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"Yet Another Paparazzi Autopilot v1 and v2."

Yapa is very similar to the Twog_v1 but has standard 100mil headers for direct standard servo connections, and has an option to put the xbee/lt2510 on the autopilot-board itself. Yapa still uses the good old LPC21 so if you are looking for the more efficient and performant STM32 you will need a Lisa

When would you use a TWOG:

  • size and weight matter
  • you have a Molex Crimper

When YAPA might be useful:

  • you want to use the exact same airframe file as in a TWOG
  • but you want mounting holes
  • or you want standard servo connectors or have high power servo's
  • a few extra grams don't matter
  • want to connect any serial device (from a TLL/RS232 GPS to the latest [RS422 v1 only] XSens Mti-G)
  • you want to connect an rs232[/485/422 v1 only] modem or an XBee/LT2510 directly

Hardware Revision History

Version # Release Date Release Notes
v2.00 02/2011 Redesign: replaced the dual very expensive rs422/485/232 multiprotocol driver with a single rs232 and much more IO pins
v1.00 07/2010 Initial release of Yapa v1

Yapa v2



  • upgrade on v1 with
  • 10 servo's instead of 8 (caution: standard pprz code only drives 8)
  • extra ADC
  • GPS-reset
  • Cam-Switch
  • Remotely locatable USB (without need to unsolder the usb on the board)
  • Remotely locatable XBee (or other) modem
  • Resistor to select RS232 or 3.3V GPS/IMU/Modem
  • 3 LED instead of 1
  • More space around the mounting holes

Yapa v1


  • Basic Design very similar to Twog_v1 (uses same autopilot configuration file 'tiny2_1_1.h')
  • 100mil headers instead of the (nice and lighter) Molex connectors
  • Support Holes (e.g. use M3 bobbins: [1])
  • 5 x Analog 3.3V inputs with 2 of them low pass filtered
  • (Optional) 2x RS232/RS422/RS485/3.3TLL serial ports for connecting virtually any serial device (if using xbee: then 1 port)
  • (Optional) Onboard (optional) Xbee Modem
  • 8 x PWM outputs on standard 1/10th inch headers
  • 1 x R/C receiver PPM frame input
  • 1 x SPI bus
  • 1 x I2C bus
  • 1 x USB (client) with either onboard mini-usb AND/OR remotely located USB Plug
  • 2x 3.3v / 1A linear regulator for Processor and for XBee modem separated for safety
  • 1 x status LEDs
  • 80.0 x 40.0mm
  • 23 grams including 2.4GHz Xbee Pro, all 100mil headers, usb connector, 2.5Amp 5V DCDC and serial converter
  • 1 power switch with current limiter
  • 2 layers PCB design, 0603 components
  • (Optional) onboard 5v / 2.25A switching power supply (input voltage range 6.1v → 18v)
  • 3 power options using a jumper/bridge to connect the servo power rail to the autopilot 5V power rail:
  1. In the case of few very low power servo's: you power your servo's from the autopilot power (not recommended: in any case check to make sure all servo's together never ever use more than 1.5 amp even when blocked)
  2. In the case of a high quality external BEC: you can omit the onboard regulator and power everything from the BEC.
  3. Otherwise: separated onboard autopilot 5V power and externally supplied servo power


Yapa v1.0 Schematic



Problems Comments Ordering Change Requests Etc