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About Me

Name: Stephen Dwyer
Location: Edmonton, Alberta, Canada
Masters student in Mechanical Engineering at University of Alberta
Member of the University of Alberta UAS Group
Contact: scdwyerATualbertaDOTca

I have very little experience with Paparazzi thus far. I hope to remedy this in the near future, both for fun and (hopefully) as part of my Masters research. I have been following the wiki and mailing list for quite some time though.

I began working with small unmanned aircraft systems with the U of A Aerial Robotics Group, where I was team lead for 2 years, co-team lead for 1 year, and attended 3 AUVSI Student UAS competitions. We used the Micropilot MP2128g in our systems, and I gained valuable experience understanding the difficulty of autonomous system integration.

Current Work

I am working with two other students as part of a larger University of Alberta UAS Group to prepare a small demonstration platform. This UAV platform will be the beginning of an attempt to foster UAS research at our university, and provide an initial starting point for researchers from a variety of disciplines and departments to begin research on unmanned aircraft systems directly, or, more likely, investigate payloads and applications.

This unfortunately is taking most of my time (among other things like being a TA) and limits my personal system development. I am however looking forward to getting my Quadshot Expresso in the coming months!

Scratch Area

Autopilot Feature Comparison Matrix

A basic feature comparison table is presented to help in the autopilot hardware selection process. Stable well tested and used LPC or more cutting edge STM32 that requires some debugging.

For information regarding architecture and firmware compatibility of various subsystems and modules, please see the appropriate Subsystems overview and Modules List pages.

NOTE: The accuracy of this table may not be 100% correct, the best resource is always hardware and software source files and individual autopilot pages.

**Autopilot¹ Feature Matrix**
Feature	Lisa/L v1.1	Lisa/M v2.0	Umarim v1.0	Tiny v2.11	TWOG v1.0	YAPA v2.0
	MCU
Part	STM32F103RE	STM32F105RCT6	LPC2148	LPC2148	LPC2148	LPC2148
Clock	72MHz	72MHz	60MHz	60MHz	60MHz	60MHz
Flash	512kB	256kB	512kB	512kB	512kB	512kB
RAM²	64kB	64kB	32kB & 8kB	32kB & 8kB	32kB & 8kB	32kB & 8kB
	Onboard Sensors³
MEMS IMU	no	aspirin	yes	no	no	no
Baro	yes	yes	yes	no	no	no
Diff Pressure	yes	no	no	no	no	no
GPS	no	no	no	yes	no	no
	Input/Output⁴
UART	3 & 1RX	2 & 2RX	2	1	2	2
I2C	2	1 + 1⁵	2	1	1	1
SPI	2	1	1	1	1	1
ADC	3 (12bit)	3 + 2 (12bit)⁵	0 + 4 (10bit)⁶	8 (10bit)	8 (10bit)	6 (10bit)
PWM	6	6 + 2⁵	6	8	8	10
PPM Output	no	no	1	1	1	no
PPM Capture	1	0 + 1⁵	1	1	1	1
GPIO⁷	?	1	0 + 4⁶	2	2	1
Onboard LEDs	8	5	2	3	3	3
USB Peripheral	Onboard USB JTAG + UART	bootloader	bootloader	bootloader	bootloader	bootloader
CAN	1	1	no	no	no	no
Other	Overo w/ I/O incl. USB Host	Aspirin footprint, JTAG header				XBee connector, RS232 options
	Power Management
Supply Input	6.1V - 18V	5V - 16V	5.5V - 17V	6.1V - 18V	6.1V - 18V	6.1V - 18V
Supply Output	2.25@5V, 2.25A@3.3V, Other	500mA@3.3V, 250mA@5V	1A@3.3V, 1.5A@5V	1A@3.3V, 2.25A@5V	1A@3.3V, 2.25A@5V	2x 1A@3.3V, 2.25A@5V
Software Switch	2	no	no	1	1	1
	Mechanical
Size	~100mm x ~50mm	34mm x 60mm x 10mm	56mm x 25mm	70.8mm x 40mm	40.2mm x 30.5mm	80.0mm x 40.0mm?
Weight	?	9.9g - 10.8g	9g	24g	8g	23g w/ XBee?
Connector Style	Picoblade	Picoblade & 0.1" Servo	Picoblade	Picoblade	Picoblade	0.1" Headers
PCB Style	4-layer	4-layer	4-layer	2-layer	2-layer	2-layer
Mounting Holes	4x ?mm	4x 2mm	4x 2mm	no	no	4x M3
	Comments
	IMU and Overo Mount Location, Many Features					Onboard XBee connector allows clean and easy radio modem integration

Notes:

1. Only the newest revisions of the more commonly used autopilots are listed

2. The extra 8kB of RAM on the LPC2148 shared with the USB DMA

3. The onboard sensors are almost always supplemented with external sensors. For example, TWOG can use an external IMU or IR sensors, and also needs an external GPS.

