Veronte Autopilot User Manual
Contents
1. 13 3 1 3 EXFERNAL ____ ________ _ ______ e SEIS 14 3 1 4 IPG circ el a 14 4 A MIDI MUN 15 5 16 6 ANNEX 1 CONNECTOR COLOUR CODE ccccceccccccccccccccccccccccccccccccccccccccccccccccccccccccccccceccecs 17 7 ANNEX 2 CONNEXION EXAMPLE MULTICOPTER cccccccccccccccccccccccccccccccccccccccccccccccceccs 18 8 ANNEX 3 CONNEXION EXAMPLE FIXED WING ccccccccccccccccccccccccccccccccccccccccccecccccceccccccecs 19 9 ANNEX 3 CONNEXION EXAMPLE HELICOPTER ccccccccccccccccccccccccccccccccccccccccecccccccccceccecs 20 Figures and Tables FIGURE 1 FCS OVERVIEW visninssscsncuiaiccencasinscemwaastmsnusonnewecngeldcwmeadivndenwaes Fa aU 4 FIGURE Z2 VERONTE A IB ______________ 5 FIGURE 3 VERONTE DIMENSIONS MM ssscccccssssscsceeseccsceceseccsceesecssseeusecssseeuessssseuecesesseuseesssseuueseseeenesessegnesss 5 FIGURE 4 VERONTE MOUNTING DIMENSIONS eene enne enne nsns rennes nnns 5 FIGURE 5 ENGINE MOUNTS 000 cccsssscssssc2. _ 5 sra ma 7 nma 1 amp 7 2 amp 8 3 amp 9 4 amp 10 5 amp 11 68 12 Note PWM11 PWM GPIO 10 _ lt 5V 12mA independent logic output on demand wears _____ PWM GPIO 12 d Note PWM12 can be used as a digital input on 5V 12mA 23 DIGIN2 on demand hardware option demand we SV ma RS232RX Lm mew i momen _ Lem pee oem cod pag can Veronte HUM v2 8 docx 10 20 be used as It supports baud rates up to 115200bps Veronte offers the option to directly drive up to 12 servos ESCs with PWM outputs PWM rate goes from 50Hz up to 400Hz 3 PWM rate is linked in pairs as follows FTS 7V to 12V CANHI 7 to 12V 2 CANbus interface It supports data rates up to 1 Mbps Recommended cable is a twisted pair CANLO 19 with a 1200 Zo bOmA Table6 Veronte I O interface 4 24 EMBENTION a gt LJ FA cod Veronte HUM v2 8 docx AUTOPILOTS pag 11 20 3 1 3 Vision I O Signals 1 13 14 25 Figure 9 25 pin Micro D for Veronte Vision 7 Veronte connector view Different connections can be used depending on your camera configuration VCC POWER GND POWER RS 232 OUT COMMUNICATION BUS RS 232 IN CO
3. Pin 14 V LL LL BV 0 LL Aileron right Aileron left Elevator Rudder Gimbal Tilt Gimbal Pan Pin 3 CH3 Pin 13 GND v Static pressure gt 7 ESC gt Motor i bp E 2 ll L ILL 24 EMBENTION RF antenna aD LJ FA T cod Veronte HUM v2 8 docx AUTOPILOTS 20 20 9 Annex 3 Connexion example Helicopter Pin 14 V Battery Plate NW Plate S Plate NE RPM Pin 3 CH3 Tail Pin 9 GND v Static pressure Dynamic pressure GPS antenna RF antenna gt Ma ESC h Motor i gt D Ly _ 24 EMBENTION
4. Global Positioning System 65 GroundSegment __ 0 ISM ____ Industrial Scientific and Medical PWM Pulse Width Modulation ____ Frequency S 85232 Recommended Standard 222 RX Receiver S SubMiniature Version A Connector UAS ____ Unmanned Aerial System 24 EMBENTION LJ FA cod Veronte HUM v2 8 docx UT OP IL OT S pag 4 20 1 Overview Veronte is the main element in our Flight Control System for UAS As it can be seen in the diagram Veronte hardware is used both in the ground segment Ground and onboard the UAV either Air or Vision Operator 3 E Veronte Air Veronte 5 E GIS y GIS Ground Station E Ground Station m Veronte Vision RPAS 2 Ethernet Veronte Air or Vision Safety RPAS n pilot Veronte Ground Ground Segment Flight Segment Figure 1 Veronte FCS Overview Verontecontains all the electronics and sensors needed in order to properly execute all the functions needed to control the UAV A Veronte based FCS contains the following elements e Veronte Air it executes in real time all the guidance navigation and control algorithms for the carrying airframe acting on the control surfaces and propulsion system and processing the signals from different sensors
