.png

    NavGo v3 bottom side

  • NavGo v3 Assembled

Pinout

Pins Name and Type are specified with respect to the Autopilot Board

NavGo v3 pinout.png

R/C
Pin # Name Type Description Color
1 GND PWR common ground Black
2 +3.3V PWR 3.3V Rail from autopilot Red
3 +5v PWR 5V Rail from autopilot Orange
4 PPM_IN IN PPM Stream from R/C Receiver (5V tolerant) White


SPI1
Pin # Name Type Description Color
1 GND PWR common ground Black
2 +3.3V PWR 3.3V Rail from autopilot Red
3 +5V PWR 5V Rail from autopilot Orange
4 CSE I/O External Chip Select output or General Purpose I/O digital (P1.19) (Note 3) Brown
5 SCK1 I/O SPI1 Serial clock. Clock output from master or input to slave Yellow
6 MISO1 I/O SPI1 Master In Slave Out. Data input to master / data output from slave Green
7 MOSI1 I/O SPI1 Master Out Slave In. Data output from master / data input to slave Grey


UART0
Pin # Name Type Description Color
1 GND PWR common ground Black
2 +3.3V PWR 3.3V Rail from autopilot Red
3 +5V PWR 5V Rail from autopilot Orange
4 RX0 IN UART0 Serial Input (3.3V level, 5V Tolerant) Green
5 TX0 OUT UART0 Serial Output (3.3V level) Blue


UART1
Pin # Name Type Description Color
1 GND PWR common ground Black
2 +3.3V PWR 3.3V Rail from autopilot Red
3 +5V PWR 5V Rail from autopilot Orange
4 RX1 IN UART1 Serial Input (3.3V level, 5V Tolerant) Green
5 TX1 OUT UART1 Serial Output (3.3V level) Blue


I2C0
Pin # Name Type Description Color
1 GND PWR common ground Black
2 +3.3V PWR 3.3V Rail from autopilot Red
3 +5V PWR 5V Rail from autopilot Orange
4 VBAT PWR +V Battery Rail (Note 1) Yellow
5 SDA0 Open Drain I/O I2C0 bus Serial DAta Brown
6 SCL0 Open Drain I/O I2C0 bus Serial CLock Blue


I2C1
Pin # Name Type Description Color
1 GND PWR common ground Black
2 +3.3V PWR 3.3V Rail from autopilot Red
3 +5V PWR 5V Rail from autopilot Orange
4 SCL1 Open Drain I/O I2C1 bus Serial CLock Blue
5 SDA1
BOOT		 Open Drain I/O I2C1 bus Serial DAta
In-Circuit Serial Programming (ISP) enable (P0.14, +3.3V pullup) (Note 2)		 Brown


AUX1
Pin # Name Type Description Color
1 GND PWR common ground Black
2 +5V PWR 5V Rail from autopilot Orange
3 AUX1 I/O General Purpose I/O digital (P0.7/SSEL0/PWM2/EINT2) (Note 3)


AUX2
Pin # Name Type Description Color
1 GND PWR common ground Black
2 +3.3V PWR 3.3V Rail from autopilot Red
3 +5V PWR 5V Rail from autopilot Orange
4 AUX2 I/O General Purpose I/O digital (P0.21/PWM5/CAP1.3) or ADC Input (AD1.6) (Note 3)


  • Note 1: Can be used as alternate battery connection (source or sink).
  • Note 2: Holding this pin low for at least 3ms after a RESET (or power up) instructs the controller to enter programming mode.
  • Note 3: see LPC2148 documentation for detailed pin function description.

Schematic

NavGo v3 Schematic


Example of Airborne Equipment Electrical Connections

NavGo v3 rotorcraft airborne equipment electrical connections #1


PCB

Gerber & Drill Files

PCB design Eurocircuits 6-C class compliant:

Download NavGo v3 gerber & drill files (zip)

RS274X, units = Inches, format = 2:5

  • Navgo_v3_Silkscreen_Top.GBR (Top Component Print Layer)
  • Navgo_v3_Soldermask_Top.GBR (Top Solder Mask)
  • Navgo_v3_Paste_Mask_Top.GBR (Top Paste Mask)
  • Navgo_v3_Signal_Top.GBR (Top Copper Layer)
  • Navgo_v3_Internal_Plane_1.GBR (Internal Copper Layer Gnd)
  • Navgo_v3_Internal_Plane_2.GBR (Internal Copper Layer +3.3v)
  • Navgo_v3_Signal_Bottom.GBR (Bottom Copper Layer)
  • Navgo_v3_Paste_Mask_Bottom.GBR (Bottom Paste Mask)
  • Navgo_v3_Soldermask_Bottom.GBR (Bottom Solder Mask)
  • Navgo_v3_Outline.GBR (Board Outline)
  • Navgo_v3_Drill.GBR (NC XY Coordinates & Drill Tools Sizes)

