3 U-Pilot OEM51 - Airelectronics
Contents
1. PIN UO Quadcopter Hexacopter Octocopter Cable Colour 1 In AADC 2 ADC 2 ADC 2 Black 2 In ADC 1 Battery ADC 1 Battery ADC 1 Battery Brown 3 DC in Vin Vin Vin Red 4 GND Ground Ground Ground Orange 5 In Magnetometer Rx Magnetometer Rx Magnetometer Rx Yellow 6 Out Magnetometer Tx Magnetometer Tx Magnetometer Tx Green 7 Out Engine Kill Engine Kill Engine Kill Blue 8 GND Ground Ground Ground Purple 9 In DGPS Rx DGPS Rx DGPS Rx Grey 10 Out DGPS Tx DGPS Tx DGPS Tx White 11 GND Ground Ground Ground Black 12 Out 1 Wire Temperature Sensor 1 Wire Temperature Sensor 1 Wire Temperature Sensor Brown 13 In Payload Rx Payload Rx Payload Rx Red 14 Out Payload Tx Payload Tx Payload Tx Orange 15 GND Ground Ground Ground Yellow 16 NC Reserved Reserved Reserved Green 17 In RS232 Port 1 Rx RS232 Port 1 Rx RS232 Port 1 Rx Blue 18 Out RS232 Port 1 Tx RS232 Port 1 Tx RS232 Port 1 Tx Purple 19 In ADC 3 Amperimeter In ADC 3 Amperimeter In ADC 3 Amperimeter In Grey 20 DC in Vin Vin Vin White 21 In Camera Pan Camera Pan Camera Pan Black 22 In Camera Tilt Camera Tilt Camera Tilt Brown 23 Out Camera Roll Camera Roll Camera Roll Red 24 NC Camera Shutter Camera Shutter Camera Shutter Orange 25 NC Reserved Reserved Reserved Yellow 26 NC Reserved Reserved Reserved Green 27 NC Reserved Reserved Reserved Blue 28 NC Reserved Reserved Reserved Purple 29 NC Reserved Reserved Res2. c irelectronics UAV AUTOPILOTS U Pilot OEM51 Manual V 0 6 DA 3 ta vu 17 KN a c irelectronics U Pilot OEM51 User Manual Table of Contents 1 General System Introduction DEE 3 1 1 Concept of system operation ekte b ERE ERE REE R REEL REESE ENKER RENE RES 4 2 Gontrollable Elle idro 5 E AA 5 2 1 1 Conventional configuration fixed WINg kk rnkenn kr n nn kk rnnee 5 Ze Ay WIC CONTIGUI renano 5 e Ee El e E 3 2 2 1 Helicopter Swash plate A 5 2 2 2 Helicopter Swash plate 3 ii 5 2 2 3 Helicopter Direct El fx xander herre ara irrita 6 ZZZ 6 ZZ POCO O EE 6 EE Eeer 7 SR D Salle e LEE 8 POWES SUPPI E 8 eZ IWIOMMORING 4 8 RE 9 3 3 Microprocessors structure EE 9 Sne EE 9 35 U PIO OEMS T CONNEGHONS rriii ia 11 3 6 Magnetometer connections ii 14 Appendix A Guide for determining servo FOVEISe ccccecesececeeeceeeceseeseeseeteeeeeteeeaeeseeaees 15 FCO ANE SE ROS Lanna nn 15 POICON Or OVOS ina 15 PISCE TVO e ir ii 15 OV AS Ol A EE 16 Sen Dei EET E E R E E 16 Ee Fare et 16 FICXACODIC EE 16 OCIOCODIC naso N ee eT 17 APPEndxHb Ee Lee Le DEE 18 17 SCENE a c irelectronics U Pilot OEM51 User Manual General System Introduction 1 General System Introduction Airelectronics has developed a complete solution for both rotary and fixed wing UAVs The system is composed of e U
3. 1 Wire 1 Wire 1 Wire 1 Wire 1 Wire 12 Out Temperature Temperature Temperature Temperature Temperature Brown Sensor Sensor Sensor Sensor Sensor 13 In Payload Rx Payload Rx Payload Rx Payload Rx Payload Rx Red 14 Out Payload Tx Payload Tx Payload Tx Payload Tx Payload Tx Orange 15 GND Ground Ground Ground Ground Ground Yellow 16 NC Reserved Reserved Reserved Reserved Reserved Green 17 In RS232 Port 1 Rx RS232 Port 1 Rx RS232 Port 1 Rx RS232 Port 1 Rx RS232 Port 1 Rx Blue 18 Out RS232 Port 1 Tx RS232 Port 1 Tx RS232 Port 1 Tx RS232 Port 1 Tx RS232 Port 1 Tx Purple 19 In ADC xi ADC S ADC a7 ADC G ADC 3 Grey Amperimeter Amperimeter Amperimeter Amperimeter Amperimeter 20 DC in Vin Vin Vin Vin Vin White 21 In Camera Pan Camera Pan Camera Pan Camera Pan Camera Pan Black 22 In Camera Tilt Camera Tilt Camera Tilt Camera Tilt Camera Tilt Brown 23 Out Camera Roll Camera Roll Camera Roll Camera Roll Camera Roll Red 24 NC Camera Shutter Camera Shutter Camera Shutter Camera Shutter Camera Shutter Orange 25 NC Reserved Reserved Reserved Reserved Reserved Yellow 26 NC Reserved Reserved Reserved Reserved Reserved Green 27 NC Reserved Reserved Reserved Reserved Reserved Blue 28 NC Reserved Reserved Reserved Reserved Reserved Purple 29 NC Reserved Reserved Reserved Reserved Reserved Grey 30 NC Reserved Reserved Reserved Reserved Reserved White 31 NC Reserved Reserved Reserved Reserved Reserved Black 32 NC Reserved Reserved Reserved Reserved
