Header Overview

AscTec AutoPilot Board

Top

Bottom

Pinout

Numbers in bold are pin numbers according to the physical interface description (see below).

Top View
       Compass Connector Nick Gyro 
6 GNDLL0                
5 +5V 

Low-Level Processor

LLP

     ADC 

Roll

Gyro


4 +3.3V       
3 CTS       
2 RX            
1 TX                
                  
              Yaw Gyro 
               
GND

LL1

RC

 

High-Level Processor

HLP

   Pressure Sensor  
TX         
RX     Accelerometer 
+6V         
 JTAG         
 TRSTTDITMSTCKRTCK HL0 HL1/GPS
 +3.3VGNDGNDRSTTDO 6 GND5 +5V4 +3.3V3 CTS2 RX1 TX GNDTXRX+5.7V

 

Serial interface

Both microprocessors of the AscTec AutoPilot come with their own serial port. To communicate with the low level processor (LLP) you can use our predefined serial protocols. For the communication with the high level processor (HLP) you can use the AscTec SDK.

Physical interface

Both serial ports (LL serial 0 and HL serial 0) have the same physical interface. To communicate with the vehicle using the XBee link or the USB Cable Adapter (AscTec USB - AutoPilot), please connect to the correct virtual comport using the following connection settings:

  • Baudrate: 57600
  • Flow control: "Hardware" for XBee, "None" for USB cable adapter
  • Databits: 8, 1 startbit, 1 stopbit, no parity
  • Max. current: 300mA

The signal level of the TXD is 3.3V.

The RXD is 5V tolerant and needs a minimum signal level of approx. 1.8V.

The pin layout of the XBee is: (Pin 1..6) 1. TXD 2. RXD 3. CTS 4. empty 5. VCC(5V) 6. GND

AscTec Power Board

Click images to enlarge them.

Pelican/Hummingbird v2Pelican/Hummingbird v1Firefly

Interfaces

I2C

You can find the I2C ports (SDA and SCL) on the powerboard of your flight system. There are already 1.3kOhm Pull-Up resistors (to 5V) installed on both lines.

SPI

You can find the Serial Peripheral Interface (SPI) ports (MISO, MOSI, SCK and SSEL) on the powerboard of your AscTec UAV.

To program the SPI port, please have a look at the LPC214x data sheet.

In the standard AscTec SDK code, the SSEL0 port is changed to a PWM signal to control the Pelican pan tilt unit (camera option 4).

If you want to use the SSEL functionality, you need to comment out the following define in "pelican_ptu.h":

GPIO

You can find the simple port I/Os at the bottom of the AscTec AutoPilot.

To program the GPIO ports, please have a look at the LPC214x data sheet.

P0.21 is set to PWM5 in standard AscTec SDK code. Please have a look at "pelican_ptu.c" for further information.