Assembly

Components Layout

  • NavGo v3 bottom components Layout

  • NavGo v3 top components Layout

  • NavGo v3 bottom components detail

  • NavGo v3 top components detail

Bill Of Material

Download NavGo v3 Bill of Material (zipped .xls file)

Qty Manufacturer
part number		 Part name / value Designator Description Manufacturer Package
type		 Digikey
part number		 Other distributor
Resistors
2 ERJ-3EKF33R0V 33R R19,R20 33.0 Ohm 1/10W 1% Panasonic - ECG 0603 P33.0HCT-ND
1 ERJ-3EKF1000V 100R R12 100 Ohm 1/10W 1% Panasonic - ECG 0603 P100HCT-ND
4 ERJ-3EKF3900V 390R R6 to R9 390 Ohm 1/10W 1% Panasonic - ECG 0603 P390HCT-ND
1 ERJ-3EKF1501V 1.5K R18 1.50K Ohm 1/10W 1% Panasonic - ECG 0603 P1.50KHCT-ND
6 ERJ-3EKF1801V 1.8K R10,R11,R14 to R17 1.80K Ohm 1/10W 1% Panasonic - ECG 0603 P1.80KHCT-ND
3 ERJ-3EKF3301V 3.3K R3 to R5 3.30K Ohm 1/10W 1% Panasonic - ECG 0603 P3.30KHCT-ND
2 ERJ-3EKF1002V 10K R13,R21 10.0K Ohm 1/10W 1% Panasonic - ECG 0603 P10.0KHCT-ND
1 ERJ-3EKF1502V 15k R2 15.0K Ohm 1/10W 1% Panasonic - ECG 0603 P15.0KHCT-ND
1 ERJ-3EKF4702V 47k R1 47.0K Ohm 1/10W 1% Panasonic - ECG 0603 P47.0KHCT-ND


Capacitors
2 C1608C0G1H180J 18p C28,C29 Ceramic 18pF 50V COG 5% TDK Corp. 0603 445-1272-1-ND
1 C1608C0G1H470J 47p C13 Ceramic 47pF 50V COG 5% TDK Corp. 0603 445-1277-1-ND
1 C1608X7R1H222K 2.2n/50V C27 Ceramic 2.2nF 50V X7R 10% TDK Corp. 0603 445-1309-1-ND
2 C1608C0G1H103J 10n C3,C26 Ceramic 10nF 50V COG 5% TDK Corp. 0603 445-7404-1-ND
16 CC0603KRX7R8BB104 100n C5 to C12,C16 to C23 Ceramic 0.1uF 25V X7R 10% Yageo 0603 311-1341-1-ND
1 C1608X7R1E224K 220n C30 Ceramic 0.22uF 25V X7R 10% TDK Corp. 0603 445-5191-1-ND
3 C1608X5R1E105K 1u/25V/X5R C1,C2,C25 Ceramic 1.0uF 25V X5R 10% TDK Corp. 0603 445-5146-1-ND
1 C1608X5R0J475M/0.80 4.7u C31 Ceramic 4.7uF 6.3V X5R 20% TDK Corp. 0603 445-1417-1-ND
1 C1608X5R0J106M 10u/6.3V C4 Ceramic 10uF 6.3V X5R 20% TDK Corp. 0603 445-4112-1-ND
2 TAJA336K006RNJ 33u/6.3v C15,C24 Tantalum 33uF 6.3V 10% AVX Corp. A case (EIA 3216-18) 478-1666-1-ND
1 TR3D107K020C0080 100u/20V C14 Tantalum 100uF 20V 10% Vishay/Sprague D case (EIA 7343-31) 718-1774-1-ND


Inductors
1 B82462G4682M 6.8u L1 1.65A Power Inductor Epcos Inc. 6.0x6.0 mm 495-1999-1-ND