4. by adding an amperometer connected to the ADC3 on the U Pilot OEM51 The amperometer is a linear hall effect sensor supplied by Airelectronics This configuration allows the user to improve the efficiency of the flight For further information of its usage check the Engine Data section of the U See manual 3 3 Microprocessors structure The Autopilot has two microprocessors CPUS CPU Mission control This CPU manages Communications to and from ground segment the management of payloads and in general operations that are not flight related CPU Flight control This CPU produces the surfaces commands and control the attitude of the aircraft This processor access all its sensors in a non blocking way and it is always evaluating current position attitude and control RADIO LINK l 0 SS Mission control eon Flight control Figure 9 General system architecture 3 4 Sensors There are several sensors inside U Pilot OEM51 and all of them have their own electronics design inside the system taking care of them this gives the highest reliability and performance to the system The sensors are Accelerometers Gyroscopes GPS with Satellite Based Augmentation System Several Static Pressure Sensor to improve accuracy in different altitude ranges Several Dynamic Pressure Sensors for higher accuracy during take off and landing operations Different sensors account for different soeed segments of
5. from the front Magnetometer PIN Function Connected to 2 TX Pin 6 Magnetometer TX in main connector 3 RD Pin 5 Magnetometer RX in main connector 5 GND Ground 9 ce Magnetometer power supply 6 5V 15V Table 1 Magnetometer connection list 14 Ar SA Va a irelectronics U Pilot OEM51 User Manual U Pilot OEM51 Appendix A Guide for determining servo reverse When a new vehicle is configured with U Pilot OEM51 and U See it is needed to determine if Reverse check box should be active Follow the following tables to determine if your servos need reversal Fixed Wing servos Conventional configuration Servo Min commanded action Max Commanded action Throttle Carburator closed Carburator opened Aileron Right Right aileron trailing edge up Right aileron trailing edge down Elevator Elevator trailing edge up Elevator trailing edge down Rudder Rudder trailing edge right Rudder trailing edge left Aileron Left Left aileron trailing edge down Left aileron trailing edge up Wheel Steer right Steer left Flying Wing Servo Min commanded action Max Commanded action Throttle Carburator closed motor stopped Carburator opened motor at max speed Outward Left aileron Left aileron trailing edge down Left aileron trailing edge up Inward Left Aileron Left aileron trailing edge up Left aileron trailing edge up Rud
6. the mission These sensors are only used in Fixed Wing UAVs Besides these internal sensors for rotary wing we use an external magnetometer It is connected to the system through RS 232 port and interfaces with dedicated electronics in AL Y electronics U Pilot OEM51 Due to the fact that this sensor is external it can be placed far from any electromagnetic noise inside the UAV However it must be connected to the proper main connector on U Pilot OEM51 See section 3 5 If for some reason a external dynamic pressure sensor is needed the system has the provisions to make use of an Airelectronics external I2C sensor that can be mounted separately from U Pilot OEM51 This sensor is only provided upon request U Pilot OEM51 User Manual U Pilot OEM51 The sensor suite is very flexible and can be modified to reflect a customer requirement on the system 10 Ari S U Pilot OEM51 User Manual U Pilot OEMS1 ai relectronics 3 5 U Pilot OEM51 Connections The aerial part of connector used for the U Pilot OEM51 is provided in the Installation Kit Cables in the aerial connector are colour coded The following table describes the function of every pin in the main connector in U Pilot OEM51 and the corresponding colour coded cable in the supplied aerial connector The pin configuration used depending on the UAV vehicle is detailed in the following table and the corresponding connector diagram NOTE Please take into a
