Krooz
Overview
Krooz autopilot board is an all in one rotorcraft solution, with a wide variety of sensors, modules and units on one board in market usual Rotorcraft size.
Features
Krooz is based on the 64 pins STM32F105RCT6 connectivity line family processor featuring 64k of RAM and 256k of FLASH. All the pins are exposed, providing access to the complete set of the STM32 peripherals.
- STM32 microcontroller STM32F105RCT6 datasheet with 256kB flash and 64kB RAM
- MPU6050 Gyro/Accelerometer sensor
- MRF24WB0 WiFi or BTM-222 Bluetooth (wire or external antenna connector) module on board.
- MS5611Pressure sensor
- MAX7456 OSD module
- 7 x Analog input channels
- 4 x 3.3V TTL UART (5V tolerant)
- 11 x Servo PPM outputs (or 10 if using PPM output receiver)
- 1 x I2C 5V bus
- 1 x Micro USB
- Extra camera control connector
- 3 x status LEDs with attached test point
- Up to 35V (8S LiPo) input power control unit
- ~50mm x ~50mm x ~10mm
- 2 layers PCB design
So, except for a GPS unit with the Krooz you have all necessary sensors for full features all in one rotorcraft solution.
Usage scenarios
Krooz can be used in different telemetry versions:
- with the on-board MRF24WB0 WiFi module
- with the on-board BTM-222 Bluetooth module
- or without any on-board telemetry solution, with a possibility to connect other telemetry link over one of the UART connectors.
Hardware design
Pinout
Programming
Getting started
The software will soon be available from the repo
Bootloader
"Krooz" uses a bit modified Luftboot bootloader from Paparazzi Il will soon be available from repo
Firmware TODO
<Firmware improvments wishlist>
Bootloader
<Bootloader considerations>