5. 4 PRESSURE INTAKE CONNECT cesses nennen enne e sese se sessi ese esse esse esse esse eeu 8 TABLE 5 VERONTE POWER AND GROUND PINS mensem esse esse esse esse esee 9 TABLE G UBITEREACE E i 10 TABLE 7 VISION TO INTERFACE Z D pO SEU Xn eter Rear ordenes iamen 11 24 EMBENTION LJ FA cod Veronte HUM v2 8 docx A UT OP IL OT 5 pag 3 20 TABLE 8 EXPANDER I O 12 OI eras 13 TABLE 10 EXTERNAE RADIO CONNECT cusctensas daten 14 TABLE 11 VERONTE PERFORMANCES ccececcecccccccceccccecceceacecsacecsacecsacecsneecsacecsaceceaeesseecsaeecseeceaeecsceecseecsceeseaeess 15 Acronyms AWG American Wire Gauge DGPS Differential GPS _ 5 __ European Geostationary Navigation Overlay Service _ EPWM EnhanedPWM S FHSS Frequency Hopping Spread Spectrum _ 55 Geographical Information System Ground GNSS GlobalNavigationSatellteSystems GPS
6. IP67 autopilot is supplied with no 25 pin micro D connector in order to ensure highest environment protection It is supplied with individual wire leads as follow 5 Red whit 16 Orange White 17 Green White sue whit 9 Violet whit 21 Orange Black 22 Yellow Black 10 23 Green Black Er 12 25 Pink Black 5 24 AUTOPILOT 5 4 Performances Magnetic Field Limits 3 axes Weight 900MHz 2 4GHz radio included cod Veronte HUM v2 8 docx pag 15 20 190g 6 5V to 36V AW 10W with expansion board 409C 55 C 859C 15kPa 115kPa 10kPa IP54 6g 300deg s 6Gauss 12 channels DGPS EGNOS LADGPS 902 928MHz FHSS DTS Range 96km 115kbps 2 4 to 2 483 GHz ISM Band Range 32km 115kbps X 868 MHz ISM Range 40km 4 Kbps X 902 to 928 MHz Range 45km 10 kbps Table11 Veronte performances t No convection ask for increased limits up to 7190 Ask for increased limits up to 50kPa Ask for increased limits up to IP67 Limit for sustained maneuvers Transitional higher accelerations are possible e g catapult launch Ask for increased limits Limit for sustained maneuvers Transitional higher angular velocities are possible Ask for increased limits 24 EMBENTION LJ cod Veronte HUM v2 8 docx A UT OP IL OT S pag 16 20 5 Troubleshooting m having proble
7. MMUNICATION BUS RS 232 GND GND FOR RS 232 CSI2C_DY0 D7_3 3V CSI2C_CLK _OUTPUT D7 BT 656 INPUT CSI2C_DX0 D6_3 3V CSI2C CLK OUTPUT D6 BT 656 INPUT CSI2A DY2 D1 3 3V CSI2A 1 INPUT D1 BT 656 INPUT CSI2A DX2 DO 3 3V CSI2A DATA1 INPUT DO BT 656 INPUT GND O POWER CSI2C_DY1 RX232_EXTRA CSI2C INPUT RS 232 INPUT 512 DX1 TXC232 EXTRA N CSI2C_DATAO _INPUT RS 232 OUTPUT GND POWER D5 CSI2A DX1 CSI2A DATAO INPUT D5 BT 656 INPUT Ul DA CSI2A 1 CSI2A INPUT D4 BT 656 INPUT D3 CSI2A DXO CSI2A CLK OUTPUT D3 BT 656 INPUT D2 CSI2A DYO CSI2A OUTPUT D2 BT 656 INPUT GND POWER PCLK LVDS_A CLK BT 656 INPUT LVDS A INPUT CAM RESET LVDS B O CAM RESET OUTPUT LVDS_B INPUT CAM_SCCB 12C SIGNAL CAM_VBUS SHUTTER USB USB POWER SHUTTER OUTPUT CAM ID SCL USB N UJ USB ID I2C CLK CAM DP SDA USB N USB DATA P I2C DM SCCB USB USB DATA M I2C SIGNAL Table7 Vision I O interface 7 Caution Veronte Vision has an independent power input It is required when the Veronte power source is under 10 V 24 EMBENTION LJE amp FAODnTEe AUTOPILOT 5 3 1 1 Expander I O Signals 1 14 13 25 cod Veronte HUM v2 8 docx pag 12 20 Figure 10 25 pin Micro D for Veronte Expander 7 Veronte connector view Different connecti
