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Old Jun 22, 2012, 08:40 AM
Oleg
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Megapirate X STM32 based UAV board

The MegaPirate X autopilot project is designated to control RC model planes, multirotors and other aircrafts, FPV aircrafts and small UAVs. It has built-in OSD overlay system.

The flight controller was built around the powerful Cortex M4 CPU and uses advanced algorithms and several types of sensors to keep the aircraft safe in the air.

Its main features are:

Extended manual control with onboard channel mixer

Aerobatic flight mode
Autoleveling flight
Two-way wireless telemetry (requires separate modems)
Computer joystick control
FlightGear flight simulator support
Multi-screen graphic OSD for FPV flights
Voice and sound alerts
Return home when control is lost
Waypoint flying
Position and altitude hold modes
Automatic takeoff and landing
Custom takeoff and landing patterns
Variometer with sound
Programmable LED controller
Telemetry-over-video
Ground antenna tracking
One-click firmware update (requires Internet connection)
Flight telemetry recording and playback in realtime using the PC software
Onboard telemetry recording (requires the X logger)
Flight logs analysis and export to processing and graphing software
Command Line Interpreter: C language programs, flight control plugins, complicated missions
Offline map browser with caching


=====

The project site:
http://MegapirateX.com


Connection diagram:
https://dl.dropboxusercontent.com/u/...x/mpx_conn.pdf

MPX Manual (old):
https://dl.dropboxusercontent.com/u/...manual_eng.pdf

CLI manual:
https://dl.dropboxusercontent.com/u/...px_cli_eng.pdf

=====

Flight videos:

Clouddiving (5 min 22 sec)


202418 2 (11 min 49 sec)


quad with payload (2 min 7 sec)


autonomous flight
180418-2.avi (4 min 27 sec)



===

Important notes:
This is NOT an open-source project.
Autopilot modes for multirotors are WIP
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Old Jun 22, 2012, 02:12 PM
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Cool features! Hehe are there any free samples available for poor students to beta test hehe

Could the hardware schematics be provided even though the code is closed-source..I'd really like to build it myself..
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Old Jun 22, 2012, 05:08 PM
Oleg
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msev,
there is a text description given at http://forum.rcdesign.ru/blogs/39391/blog14455.html
It is in russian though.
In 2 words: you need an stm32f4discovery, hk e-osd, all-in-one sensors board or blackvortex to solder to and a pair of resistors to pullup the i2c to 3.3v.
Sorry i have no samples at all. I`ve built my HW by myself this way and have bought all the components:



And you still need a key to enable an autopilot.
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Old Jun 23, 2012, 06:17 AM
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Very cool Oleg, I'm very interested! Very comprehensive manual, great work!

I was just kidding about the samples, I had to try my luck :P

So the chinese imu's with same sensors are also supported, that's great! Will other sensor combo's be also supported?

Can osd be configured in any way? The font and lines are too thin for me, can the text size also be slightly increased..

Telemetry will be video-based right? The decoder on the ground will be which platform? Atmega or also stm32? Could be an arduino for sake of price ..
Telemetry could be also via rfm22b (openlrs)...or the new 1W rfm which will be in the new version of olrs.

For flight with pc joystick you need two-way telemetry, can it be via openlrs connected to the computer?

May I just ask you what is the price of the SWID key? If I damage the board and need another SWID will I have to pay again (I would show photos of board)? Or can I contact you directly and we work something out.

Is receiver RSSI monitoring available? Is RTH autotriggered when receiver failsafe?

Do I need to put bootloader on the discovery board, do I need a jtag or some other special programmer or is a cp2102 programmer good enough?

For what is AT24C64 used?

Is there a chance that other osd would also be supported, I made a diy arduino based lm1881 osd

Are waypoints 3d, meaning that altitude is defined also?

Sorry because I'm asking so much, but I'm very excited

Marko
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Old Jun 23, 2012, 12:28 PM
Oleg
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Hi Marko.
Wow, that's a bunch

Very comprehensive manual,
It is just a 1/3 of the full text. Have you seen that greyed chapters in the contents? They are still to be pulled off my brain

So the chinese imu's with same sensors are also supported
I`m afraid no. They have different addressing and sensors orientation. There is no #DEFINEs for the user to change.

Can osd be configured in any way?
There will be an OSD menu where you could switch on/off every displayed element. Unfortunately there is no way to increase the line thickness and font size without re-tailoring all the OSD layout. Though there will be the symbols shadow later. I hope it will look much better.

Telemetry will be video-based right? The decoder on the ground will be which platform? Atmega or also stm32? Could be an arduino for sake of price ..
Telemetry could be also via rfm22b (openlrs)...or the new 1W rfm which will be in the new version of olrs.


There are 2 ways of delivering the telemetry to your PC: using the video decoder (combined with an antenna tracker) or an external RF downlink. I'd say the video decoder provides much faster refresh rate.
The video decoder will be about the price of Arduino so there are no savings here Also you will get a 3A UBEC up to 42V -> 5V for your pan-tilt servos on the same board.

For flight with pc joystick you need two-way telemetry, can it be via openlrs connected to the computer?

