User/LisaM

Introduction

If you consider yourself a developer this autopilot board is for you. If you enjoy writing software and consider yourself an early adopter this hardware is for you. Have fun and see you on the paparazzi mailinglist, the wiki and the freenode irc channel. This nice piece of hardware can be used for various purposes

Lisa/M V1.0 top view

Lisa/M V1.0 bottom view

Lisa/M V1.0 top view

Lisa/M V1.0 bottom view

Features

Lisa/M is based on the 64 pins STM32F103RE processor featuring 64k of RAM and 512k of FLASH. All the pins are exposed, providing access to the complete set of the STM32 peripherals.

Overview

• Single STM32 MCU
• 7 x Analog input channels
• 3 x Generic digital in-/out-puts
• 2 x 3.3V TTL UART (5V tolerant)
• 7 x Servo PPM outputs
• 1 x CAN bus
• 1 x SPI bus
• 1 x I²C bus
• 1 x Micro USB
• 4 x status LEDs with attached test point
• ? grams (? oz)
• ~30mm x ~50mm (" x ")
• 2 layers PCB design

with mounted IMU has the following additional sensors on board:

• 3 Axis Gyroscope
• 3 Axis Accelerometer
• 3 Axis Magnetometer
• Pressure sensor

The pressure sensor is mounted directly on the board as this sensor is not provided by Aspirin. Exept for a GPS unit you have all necessary sensors for full attitude and altitude stabilization in an extremely small package. Adding only an external GPS unit, it is a full fledged Autopilot.

Footprint

This autopilot is very small. The footprint is only 30mm by 50mm. It will fit in a small UAS very well. There is a spot for mounting the Aspirin IMU directly on board.

MCU

In brief, the STM32 features 3 USARTS, 2 SPI, 2 I2C, 1 CAN, a plethora of timers, ADCs and a generic DMA able to serve all of them. On the board, a number of the communication interfaces are level shifted with user selectable voltage to allow interfacing with all kind of peripherals.

IMU

The Lisa/M comes with Aspirin IMU mounted, for easy attitude estimation in the smallest package possible.

JTAG

Information about debugging can be found here

Hardware Revision History

v1.00

Pinout

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

Assembly

Mechanical drawing

Setup

Connect Receivers

To be able to test your UAS a RC receiver comes in very handy.

PPM receiver

A modified RC receiver with full PPM out can be used to control the AP board from the ground. How to get a receiver with full PPM out or modify an existing one can be found here.

PPM is at the moment sharing a line with servo6, because it's the way it was wired on a Lisa/L board. It would be trivial to adapt the driver to use another line. look at sw/airborne/arch/stm32/subsystems/radio_control/ppm_arch.c . If you manage to do so please adjust the text on this page also.

Satellite Receiver

Connecting a 2.4 Spectrum compatible receiver

Power supply jumpers

It is possible to reconfigure the electrical system on Lisa/M using the supply jumpers.

• JP1 connects the servo power rail to V_IN rail.
• JP2 connects the battery rail (used by default only for battery voltage measurement) to the V_IN rail.
• JP3 bypasses the +5V voltage regulator and connects V_IN to the +5V rail.
• JP4 connects the +5V rail to the VCC pin on the UART2 connector.
• JP5 connects the +3V3 rail to the VCC pin on the UART2 connector.
• JP6 connects the +5V rail to the VCC pin on the UART1 connector.
• JP7 connects the +3V3 rail to the VCC pin on the UART1 connector.

PCB and assembled boards suppliers

For private companies and enthusiast Paparazzi hardware suppliers, see Get Hardware page.

Downloads

Source files

• download LisaM v1.00 Eagle design (zip)

Gerber & Drill files

• download gerber & drill files (zip)

Assembly files

• download (pdf)
• download (zipped .xls file)