8. accelerometers gyroscopes magnetometer static pressure dynamic pressure GPS EGNOS Galileo compatible Veronte Vision alternative to Veronte Air Same functionalities as Air plus video vision capabilities e Veronte Ground apart from linking to other flying Veronte units and supporting manual and arcade modes with conventional joysticks it can also control a directional antenna in order to expand the maximum range It communicates to Veronte Pipe software for ground segment mission management e Veronte Pipe software for mission management at the ground segment It monitors flying vehicles in real time and can also reproduce past missions in an offline manner It is also the graphical user interface where commands and flight plans are produced 24 EMBENTION LJ FA C cod Veronte HUM v2 8 docx UT OP IL OT S pag 5 20 2 Aircraft Mounting 2 1 1 Enclosure Veronte is provided using an anodized aluminium enclosure with enhanced EMI shielding and IP protection The total weight including a 900 MHz 2 4GHz radio module is 190g Figure 2 Veronte Air All Veronte versionsshare thesame enclosure Theonly differenceisthe distributionof the connectors onthepanel 52 5 Figure 3 Veronte dimensions mm 2 1 2 Mechanical Mounting M4 screws are recommended for mounting Figure 4 Veronte mounting dimensions mm 24 EMBENTION LJ cod Veronte HUM v2 8 d
9. cod Veronte HUM v2 8 docx pag 1 20 Q DERON T E AUTOPILOT 5 Hardware User Manual pig 24 EMBENTION LJ FA cod Veronte HUM v2 8 docx UT OP IL OT S pag 2 20 Table of Contents 1 OVERVIEW eT ________6_ ____ _______ 4 2 AIRCRAFT MOUNTING z cccccccccccccccccccccccccccccccccccccccccccccccccccccccccccccceccccccccccccceccccccccccccceccceccecs 5 2 1 1 EN CEO Bac ane 5 2 1 2 MECHANICAL MOUNTING 5 2 1 3 6 2 1 4 e uM M 6 2 1 5 Oren aloi EA 6 2 1 6 e TL TEN 7 2 1 7 Pared e MIS ERN 7 2 1 8 ANTENNA INTEGRATION etate 7 2 1 9 PRESS WRG INES MERO 8 3 lal ecc 9 3 1 1 Eel c 9 3 1 2 VEPRONTE O SIGNA PU EM 10 3 1 3 VISION 11 3 1 1 EXPANDER BE e CNET 12 3 1 2
10. e 2 1 8 Antenna Integration The system usesthree antennas to operate that must be installed on the airframe one for radio communications and another for GPS positioning Here you can find some advices for obtaining the best performance and for avoiding antenna interferences 24 EMBENTION LJ FA cod Veronte HUM v2 8 docx UT OP IL OT S pag 8 20 Maximize separation between antennas as much as possible Keep it far away from alternators or other interference generators Always isolate antenna ground panel from the aircraft structure Make that the antenna is securely mounted Always use high quality RF wires minimising the wire length Always follow the antenna manufacturer manual Antenna top side must point the sky Install it on a top surface with direct sky view Never place metallic carbon parts or wires above the antenna It is recommended to install it on a small ground plane It is recommended to use Omni directional antennas It should be installed vertically on the aircraft It is recommended to install it on a ground plane following manufacturer indications Place it in order to maximise the LOS with the control station Avoid any element that could block antenna communications Table 3 Antenna Installation 2 1 9 Pressure Lines Veronte has two pressure input lines one for static pressure to determine the absolute pressure and one for pitot in order to determine the dynamic pres
