AUAV-X2 AND AUAV-X2Q USER MANUAL
Contents
1. hold and wait till the system beeps d RADIO CALIBRATION Choose Radio Calibration from CONFIG menu Follow the Radio Calibration procedure e TEST MANUAL MODE First step to get ready for flight is to test manual pass through mode This is where you control the aircraft directly from your R C transmitter While the system will enter the manual mode state when powered only by USB it will NOT be able to drive the servos You must connect a battery a BEC as described above for the flight modes to function properly To test you can just connect the BEC output throttle connector from your ESC or some other sufficient 5V source to the servo bus f MANUAL MODE Make sure you have completed airframe settings and calibrations first radio and sensors Page 11 AUAV X2 AND AUAV X2Q USER MANUAL 2015 Enter manual mode as follows e Start QGroundControl optional e Turn on your R C transmitter e Connect the battery BEC power source e Connect the USB to your computer optional Hold down the safety switch it should be doing a double blink e Hold transmitter stick at Throttle minimum down and YAW Rudder full right e You should hear the audio alarm for ARMED and the safety switch is solid green e You should now be able to move the sticks levers and see the servo move If you are having trouble re do the R C calibration in QGroundControl TELEMETRY AUAV X2 First you need to prepare t2. THE MAX ALLOWABLE TOTAL CURRENT CONSUMPTION FOR ALL PERIPHERALS 15 500 mA ALWAYS ALLOW AIR CIRCULATION OVER BOTH AUAV X2 SURFACES 7 UPLOADING THE FIRMWARE a DOWNLOAD and INSTALL QGroundControl from http qgroundcontrol org downloads Install an empty FAT16 or FAT32 formatted MicroSD card into the AUAV X2 MicroSD card socket Connect the AUAV X2 to the PC via USB MicroUSB cable Page 10 AUAV X2 AND AUAV X2Q USER MANUAL 2015 In QGroundControl click in the top left on CONFIG then on the big green SCAN button After the board has been found click on the FLASH UPGRADE button to upgrade the firmware Disconnect the USB cable from the PC hold the safety switch pressed while powering on the system Release the button The IO RED boot LED will flash rapidly The AUAV X2 will boot normally It will automatically upgrade the backup processor firmware A quick tutorial video can be found here b AIRFRAME CONFIGURATION Choose the Airframe Configuration from CONFIG menu Choose your configuration and hit Apply and Restart button The autopilot will restart c SENSOR CALIBRATION Choose Sensor Calibration Place the autopilot on a flat surface and don t move it Start with Gyro and Mag Calibration For Accelerometer Calibration you need 3 perpendicular surfaces You may use a cardboard box for Use 3 of it s surfaces to place the autopilot steady Follow the plane positioning guide First place the board
3. input has protection in case of back EMF from receiver in case it has additional servos connected to and powered from additional ESC NOTE If you need to connect additional servos ESCs to the receiver and to avoid back EMF from it you should use one of the following connection approaches Page 5 AUAV X2 AND AUAV X2Q USER MANUAL 2015 Additional servos connected to the receiver a disconnect the 5V power from X2 to the receiver use just SIGNAL and GND b power the receiver from additional 5V source ESC Additional ESCs connected to the receiver you have 2 options a disconnect all ESC 5V RED cables from the receiver and power the receiver from the autopilot as by default Use just SIGNAL and GND from ESCs b disconnect the 5V from