7. 00Hz can accept much faster control input and are the recommended choice when control rotary wing aircraft Upon request all the PWM lines can be reconfigured to output or input any other digital signal There are 4 serial ports also available for additional devices use such as cameras or magnetometers Serial ports are automatically adapted to the baud rate of the devices connected to it The voltage levels for the serial ports are the standard 12V 12V Connector pin configuration is detailed on U Pilot OEM51 Connections section 3 1 Power supply U Pilot OEM51 is powered in the range from 6 0V to 24V Main power voltage is directly connected to the ADC channel number 4 thus allowing monitor of AP battery and check for voltage supply stability This level is displayed as an internal battery 4 on the U See state window Consult U See manual for details CAUTION Power the Autopilot at a voltage OUT of range can cause IRREVERSIBLE DAMAGE to the system Please read carefully this manual and do not hesitate to contact us www airelectronics es if needed Typical power consumption about 6 Watt but the power system should be prepared to withstand 9 Watts peaks This consumption will mean an intensity consumption of 1 Amp at 6V or 0 5 Amp at 12 V Ari e SE c irelectronics U Pilot OEM51 User Manual U Pilot OEM51 3 2 Monitoring Engine Data A better estimation of the battery status on electric vehicles is available
8. 3 Motor stopped Motor at max speed Engine 4 Motor stopped Motor at max speed Engine 5 Motor stopped Motor at max speed Engine 6 Motor stopped Motor at max speed 16 U Pilot OEM51 User Manual U Pilot OEMSI Ar SA Va f Airelectronics Octocopter Servo Min commanded action Max Commanded action Engine 1 Motor stopped Motor at max speed Engine 2 Motor stopped Motor at max speed Engine 6 Motor stopped Motor at max speed Engine 4 Motor stopped Motor at max speed Engine 5 Motor stopped Motor at max speed Engine 6 Motor stopped Motor at max speed Engine 7 Motor stopped Motor at max speed Engine 8 Motor stopped Motor at max speed 17 Ar MN f A relectronies U Pilot OEM51 User Manual U Pilot OEM51 Appendix B Changelog This annex describes changes introduced to this document Date Changes Version of document started 0 5 2014 10 27 Created Document If you need a previous version of documentation please contact us at info airelectronics es 18
9. Pilot U Pilot OneBoard or U Pilot OEM51 e U Ground e U See U Pilot takes care of the vehicle from Take off to Landing It is completely adaptable to any aircraft including fixed wing hexacopters quadcopters and helicopters U Pilot is completely capable of following a flight plan with up to 200 points real time editable Once the flight plan is loaded on the U Pilot it is independent of operator instructions In case of a failure in the communications U Pilot starts a Landing maneuver which would safely land the UAV on the Runway Point Thanks to its versatility U Pilot can control any device on board the UAV such as cameras parachutes and others These devices can be real time controlled by a Computer Operator or by U Pilot automatically U Pilot OEM51 has working in parallel e 30 PWM Pulse Width Modulation outputs or even more if necessary e 3 ADC inputs Analogical Digital Converter to monitor the voltages of three batteries on the UAV e 4 serial ports RS232 to communicate with payloads external magnetometers etc e A radio with up to 100 km e GPS dynamic and static pressure sensors a magnetometer gyroscopes and accelerometers U Pilot OEM51 is built using a two parallel microprocessor approach e One processor takes care of the state estimator and controls the UAV using hardware acceleration to calculate high speed algorithms e Another processor takes care of the mission at high level and the communications w
10. Reserved Brown 33 NC Reserved Reserved Reserved Reserved Reserved Red 34 NC Reserved Reserved Reserved Reserved Reserved Orange 35 Out DGPS TTL DGPS TTL DGPS TTL DGPS TTL DGPS TTL Yellow Correction Correction Correction Correction Correction 36 GND Ground Ground Ground Ground Ground Green 37 Out Throttle Throttle Throttle Throttle Throttle Blue 38 Out Right Aileron Out Right aileron Swash plate 1 Swash plate 1 Cyclic Pitch Purple 39 Out Elevator In Left aileron Swash plate 2 Swash plate 2 Cyclic Roll Grey 40 Out Rudder Rudder Tail Servo Tail Servo Tail Servo White 41 Out Left Aileron Out Left aileron Swash plate 3 Swash plate 3 Collective Black 42 Out Left Flap Left Flap Swash plate 4 Reserved Reserved Brown 43 Out Elevator 2 In Right Aileron Reserved Reserved Reserved Red 44 Out Right Flap Right Flap Reserved Reserved Reserved Orange 45 Out Nose Wheel Nose Wheel Reserved Reserved Reserved Yellow 46 NC 2 Aileron Right Reserved Reserved Reserved Reserved Green 47 NC 2 Aileron Left Reserved Reserved Reserved Reserved Blue 48 NC Am Flap Right Reserved Reserved Reserved Reserved Purple 49 NC 2 Flap Left Reserved Reserved Reserved Reserved Grey 50 NC Reserved Reserved Reserved Reserved Reserved White 51 NC Reserved Reserved Reserved Reserved Reserved Black 12 U Pilot OEM51 User Manual U Pilot OEMSI 1 N fa irelectronics