11. es between axes The configuration of the location of Veronte can be easily configured using Veronte Pipe Software Veronte axes are printed on the box and aircraft coordinates are defined by the standard aeronautical conventions Ss y 7 Figure 6 Veronte amp Aircraft Axis 24 ale LJ FA cod Veronte HUM v2 8 docx AUTOPILOTS pag 7 20 2 1 6 Connector Layout Figure 7 Veronte Connectors es O eames potest INN NN e 1 Table 1 Veronte connection panel For both pressure ports mating with clamped 2mm internal diameter flexible tubing is recommended 2 1 7 Mating Connectors 1 1 SMA Plug female low loss cable is recommended e g RG 174 RG 316 SMA Jack Female Antenna 900 MHz Whip 1 2 wave Omni directional 2 dBi SMA Plug female low loss cable is recommended e g RG 174 RG 316 Active Antenna GPS Gain min 15dB to compensate signal loss in RF Cable SMA Jack Female EE max 50dB maximum noise figure 1 5dB power supply 3 3V max current 20 mA Ethernet RJ 45 RJ 45 Plug Shield Cat 5e Receptacle 25 pin Micro D connector e Molex 83424 9019 18in 28AWG Commercial Version Power and 1 0 Micro D Norcomp 025 1188 152 18in 28AWG Commercial Version ITT Cannon MDM 25SH003L 18in 26AWG High performance version Table 2 Mating Connector Tabl
12. ms with the GPS signal o Reduce noise level on GND connection on the autopilot by connecting the autopilot GND directly to the battery GND avoiding intermediate connections and solders 24 Ab LJ C cod Veronte HUM v2 8 docx UT OP IL OT S pag 17 20 6 Annex 1 Connector Colour Code Micro D connector Molex 83424 9019 rate BLK c SKT 14 BRN RED 4 ORG YEL gt T BLU SKT 25 9 GRY Mi 10 WHT gt Ml 12 LT GRN BLK WHT BRN WHT RED WHT 16 ORG WHT 17 GRN WHT BLU WHT 19 VIO WHT RED BLK ORG BLK YEL BLK GRN BLK GRY BLK PNK BLK 24 EMBENTION a AUTOPILOT 5 Ww 7 Annex 2 Connexion example Multicopter Battery ESC 1 Pin 14 V Veronte 4 UU Pin 15 V nia p iles cR i Pint E 2 5 ESC 2 ESC 3 ESC 4 Pin 2 cod Veronte HUM v2 8 docx pag 18 20 Static pressure GPS antenna RF antenna 24 EMBENTION aD LJ T cod Veronte HUM v2 8 docx AUTOPILOTS 19 20 8 Annex 3 Connexion example Fixed wing Battery GPS antenna
13. nd connected to the radio trainer port Veronte is compatible with standard PPM signals Futaba radios between 8 and 12 channels are recommended SHIELD GROUND 1 2 PPMour 3 PPM 4 5 6 Vuren UNKNOWN NC GROUND 1 2 3 PPMour 30 20 10 4 60 50 40 5 6 Vencover PPM Figure 11 Futaba Trainer Port Table 9 Joystick Connect H 0 6 1 6 ms 4 icis L 0 1ms L 0 4ms T cte Figure 12 PPM Signal As default channel 8 is reserved for manual auto switch High level is used for automatic flight and low level for manual control This channel can be configured on Veronte Pipe A Caution PPM signal must be into the PPM ranges given with voltage above 4V Some joysticks may need an adaptationboard please ask our team to check compatibility Micro D connector for CS is provided with 3 5 stereo plug connector as follows DIGN GND 24 EMBENTION 5 LJ r1 cod Veronte HUM v2 8 docx D AUTOPILOTS pag 14 20 3 1 3 External Radio Veronte is also offered with a RS 232 connector to be used with an external radio RS 232 Radio 3 gt as Figure 13 External Radio Connector The mating radio connector for this configuration is Phoenix Contact 1681172 RS232 Veronte RX RS232 Veronte GND Table 10 External Radio Connect 3 1 4 IP67 Version
