[Paparazzi-devel] New Low Cost STM32F4 based PPZ UAV Autopilot In China

Paparazzi Hyper X Autopilot

The office word file with Figs can be downloaded at ：http://pan.baidu.com/s/1hrhywfE

The source code that should be added to paparazzi folder can be downloaded at http://pan.baidu.com/s/1bnLnJCN

1 Overview

Hyper X UAV autopilot board is based on the 100 pins STM32F407VGT6 Cortex M4 168MHz processor featuring a Floating point unit (FPU), up to 192k of RAM and 1024k of FLASH.

It is based on STM32 Discovery board and is a ultra low cost UAV autopilot board that is made by cheap electronic components/modules, which you can get easily n the Chinese market (e.g. GY-86 10DOF 8.5� in http://www.taobao.com). So it is suit for China's national conditions.

・ STMicroelectronics STM32F4VGT6 Cortex M4 MCU, up to 168Mhz with floating point unit (FPU), 192 KB RAM, 1024 KB Flash

・ on-board STLinkv2 with SWD header (capable of programming onboard or external MCU)

・ on-board power regulator for the MCU (3V or 5V Input)

・ MPU6050 Gyro/Accelerometer sensor and MXR9500 Accelerometer with 16 bit ADC (Big Rotorcraft Edition).

・ HMC5883 magnet field sensor.

・ MS5611 high precision pressure sensor

・ UBLOX GPS NEO 6M

・ 2 x 3.3V TTL UART (UART3, UART6, 5V tolerant)

・ 1 x I²C 5V bus (I2C2, 5V tolerant)

・ 11 x Servo PWM outputs

・ 4 x status LED (orange, green, red, blue,)

・ 2 x UART (UART3, UART6)

・ LIS302DL MEMS 3 axis accelerometer on SPI1

・ 6 x ADC inputs (one is used for BAT voltage)

・ 1 x Spektrum input (with bind pin)

・ 8 x Radio PWM inputs

So, except for a Modem unit with the Hyper X you have all necessary sensors for full features all in one Rotorcraft or Fixedwing solution.

2 Detail Features

10 DOF IMU GY-86

Tiny, low cost 8.5�, 5V and 3.3V input (onboard voltage regulator), I2C interface.

Chinese GY-86 is a low cost and precise solution for normal aircraft with a excellent baro sensor. GY-86 (MPU6050-HMC5883-MS5611) is similar to Drotek 10DOF, but have different I2C address. The slave address of the MPU-6050 is b110100X which is 7 bits long. The LSB bit of the 7 bit address is determined by the logic level on pin AD0. When it is used in GY-86, the address of the devices should be b1101000 (pin AD0 is pull-down to GND). Because of the I2C data bytes are defined to be 8-bits long, so the I2C address of GY-86 should be defined as b11010000(0XD0)

File: conf/airframes/myplane.xml

</subsystem>

The Measurement Specialties MS5611 is an excellent barometer/pressure sensor. The sensor can be used as I2C device. Reading the baro is not part of the IMU driver. If you want to use it for altitude estimation in the autopilot the following line needs to be added to your airframe file: <define name="USE_BARO_MS5611"/>

To see the sensors data in the log file set the SENSOR_SYNC_SEND in your airframe file. Every time new data is available it will be sent directly.

File: conf/airframes/myplane.xml

...

</load>

</modules>

PPM Encoder

ArduPPM is a 8 channels ppm encoder firmware for the APM project, which is second generation ppm encoder code designed for APM boards. Now the ArduPPM is employed by Hyper X UAV autopilot board and is running on an Arduino Pro Mini that is a microcontroller board based on the ATmega328.

More information：https://github.com/diydrones/ardupilot/tree/master/Tools/ArduPPM

3 Pinout

LED
*Pin #*	*Name*	*Type*	*Description*	*Color*
PD13	LED_3	Out	above LIS302DL	Orange
PD12	LED_4	Out	left of LIS302DL	Green
PD14	LED_5	Out	right of LIS302DL	Red
PD15	LED_6	Out	below LIS302DL	Blue
PA9	LED_9	Out	same as USB power (VBUS, needs to be enabled in header file)	Green

UART3
*Pin #*	*Name*	*Type*	*Description*
PD8	UART3 TX	Out	UART3 Serial Output
PD9	UART3 RX	In	UART3 Serial Input

UART6
*Pin #*	*Name*	*Type*	*Description*
PC6	UART6 TX	Out	UART6 Serial Output
PC7	UART6 RX	In	UART6 Serial Input

I2C2
*Pin #*	*Name*	*Type*	*Description*
PB10	I2C2 SCL	I/O	I2C2 Serial Clock
PB11	I2C2 SDA	I/O	I2C2 Serial Data

ADC
*Pin #*	*Name*	*Type*	*Description*
PB1	AUX1	I/O	ADC_1
PC5	AUX2	I/O	ADC_2
PC4	AUX3	I/O	ADC_3
PA4	AUX4/BAT	I/O	ADC_4, is used for BAT voltage
PC1	AUX5	I/O	ADC_5
PC2	AUX6	I/O	ADC_6

PWM
*Pin #*	*Name*	*Type*	*Description*
PE9	PWM0	Out	Servo 1
PE11	PWM1	Out	Servo 2
PE13	PWM2	Out	Servo 3
PE14	PWM3	Out	Servo 4
PE5	PWM4	Out	Servo 5
PE6	PWM5	Out	Servo 6
PA3	PWM6	Out	Servo 7
PA2	PWM7	Out	Servo 8
PA1	PWM8	Out	Servo 9
PA0	PWM9	Out	Servo 10
PB14	PWM10	Out	Servo 11
PB15	PWM11	Out	Servo 12

PPM
*Pin #*	*Name*	*Type*	*Description*
PC9	PPM	In	PPM input

4 Daughterboard

Hyper X is based on the STM32F4 Discovery and is designed for Chinese students. It is as simple as possible. The impedance matching resistors and voltage conversion chips on I2C or UART ports are omitted. In order to ensure adequate safety margin, 100ohm impedance matching resistors are added on PWM output ports, and 100nf filter capacitors are mounted at UART power ports. 1n4148 diode clamp circuits (may affect ADC’s precision) are created at ADCs 1 to 4. The ADC 5 and 6 have no diode clamp circuits and can collect small voltage signal normally.

5 Build the code

1 Unpack paparazzi.tar that is provided by me

2 copy all files in folder “Pararazzi” to ~/paparazzi (which is the same path of your paparazzi folder)

3 launch paparazzi center (cd ~/paparazzi && ./paparazzi)

4 select MYAC in A/C

5 Build and Upload

6 Enjoy

6 Firmware Flashing

FLASH_MODE=STLINK is set as default

STLINK

with onboard STLinkV2 over SWD

required hardware: usb to mini USB cable

required software: st_flash and st_util from Texane

From:	xukejing
Subject:	[Paparazzi-devel] New Low Cost STM32F4 based PPZ UAV Autopilot In China
Date:	Wed, 16 Mar 2016 09:22:13 -0700 (MST)