11. also has an RS 232 output to relay the data to a PC running U See to allow control from the End User A Futaba Joystick allows manual override and control Joystick Figure 1 System concept The mission team usually is formed by two persons e The External Pilot who will have the Futaba Joystick on its hands in case a manual control of the UAV is desired specially during the development and adjustment phase e The U See operator that will command the mission using the PC 1 7 a Va f irelectronics U Pilot OEM51 User Manual Controllable Air vehicles 2 Controllable Air vehicles U Pilot is able to control Fixed Wing and Rotary Wing vehicles Each unit is configured for a specific type of vehicle 2 1 Fixed wing Fixed wing can take off automatically on a runway hand launched or catapulted The automatic landing can be done using a parachute or on a runway At the time of performing the connections of the servos to the U Pilot refer to U Pilot OEM51 connections 2 1 1 Conventional configuration fixed wing Conventional configuration planes are supported with redundant elevator and separated channels for left and right ailerons and flaps Other configurations equipment are supported spoilers support parachute deployment for landing etc upon request Please contact us for this kind of configuration 2 1 2 Flying wing configuration Tailless flying wing is supported and aileron control is separated in two cha
12. ash plate section moves down Corresponding swash plate section moves up Swash plate 3 Corresponding swash plate section moves down Corresponding swash plate section moves up Swash plate 4 Corresponding swash plate section moves down Corresponding swash plate section moves up Rudder Tail rotor acts to make tail rotates clockwise Tail rotor acts to make tail rotates anti clockwise Swash plate 3 Servo Min commanded action Max Commanded action Throttle Carburator closed Carburator opened Swash plate 1 Corresponding swash plate section moves down Corresponding swash plate section moves up Swash plate 2 Corresponding swash plate section moves down Corresponding swash plate section moves up Swash plate 3 Corresponding swash plate section moves down Corresponding swash plate section moves up Rudder Tail rotor acts to make tail rotates clockwise Tail rotor acts to make tail rotates anti clockwise Quadcopter Servo Min commanded action Max Commanded action Engine 1 Motor stopped Motor at max speed Engine 2 Motor stopped Motor at max speed Engine 3 Motor stopped Motor at max speed Engine 4 Motor stopped Motor at max speed Hexacopter Servo Min commanded action Max Commanded action Engine 1 Motor stopped Motor at max speed Engine 2 Motor stopped Motor at max speed Engine
13. ccount than in these tables Tx and Rx suffix are referred to U Pilot This is a line marked as Magnetometer Rx is the pin dedicated to receive data from the magnetometer and thus must be connected to the sending pin in the magnetometer connector 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 135 34 33 32 31 30 29 28 2 23 19 51 50 49 48 47 46 45 44 43 42 41 40 39 38 37 36 51 socket Figure 10 Main connector on U Pilot OEM51 One Board as seen from the front 11 U Pilot OEM51 User Manual U Pilot OEMSI VW ra Irelectronics NW J Helicopter PIN UO FixedWing Flying Wing SR ei e We GE Ria 1 In ADC 2 ADC 2 ADC 2 ADC 2 ADC 2 Black 2 In ADC 1 Battery ADC 1 Battery ADC 1 Battery ADC 1 Battery ADC 1 Battery Brown 3 DC in Vin Vin Vin Vin Vin Red 4 GND Ground Ground Ground Ground Ground Orange 5 In Engine ECU Rx Engine ECU Rx Bled Re Reeg Yellow 6 Out Engine ECU Tx Engine ECU Tx Magnetometer Tx Magnetometer Tx Magnetometer Tx Green 7 Out Engine Kill Engine Kill Engine Kill Engine Kill Engine Kill Blue 8 GND Ground Ground Ground Ground Ground Purple 9 In DGPS Rx DGPS Rx DGPS Rx DGPS Rx DGPS Rx Grey 10 Out DGPS Tx DGPS Tx DGPS Tx DGPS Tx DGPS Tx White 11 GND Ground Ground Ground Ground Ground Black