14. ocx UT OP IL OT S pag 6 20 2 1 3 Vibration Isolation Although Veronte ultimately rejects noise and high frequency modes of vibration with electronic filters an adequate vibration isolation design can improve the performances and extend the lifetime of Veronte Veronte can be mounted in different ways in order to reject the airframe vibration The simplest could be achieved by just using a double sided foam tape on the bottom side of Veronte Other ways may use some external structure which could be rigidly attached to the airframe and softly attached to Veronte e g foam silent blocks etc The user should take into account that wiring should be loose enough so vibrations may not find another way to enter the aircraft system In cases where Veronte isolation is not viable it is possible to use soft engine mounts It is also recommended when there are other sensible payloads like video cameras or for high vibration engines Figure 5 Engine Mounts 2 1 4 Location The location of Veronte has no restrictions You only need to configureits relative position with respect to the centre of mass of the aircraft and the GPS antenna The configuration of the location of Veronte can be easily configured usingVeronte Pipe Software 2 1 5 Orientation The orientation of Veronte has no restrictions either You only need to configure Veronte axes with respect to the aircraft body axes by means of a rotation matrix or a set of correspondenc
15. ons can be used depending on theselected hardware configuration GND RS 232 A TX RS 232 A RX GND GND PWM5 ECAP3 PWM6 ECAP4 PWM7 PWM8 GND ANALOGIC_UNIPOLAR_1 ANALOGIC_DIF_1 ANALOGIC_UNIPOLAR_2 ANALOGIC_DIF_1 ANALOGIC_UNIPOLAR_3 ANALOGIC_DIF_2 RS 232 B TX RS 232 B RX GND OPTIONAL POWER INPUT PWMZ1 ECAPG ARINC TX A OUT PWM2 ECAPS ARINC TX B OUT PWMS3 ECAP1 ARINC B OUT PWMA ECAP2 ARINC RX A OUT GND ANALOGIC UNIPOLAR 4 ANALOGIC 2 ANALOGIC UNIPOLAR 5 ANALOGIC 3 ANALOGIC UNIPOLAR 6 ANALOGIC DIF 3 Table 8 ExpanderI O interface Hardware option not selectable on SW Hardware option not selectable on SW Hardware option not selectable on SW Hardware option not selectable on SW Hardware option not selectable on SW Only for configurations with 2 or more expansion modules Hardware option not selectable on SW Hardware option not selectable on SW Hardware option not selectable on SW Hardware option not selectable on SW Hardware option not selectable on SW Hardware option not selectable on SW Hardware option not selectable on SW Caution Veronte Expander has an independent power input It is required only for configurations with more than one expansion module 24 EMBENTION ale LJ cod Veronte HUM v2 8 docx AUTOPILOTS pag 13 20 3 1 2 Joystick To connect the joystick to the system use the DIGIN1port on Veronte Grou