the autopilot and power the receiver from JUST ONE of the ESCs Disconnect all other ESC 5V RED cables from the receiver 2 REAR HEADERS a SERVO HEADERS S1 to S8 are the signal pins VS VSERVO is the servo power supply rail and GND is the GND rail voltage between 4 5VDC 10VDC for regular AUAV X2 version and 5 0VDC and 5 5VDC for AUAV X2q Also don t forget that the servo bus operates at 50Hz for fixed wing and 400Hz in multirotors NOTE Please use just one ESC BEC for powering the servo rail with b POWER BRICK GND 5VBR VOLT CURR are respectively GND Vcc BRICK voltage sensing and current sensing NOTE VCC BRICK can be between 4 5VD
4. AUAV X2 AND AUAV X2Q USER MANUAL A AUAV X2 basic views nT 2 Sore 9900 manaa 423111 ArmA a i pP 5 tee L Di Page 1 AUAV X2 AND AUAV X2Q USER MANUAL FRONT HEADERS AUK AV X2 FRONT chet Note USART3 2 USART4 SERIAL3 SORI SBUS OUT RSSI IN USART7 SERIAL5 SBUSIN PPMIN REAR HEADERS AK AV X2 REAR VIEW 3V3 SP VCC SPEKTRUM 5VBR 5V BRICK VS VSERVO AUAV X2 REAR VIEW LEDS 10_LED SAFETY ARSOVTECH COM Sts Page 2 AUAV X2 AND AUAV X2Q USER MANUAL SIDE HEADERS ce cn af we s cs a 9 me B 9 a 4 meek SUC 2 gt AUAV X2 AND AUAV X2Q USER MANUAL 2015 SAFETY BUTTON CONNECTIONS SAFETY BUTTON BACKSIDE VIEW 1 FRONT HEADERS a ADDITIONAL CHANNELS to CH5 are ad
5. C and 10VDC for regular AUAV X2 version 5 0VDC to 5 5 for AUAV X2q e p Voltages from VOLTAGE and CURRENT sensing should be 3 3VDC max c BUZZER CONNECTOR BUZ and BUZ are pins for connecting the buzzer NOTE Please connect the buzzer supplied with and and colors as of the picture Page 6 AUAV X2 AND AUAV X2Q USER MANUAL 2015 d SPEKTRUM CONNECTOR U1Rx GND and 3V3 SP are respectively SIGNAL YELLOW or GRAY GND BLACK and power supply for SPEKTRUM receiver satellite RED e SAFETY BUTTON CONNECTOR 3V3 LEDS and SF are respectively the safety button 3 3V power supply LED signal and button contacts the rear headers picture The safety button female cable colors must correspond to the picture colors NOTE Please connect the supplied button with the connector colors as of 3 SIDE HEADERS a USART2 SERIAL1 HEADER USART2 SERIALI is a full set serial interface Pinl GND Pin2 5VP 5VDC from power supply for peripherals Pin3 U2CTS Pin4 U2RTS Pin5 U2Tx Pin6 U2Rx The header USART2 SERIAL is not soldered but supplied in AUAV X2 package This serial interface could be used for telemetry b EXTERNAL SPI INTERFACE Pinl GND Pin2 5VP 5 from power supply for peripherals Pin3 SCK SPI clock Pin4 SS Slave Select Pin5 MISO Master In Slave Out Page 7 AUAV X2 AND AUAV X2Q USER MA
6. N FMU and IO are ARMED SLOW BLINK Ready to arm FAST BLINK Error Refusing to arm LONG OFF with FAST DOUBLE BLINK IO armed but FMU not LONG OFF with FAST QUAD BLINK FMU armed but IO not 6 POWERING AUAV X2 There are three power inputs USB only for programming and testing Power from the Power Brick and Servo Power Bus Here is the schematics of the X2 regular power stage R919 10k 11 luH XAL3030 20k 2020 52 TPS63061 PMUX 2 6 US4 a VDD 5V C596 C597 C600 100 10 100n RM694 L601 81 1601 16 72 B 2 7 i 4x10k L602 BRICK EMI_KNH16 As seen from the schematics the servo power bus is separated from the Brick Power from the USB by very low Vf Schottky diodes PMEG2020CP has very low Vf just a few hundred millivolts Page 9 AUAV X2 AND AUAV X2Q USER MANUAL 2015 AUAV X2Q version power supply L601 NFM18PC104R1C3D L602 2 1 4 NOTE The Power Brick voltage and the Servo Bus voltage must be between 4 5VDC and 10VDC for regular AUAV X2 version and 5 0VDC to 5 5VDC for AUAV X2q NOTE The MicroSD card socket acts also as a heatsink for DC DC Buck Boost regulator It doesn t dissipate much heat BUT never cover it with heat insulating materials Also DO NOT cover any of the other heat dissipating components LDO regulators and the STM32F4 processor VERY IMPORTANT NOTE