14. der Rudder trailing edge right Rudder trailing edge left Outward Right Aileron Right aileron trailing edge up Right aileron trailing edge down Inward Right Aileron Right aileron trailing edge up Right aileron trailing edge down Wheel Steer right Steer left Helicopter Servos When referring the swash plate left right front back will be always referred as watching the swash plate from above and in the direction of forward movement of the vehicle Direct Servos Servo Min commanded action Max Commanded action Throttle Carburator closed Carburator opened Collective Full Swash plate down Full Swash plate up Cyclic Roll Swash plate tilts right Swash plate tilts left Cyclic Pitch Swash plate tilts backwards Swash plate tilts forward Tail rotor acts to make tail rotates Tail rotor acts to make tail rotates anti Rudder i clockwise clockwise 2 This section assumes conventional aircraft configuration Canard configurations require different settings please contact Airelectronics if that s your case 15 U Pilot OEM51 User Manual U Pilot OEM51 Swash plate 4 y a E c irelectronics Servo Min commanded action Max Commanded action Throttle Carburator closed Carburator opened Swash plate 1 Corresponding swash plate section moves down Corresponding swash plate section moves up Swash plate 2 Corresponding sw
15. e attached schematic Servo 1 drives cyclic pitch Servo 2 drives cyclic roll Servo 3 drives collective Note that as every movement of the swash plate is assigned exclusively to a servo you don t need to respect the right left or forward back indications of the diagram as you can always check inverse in the servos adjustment step The U Pilot OEM51 motors connection is detailed in U Pilot OEM51 connections 2 2 4 Quadcopter FORWARD Figure 5 Quadcopter motors distribution The quadcopter motors distribution and the rotation direction is represented in the attached schematic The quadcopter motors distribution and the rotation direction is represented in the attached schematic Notice that motors number 1 3 must turn clockwise and motors number 2 4 must turn anticlockwise The U Pilot OEM51 motors connection is detailed in U Pilot OEM51 connections 2 2 5 Hexacopter FORWARD Figure 6 Hexacopter motors distribution The hexacopter motors distribution and the rotation direction is represented in the attached schematic Notice that motors number 1 3 5 must turn clockwise and motors number 2 4 6 must turn anticlockwise The U Pilot OEM51 motors connection is detailed in U Pilot OEM51 connections y a 2 id e eiortran U Pilot OEMS51 User Manual m EST ECH Controllable Air vehicles 2 2 6 Octocopter FORWARD The octocopter motors distribution and the rotation direction is represented in
16. erved Grey 30 NC Reserved Reserved Reserved White 31 NC Reserved Reserved Reserved Black 32 NC Reserved Reserved Reserved Brown 33 NC Reserved Reserved Reserved Red 34 NC Reserved Reserved Reserved Orange 35 In Reserved Reserved Reserved Yellow 36 GND Ground Ground Ground Green 37 Out Motor 1 Motor 1 Motor 1 Blue 38 Out Motor 2 Motor 2 Motor 2 Purple 39 Out Motor 3 Motor 3 Motor 3 Grey 40 Out Motor 4 Motor 4 Motor 4 White 41 Out Reserved Motor 5 Motor 5 Black 42 Out Reserved Motor 6 Motor 6 Brown 43 Out Reserved Reserved Motor 7 Red 44 Out Reserved Reserved Motor 8 Orange 45 Out Nose Wheel Nose Wheel Nose Wheel Yellow 46 NC Reserved Reserved Reserved Green 47 NC Reserved Reserved Reserved Blue 48 NC Reserved Reserved Reserved Purple 49 NC Reserved Reserved Reserved Grey 50 NC Reserved Reserved Reserved White 51 NC Reserved Reserved Reserved Black 13 U Pilot OEM51 User Manual U Pilot OEMSI 3 6 Magnetometer connections Ar SA Va irelectronics For rotary wing platforms it is need to connect an external magnetometer to U Pilot OEMS1 It is encased in metal and it interfaces and powers through a DB9 connector Error Reference source not found and Error Reference source not found detail the proper wiring to connect the magnetometer to U Pilot OEM51 Note through that this magnetometer must be supplied with DC between 6 5V and 15V a SS SIS SS SSD SS o _ zi Figure 11 Magnetometer connector viewed