16. ossccussonssovsvecsceesvacevensonsassussenstssnseosaueovasevensonsnscsusonstscnsessnssovassovssovsncensas 6 FIGURE 6 VERONTE amp AIRCRAFT AXIS ccccccceccescussuscuscceccescessussuseasccecceseessussuseucceceessessuseuscucceceeseessussaseasceeseesees 6 FIGURE 7 VERONTE CONNECTORS s cosccsssscssssonscovsuccensconssovsnsonsscesncensusctuccenscovscevensonsssessccnsusstuscenscovssacensonsnsenens 7 FIGURE 8 25 PIN MICRO D CONNECTOR FOR VERONTE AUTOPILOT I O 4 VERONTE CONNECTOR VIEW 10 FIGURE 9 25 PIN MICRO D FOR VERONTE VISION 7 VERONTE CONNECTOR VIEW eere 11 FIGURE 10 25 PIN MICRO D FOR VERONTE VISION 7 VERONTE CONNECTOR VIEW 12 FIGURE 11 FUTABA TRAINER PORT RIEN _4____ _6____ _ 13 FIGURE 12 PPM SIGNAL 13 FIGURE 13 EXTERNAL RADIO CONNECTOR 14 TABLE 1 CONNECTION esse eese esse esse esse esse 7 TABLE 2 MATING CONNECTOR TABLE V mas kB Cea an cen Via Ma SV men UM bue MESI 7 TABEE 35 ANTENNA INSTALLATION _ __ _ hes 8 TABLE
17. sure Absolute pressure connection on the aircraft is mandatory while pitot port can be obviated in some aircrafts pitot port absence must be configured on Veronte Pipe software Pressure intakes must be located in order to prevent clogging Never install pressure intakes on the propeller flow Design pressure tubing path in order to avoid tube constriction e tisnot recommended to use inside fuselage pressure if it is not properly vented Pitot tube must be installed facing the airflow in the direction of the x axis of the aircraft It is recommended to install it near the aircraft axis in order to avoid false measures during manoeuvres For low speed aircrafts it is recommended at least 6 3mm tubes for preventing rain obstruction Table 4 Pressure Intake Connect It is recommended to use Embention dual Pitot tube including both static and pitot intakes Caution Pitot pressure ranges are configurable on Veronte Hardware when placing an order please review that selected sensor fits with aircraft speed 24 EMBENTION LJ FA cod Veronte HUM v2 8 docx UT OP IL OT S pag 9 20 3 Electrical 3 1 1 Power Veronte can use unregulated DC 6 5V to 36V for a total power consumption of 4W including radio module and 10W including both radio and Vision Pins used for power and ground are the same for both Ground and Air Vision configurations Table 5 Veronte Power and Ground Pins LiPo batteries bet
18. ween 2S and 8S can be used without regulation needs Remaining batterycan be controlled by the internal voltage sensor and by configuring the voltage warnings on the PC application For higher voltage installations voltage regulators must be used For dimensioning voltage regulators take into account that a blocked servo can activate regulator thermal protection and carry to a power cut It is recommended to use Embention high performance UAV regulators A Caution Power Veronte out of the given range can cause irreversible damage to the system Please read carefully the manual before powering the system Veronte and servos can be powered by the same or different batteries in case there is more than one battery on the system it is needed to ensurea singleunion of differentground The ground signal should be isolated from other system ground references e g engines It is recommendable to use independent switches for autopilot and motor actuators During the system initialization PWM signal will be fixed to low level OV please make sure that actuators motor connected support this behaviour before installing a single switch for the whole system 24 EMBENTION LJE amp FOnrTEe AUTOPILOT 5 3 1 2 Veronte I O Signals 1 13 14 25 Figure 8 25 pin Micro D connector Veronte Autopilot I O 4 Veronte connector view x _ 6 5 to 36V oem freemen gt PWM GPIO 1 5V 12mA Lemno vin
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