Semiconductors
1 LP2985-50DBVR LP2985-50 IC1 5v/150mA low-noise low-dropout regulator Texas Instruments SOT23-5 296-20717-1-ND
1 MPXH6115AC6U MPXH6115AC6U IC2 Integrated Silicon Pressure Sensor Freescale Semicond. 1317A-03 MPXH6115AC6U-ND
1 MCP3550-60E/MS MCP3550-60-E-MS IC3 Low-Power 22-Bit Delta-Sigma ADC Microchip Technology MSOP8 MCP3550-60E/MS-ND
1 SN74LVC2T45DCU SN74LVC2T45DCU IC4 Dual-Bit Dual-Supply Bus Transceiver Texas Instruments VSSOP8 296-17014-1-ND
1 TPS62112RSAT TPS62112 IC5 17V, 1.5-A, Synchronous Step-Down Converter Texas Instruments QFN16 296-19717-1-ND
1 LM3940IMP-3.3/NOPB LM3940IMP-3.3 IC6 1A low dropout regulator for 5V to 3.3V conversion National Semicond. SOT223 LM3940IMP-3.3CT-ND
1 ADXL345BCCZ-RL ADXL345 IC7 3-Axis 16 g Digital Accelerometer Analog Devices Inc. LGA14 ADXL345BCCZ-RLCT-ND
1 LPC2148FBD64,151 LPC2148FBD64 IC8 Single-chip ARM7 32-bit microcontroller NXP Semicond. LQFP64 568-1765-ND
1 ITG-3200 ITG-3200 IC9 3-Axis Digital-Output Gyroscope InvenSense QFN24 N/A Farnell(#1858279),Sparkfun(#SEN-09793)
1 HMC5883L HMC5883L IC10 Three-Axis Digital Compass Honeywell LCC16 342-1082-1-ND
1 APT1608SURCK KP-1608SURC LED1 SMD Chip Red LED Lamp Kingbright Corp. 0603 754-1123-1-ND
1 APT1608SECK KP-1608SEC LED2 SMD Chip Orange LED Lamp Kingbright Corp. 0603 754-1120-1-ND
1 APT1608MGC KP-1608MGC LED3 SMD Chip Green LED Lamp Kingbright Corp. 0603 754-1118-1-ND
1 APT1608SYCK KP-1608SYC LED4 SMD Chip Yellow LED Lamp Kingbright Corp. 0603 754-1124-1-ND
1 DTA143ZE-TP DTA143ZE T1 PNP Pre-Biased Small Signal Transistor Micro Commercial Co. SOT523 DTA143ZE-TPMSCT-ND


Connectors
1 53048-0310 AUX1 J8 1.25mm Pitch Wire-to-Board 3pin Header Molex Inc. - WM1743-ND
2 53048-0410 RC,AUX2 J2,J9 1.25mm Pitch Wire-to-Board 4pin Header Molex Inc. - WM1744-ND
3 53048-0510 UART0,UART1,I2C1 J4,J5,J7 1.25mm Pitch Wire-to-Board 5pin Header Molex Inc. - WM1745-ND
1 53048-0610 I2C0 J6 1.25mm Pitch Wire-to-Board 6pin Header Molex Inc. - WM1746-ND
1 53048-0710 SPI1 J3 1.25mm Pitch Wire-to-Board 7pin Header Molex Inc. - WM1747-ND
1 47346-0001 USB J10 Micro-USB B receptacle Molex Inc. - WM17141CT-ND


Other
1 7M-12.000MAAJ 7M-12.000 Q1 Crystal 12.000MHZ 18pF TXC Corp. 3.2x2.5mm/4pin 887-1121-1-ND


PCB and assembled boards suppliers

Check availability on Get Hardware page

Design source files

Mechanical Dimensions

NavGo v3 Top Mechanical Dimensions


Paparazzi USB Bootloader Upload

Required components


Note1: It is advised to use FTDI USB-serial converter, as serial FTDI chips are by default working well in Linux.
The Paparazzi ground station software is configured to look for modems on FTDI ports by default.
This harness can also serve as a modem interface (after it's use in Bootloader uploading) if you plug it on Umarim's UART1 connector


Connection Diagram

Make up a wiring harness similar to the following

NavGo v3 Paparazzi bootloader upload connections


Boot Sequence

LPC based autopilot boot sequence

Retrieved from "http://wiki.paparazziuav.org/w/index.php?title=NavGo_v3&oldid=13882"