4. Input/Outputs listed are generally those easily accessible on regular autopilot connectors, customization/hacks can modify available I/O, for example free an extra I2C on Tiny and TWOG

5., 6. Some features use shared resources - denoted by X + Y where Y is shared - and cannot be used simultaneously

5. Lisa/M v2.0 shared resources include: one I2C is shared with 2 PWM outputs, two ADCs are shared with LEDs, one RX only UART is shared with the PPM capture

6. Umarim v1.0 shared resources include: 4 ADCs are shared with 4 GPIOs

7. Usually other unused pins can be used for additional GPIO with some code modifications

**Autopilot¹ Feature Matrix**
Autopilot Board	MCU	Onboard Sensors	'	'	'	Input/Output	'	'	'	'	'	'	'	'	'	'	'	Power Management	'	'	Mechanical	'	'	'	'	Comments
'	Part	MEMS IMU	Baro	Diff Pressure	GPS	UART	I2C	SPI	ADC	PWM	PPM Output	PPM Capture	GPIO	Onboard LEDs	USB Peripheral	CAN	Other	Supply Input	Supply Output	Software Switch	Size	Weight	Connector Style	PCB Style	Mounting Holes
Lisa/L v1.0	STM32F1	no	yes	yes	no	3 & 1RX	2	2	3 (12bit)	6	no	1	?	8	Onboard USB JTAG + UART	1	Overo w/ I/O incl. USB Host	6.1V - 18V	2.25@5V, 2.25A@3.3V, Other	2	~100mm x ~50mm	?	Picoblade	4-layer	4x M3	IMU and Overo Mount Location, Many Features
Lisa/L v1.1	STM32F1	no	yes	yes	no	3 & 1RX	2	2	3 (12bit)	6	no	1	?	8	Onboard USB JTAG + UART	1	Overo w/ I/O incl. USB Host	6.1V - 18V	2.25@5V, 2.25A@3.3V, Other	2	~100mm x ~50mm	?	Picoblade	4-layer	4x M3	IMU and Overo Mount Location, Many Features
Lisa/M v1.0	STM32F1	Aspirin	yes	no	no	2 & 2RX	1 + 1	1	3 + 2 (12bit)	7	no	0 + 1	2	3	needs mod	1	Aspirin footprint, JTAG header	5V - 16V	500mA@3.3V, 250mA@5V	no	33mm x 56mm x 10mm	9.9g - 10.8g	Picoblade + 0.1\" Servo	4-layer	4x 2mm	USB needs hardware mod to work
Lisa/M v2.0	STM32F1	Aspirin	yes	no	no	2 & 2RX	1 + 1	1	3 + 2 (12bit)	6 + 2	no	0 + 1	1	5	bootloader	1	Aspirin footprint, JTAG header	5V - 16V	500mA@3.3V, 250mA@5V	no	34mm x 60mm x 10mm	9.9g - 10.8g	Picoblade + 0.1\" Servo	4-layer	4x 2mm
Booz	LPC2148	Booz	yes	no	Booz	2?	?	?	?	?	?	?	?	?	bootloader	no	?	?	?	?	?	?	Picoblade	?	?	Multi-board design
Umarim v1.0	LPC2148	yes	yes	no	no	2	2	1	0 + 4 (10bit)	6	1	1	0 + 4	2	bootloader	no		5.5V - 17V	1A@3.3V, 1.5A@5V	no	56mm x 25mm	9g	Picoblade	4-layer	4x 2mm
Tiny v0.99	LPC2148	no	no	no	yes	1	1	1	8 (10bit)	6	no	1	no	2	bootloader	no	Button, audio downlink	?	?	1?	?	?	Picoblade	?	no	Onboard GPS for cleaner integration
Tiny v1.1	LPC2148	no	no	no	yes	1	1	1	8 (10bit)	7	no	1	no	?	bootloader	no	Button	?V - 20V	?A@3.3V, 2A@5V	1?	63mm x 35mm	25g	Picoblade	4-layer	no	Onboard GPS for cleaner integration
Tiny v2.11	LPC2148	no	no	no	yes	1	1	1	8 (10bit)	8	1	1	2	3	bootloader	no		6.1V - 18V	1A@3.3V, 2.25A@5V	1	70.8mm x 40mm	24g	Picoblade	2-layer	no	Onboard GPS for cleaner integration
TWOG v1.0	LPC2148	no	no	no	no	2	1	1	8 (10bit)	8	1	1	2	3	bootloader	no		6.1V - 18V	1A@3.3V, 2.25A@5V	1	40.2mm x 30.5mm	8g	Picoblade	2-layer	no	Offboard GPS to address interference or special installation
YAPA v1.0	LPC2148	no	no	no	no	2	1	1	5 (10bit)	8	no	1	no	1	bootloader	no	XBee connector, RS232 options	6.1V - 18V	2x 1A@3.3V, 2.25A@5V	1	80.0mm x 40.0mm	23g w/ XBee	0.1\" Headers	2-layer	4x M3	Onboard XBee connector allows clean and easy radio modem integration
YAPA v2.0	LPC2148	no	no	no	no	2	1	1	6 (10bit)	10	no	1	1	3	bootloader	no	XBee connector, RS232 options	6.1V - 18V	2x 1A@3.3V, 2.25A@5V	1	80.0mm x 40.0mm?	23g w/ XBee?	0.1\" Headers	2-layer	4x M3	Onboard XBee connector allows clean and easy radio modem integration
Classix	LPC2148 x2	no	no	no	no	2	2	2	14 (10bit)	6	?	2	?	2	bootloader	no	Gumstix connector, audio downlink	5V	3.3V, 3.7V for Gumstix	no	89mm x 30mm	12g	Picoblade	?	4x ?mm	Dual MCU development board design
HB v1.0	LPC2148	yes	yes	yes	no	2	2	2	?	?	?	1	?	?	bootloader	no		?	?	?	?	?	Picoblade	?	?	Multi-board design