17. ith the U Ground and Payloads management e The processors do not waste any time doing low level tasks Due to the fact that those two processors are working in parallel and there is dedicated electronics taking care of all the serial ports sensors inputs and outputs the system Is capable of recalculating its position orientation and closing control loops at the speed of 1000 Hz This high speed gives the the UAV huge navigation accuracy and control On the ground segment we have both U Ground and U See U Ground is a control station with the other end of the radio link communicating the U Pilot with the U See software U See software is a user friendly program that runs in any personal computer running Windows or Linux 1 Range may vary with the frequency band used Default is 900 MHz but legal limitations in some countries may change this Ar KN P c irelectronics Through U See the UAV operator can inspect the current state of the mission and command it in real time U Pilot OEM51 User Manual General System Introduction All the U Pilot configuration is done by Airelectronics staff so the End User does not have to waste any time setting the internal parameters of the system 1 1 Concept of system operation The system is made up of an U Pilot installed on an aircraft connected to the U Ground through a radio link See figure 1 attached below The U Ground has its own radio link to communicate with the U Pilot It
18. nnels per wing to improve reliability and enable usage of butterfly air brake deployment 2 2 Rotary wing Rotary wing configuration group different vehicles U Pilot can be configured for the following type extra configuration will be added in the future 2 2 1 Helicopter Swash plate 4 FORWARD The helicopter has a swash plate driven by four servos These servos should be connected to U Pilot following the attached schematic Servo 1 is forward mounted Servo 2 is right mounted Servo 3 is back mounted Servo 4 is left mounted The U Pilot OEM51 motors connection is detailed in U Pilot OEM51 connections Figure 2 Helicopter servo distribution FORWARD 2 2 2 Helicopter Swash plate 3 The helicopter configured as swash plate 3 has a swash plate driven by three servos These servos should be connected to U Pilot following the attached schematic Servo 1 is forward right mounted Servo 2 is back mounted Figure 3 Helicopter Swash plate 3 servo distribution U Pilot OEM51 User Manual Controllable Air vehicles Ar i Va c irelectronics Servo 3 is forward left mounted The U Pilot OEM51 motors connection is detailed in U Pilot OEM51 connections 2 2 3 Helicopter Direct Drive FORWARD Sa Senta Se El D en Figure 4 Helicopter direct swash plate servo distribution The helicopter has a swash plate driven by three servos These servos should be connected to U Pilot following th
19. the attached schematic Notice that motors number 1 3 5 7 must turn clockwise and motors number 2 4 6 8 must turn anticlockwise The U Pilot OEM51 motors connection is detailed in U Pilot OEM51 connections Figure 7 Octopter motors distribution 17 SCENE a c irelectronics U Pilot OEM51 User Manual U Pilot OEM51 3 U Pilot OEM51 The U Pilot OEM51 is powered in the range from 6 0V to 24V view Power Supply This allows the connection of U Pilot OEM51 directly to a 2S LiPo battery without adding possible points of failure in the system If the system uses 6V servos U Pilot OEM51 can be connected directly to the servo power and save weight Rx Tx The power installation can be done in several SERIALE different ways described in Power Supply section Ka U Pilot OEM51 has three ADC available channels to monitor system voltages and it is possible to connect a Hall Effect amperometer sensor to control the discharge of battery in electric UAVs There are 30 PWM outputs signals at 50 200 300 333 or 540Hz frequencies and 1500 or 760 us pulses SERIALS SERIAL4 VV VM PWM at 50Hz is the most common way to control servos and it will be accepted by almost any servo in the market This signal pulses every 20 ms Figure 8 U Pilot OEM51 I O Schematic milliseconds and depending on the length of these pulses the servo will move to different positions ir rri YOW Digital servos 3
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