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2" x 2" board with same mounting pattern as the MK FC
- Input voltage ~7.5v => 18v
- High efficiency DC/DC converters
- STM32F103 32bit Cortex M3 microcontroller @72 MHZ
- standard ARM 20 pin JTAG header for real-time debugging
- up to 8 PWM ESC motor control (prefer Turnigy ESC's with custom firmware)
- 2 powered payload servo controllers
- optional ultra sonic range finder
- Spektrum satellite (remote receiver) 2.4Ghz RC radio
uSD card slot
- optional onboard uBlox LEA-XX module w/battery backup & timepulse capture
- optional female SMA connector for active GPS antenna
- optional external GPS via standard 6 pin connector (EM406, EM401, uBlox, MTK)
- optional onboard xBee module - up to 300mA (2.4Ghz, 900Mhz, bluetooth, etc.)
- optional external radio via standard 6 pin FTDI connector - up to 1A
- I2C bus connector for I2C ESC's
modular sensor board (SBv5) - 100% analog sensors, EMI hardening:
+ 3 axis acc (ADXL335)
+ 3 axis mag (HMC6042 & HMC1041Z)
+ 3 axis gyro (IDG500 & ISZ500)
+ 2 temperature sensors
+ pressure sensor (MPXH6101A)
+ battery voltage
Fully threaded RTOS design written in C - 60% idle
- All sensors read at 113KHz (~1.4M sps total)
- 450Hz motor update rate
- 200Hz attitude, 3D velocity / position solutions
- Full downlink telemetry
- Detailed system state dumps @200Hz => uSD card w/FAT32 FS
- Quaternion based attitude filter additionally producing rotation matrix and Euler angle outputs
- All math in single precision floating point
- Temperature compensated and calibrated sensor suite
- Custom ground station software w/bi-directional command and control API
- Cascading PID control system, velocity based for smooth transitions
- Auto land / takeoff
- Hover position / altitude hold
- Autonomous waypoint mission navigation
- Precise altitude hold indoors
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阿莫论坛20周年了!感谢大家的支持与爱护!!
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