7. NUAL 2015 Pin6 MOSI Master Out Slave 4 JTAGs There are two JTAG interfaces FMU one over the FMU side and IO over the IO side Both use the same leading holes and are designed to work with TC2030 Tag connector http www tag connect com TC2030 IDC NL Very useful device for debugging is the Black Sphere Debugger http www tag connect com BLACK SPHERE DBG For flashing the bootloaders firmware and debugging the cheap STM32 Nucleo board could also be used http mbed org platforms tvend 10 The AUAV X2 boards are supplied with both FMU and IO bootloaders flashed so one doesn t need to flash them again 5 LEDS and SAFETY SWITCH There are 4 LEDs on the X2 board FMU status LED RED IO status LED RED Power LED GREEN and the GPS Position LED BLUE LED STATUS TABLE GREEN Power LED always ON BLUE Heartbeat LED 2Hz Blink Heartbeat Loop Running Solid Uploading new firmware for IO red LED should be solid or blinking unevenly FMU RED LED ARMING LED SLOW BLINK Ready to arm System self tests are OK FAST BLINK Refusing to arm System self tests are NOT OK SOLID Armed IO RED FAILSAFE LED FAST BLINK Bootloader active the BLUE LED should be off in this state Page 8 AUAV X2 AND AUAV X2Q USER MANUAL 2015 4Hz No FMU input ON Initialization error check your RC config options in your parameters OFF System is OK SAFETY SWITCH STATUS O
8. ditional FMU channels which could be used for anything but for using them the user should add his own code to the firmware These additional channels could be used for PWM inputs general purpose inputs or outputs or analog inputs AIR 5V and GND are the airspeed sensor pin set where AIR is the analog input from the airspeed sensor 5 and GND are used for powering an analogue airspeed sensor b CAN INTERFACE GND CANL CANH and 5V are pins for interfacing CAN bus Page 4 AUAV X2 AND AUAV X2Q USER MANUAL 2015 USART7 SERIALS GND 5V U7Rx and U7Tx are pins for interfacing the SERIALS used by default as FTDI console interface d USART3 SERIAL2 GND 5V U3Rx and U3Tx are pins for interfacing the SERIAL2 a general purpose serial interface e USART4 SERIAL3 U4Tx U4Rx 5V and GND are pins for interfacing the SERIAL3 used by default as GPS interface f ANALOG CHANNELS ADC1 and ADC2 GND 5V ADC1 and ADC2 are pins for interfacing the analog inputs NOTE The full ADC voltage span should be within 3 3VDC 6 If you need to measure higher voltages please calculate divider INTERFACE I2SCL 25 5V and GND are pins for interfacing the I2C1 interface NOTE Both SCL and SDA have internal 2k2 pullups to 3 3V SBUS PPM INTERFACE GND 5V SORI SBUS OUT RSSI IN and SBUS IN PPM IN are pins for SBUS or PPM interfaces The SIPI
9. he cable To prepare the cable you just need a crimp pliers to crimp the pins supplied to the cables You have to choose color 24 26 AWG cables The colors you need are BLACK for GND RED for 5V YELLOW for RTS GREEN for TxD ORANGE for RxD and BLUE for CTS for example but you could use other colors for NOTE THE TELEMETRY IS UART2 how to connect telemetry you can read here Page 12 2 AND AUAV X2Q USER MANUAL 2015 8 MICRO IMU V2 PINOUTS IMU yi 2 pins MAG_ORDY EK 60 E E oO 7974 5 6 o CT ape s 9 SOME VERY GOOD REFERENCES AUAX X1 GITHUB hitps github com pkocmoud PX4 PIXHA WK http pixhawk org ARDUPILOT http ardupilot com Page 13
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