Explorer

The Explorer is a rotorcraft.
It is used to test

• control loops such as PID and INDI
• simultaneous datalinks such as Xbee and Wifibroadcast
• vision algorithm

The aircraft fly an Apogee or a Tawaki autopilot board.

A on board Raspberry Pi compagnon board is connected to the autopilot to provide additional communication and processing task.
A on ground Raspberry PI board is connected to the ground station to provide additional communication task.

The RPI Zero and RPI 3B cand used in this aircraft as they provided at least one UART and one USB

Additional equipements connected to the autopilot board are :

• Dshot 4in1 ESC board
• GPS (D-GPS)
• Xbee
• Leds
• Radio control
• Servo

Additional equipements connected to the compagnon board are :

• Camera
• External wifi

Level2

Level3

Outdoor RTK

The RTK system consists on an onboard and onground equipment: the ublox NEO-M8P.
This chip is provided by Drotek in two boards : Tiny M8P and XL M8P.
Each board can play the rover station or the stationary station.
The boards can also be mixed.
However, the XL M8P is equipped with a LIS3MDL magnetometer which provides an external magnetic sensor to improve heading of the onboard part.

Board equipment

• RTK M8P + external Mag

 <module name="gps" type="ublox">
   <configure name="GPS_BAUD" value="B115200"/>
   <define name="USE_GPS_UBX_RTCM" value="TRUE"/>
 </module> 

 <module name="mag_lis3mdl.xml">
   <define name="MODULE_LIS3MDL_UPDATE_AHRS"/>
   <configure name="MAG_LIS3MDL_I2C_DEV" value="i2c1"/>
 </module>

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Ground equipment

• RTK M8P
  

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• RTK M8P with Xbee transceiver
  

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