For joystick control you need just one-way uplink. It could be any one-way LRS capable of the serial data transmission. Using it with the video decoder you will get the kind of 2-way telemetry.

May I just ask you what is the price of the SWID key? If I damage the board and need another SWID will I have to pay again

The SWID is $99.99 now. It will cost more when I will add more features in the project. Once purchased the key will last forever.
If you have your board destroyed - contact me for possible workaround.

Is receiver RSSI monitoring available? Is RTH autotriggered when receiver failsafe?
Two times yes. There is a dedicated RSSI input reserved though I have never had a receiver with that feature. Maybe you would help me out how to do this?
There are several failsafe settings in the Autopilot Config window. See manual.
Also there will be a separate chapter about the emergency behaviour of the AP.

Do I need to put bootloader on the discovery board, do I need a jtag or some...
If you are gonna use the discovery it already has a builtin ST-link programmer. You have to put the bootloader there with any software programmer supporting ST-link. No external hardware needed except for the FTDI adapter for GCS operation.

For what is AT24C64 used?
It is an external settings storage. The STM CPUs has no on-chip eeprom.

Is there a chance that other osd would also be supported
Actually you don't need an OSD. The firmware provides its own OSD. Everything you need is to provide some circuitry to detect a video sync and mix in the OSD signal.
I.e. you can connect the OSD_SYN to your lm1881's pin #1, OSD_White connect through the diode and 180R to the video socket. Don`t forget to erase your diy-osd chip or it will spoil the signal.

Are waypoints 3d, meaning that altitude is defined also?
All of them! also there are several types of waypoints, absolute and relative - see Mission Control chapter of the manual.

Huh! I have to add another chapter in the manual: An interview with Marko
Thanks for your questions. I hope I didn't missed something.
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Old Jun 23, 2012, 04:04 PM
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I guess I should have studied journalism hehe ..

Quote:
Originally Posted by Syberian View Post
Hi Marko.

So the chinese imu's with same sensors are also supported
I`m afraid no. They have different addressing and sensors orientation. There is no #DEFINEs for the user to change.
Well will they be supported, people including me prefer the cheaper chinese Imu's.

Sent you a PM with a proposal.
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Old Jun 23, 2012, 09:57 PM
Oleg
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Well will they be supported,
Ok, it is possible to add the 'use cheap chinese IMU' button into the GCS.
Though I need your help to figure out the sensors orientation and addressing. Grab this imu module and PM me.
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Old Jun 24, 2012, 03:40 AM
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Hello.

That sounds realy great.
Since i've killed my Flyduino Mega, that's the right project for my allinone.
I've ordered Discovery-Board and AT24C64 on 16. June
LM1881, GPS and APC220 i have in stock.

But what is the serial speed for the GPS-Modul?
The serial speed from my GPS-Modul is 38400 with 5Hz.
What features will work without SWID-Key for testing?

Greetings
Marcus
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Old Jun 24, 2012, 04:14 AM
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Quote:
Originally Posted by jaggermd View Post
what features will work without swid-key for testing?
rtfm!!!
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Old Jun 24, 2012, 05:00 AM
Oleg
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But what is the serial speed for the GPS-Modul?
It is 38400 @ 5-10Hz.
Also the board will try to re-configure MTK and UBLOX modules working at 9600 by default: try to switch them to 38400 NMEA @ 5 or 10Hz which available.
Also I am using an eagle tree gps V4 teared off my eagle tree osd set It works without need to reconfigure.
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Old Jun 24, 2012, 07:35 AM
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Is this shematic right and enough for the build in OSD?

And my GPS-Modul has only 4Hz. Is it enough?
It is a Navilock NL-552ETTL.

Marcus
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Old Jun 24, 2012, 07:41 AM
Oleg
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Marcus,
yes it is.
If you'll find the OSD symbols too dark - change the 180R to 100R.

For battery voltage measurement make a divider: battery-> 33k -> PC3 (discovery) -> 2k2 -> ground. Battery readings adjustment located in the Autopilot Config window.
For current measurement put the ACS756 100A current sensor to the PC2 port and power it from 3.3v
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Old Jun 24, 2012, 07:48 AM
Lufträuber
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Thanks.

Now i'm waiting for the STM-Board.
I'm very curious.

Marcus
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Old Jun 26, 2012, 08:20 AM
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Quote:
Originally Posted by Syberian View Post
For what is AT24C64 used?
It is an external settings storage. The STM CPUs has no on-chip eeprom.
Just an idea.

Then it must be possible to add a cardreader with a at24c64-chipcard to store different settings and/or missions on different chipcards!?
But i've not found the i2c-address for these chipcards.

Marcus
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Old Jun 26, 2012, 08:43 AM
Oleg
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Then it must be possible to add a cardreader
Why bother with hardware? I can make something like a 'config dump' in the GCS to save and restore a whole configuration in a file.
Anyway, if you are DIY the board with discovery and some kind of shielding - it is up to you to use a card instead of the chip. Be sure it has an I2C address of 0xA8 (0x54 in 7-bit space)
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