Here are some specifications for the hardware and software. This is valid for rev. 2.2. Later revisions might have small changes.
HW Specs:
- ARM Cortex-M4F STM32F405 CPU w/ FPU and DSP @ 168MHz
- MPU-6050 accelerometer/gyroscope
- HMC5883L magnetometer
- MS5611-01BA01 pressure sensor
- 8 PWM outputs (50/400Hz)
- 4 expansion connectors (3 UARTs & 1 CAN)
- 6 slot RC input connector with support for (C)PPM up to 8 channels in and signal strength
SW Specs:
- Runs FreeRTOS (with FPU support) with an Hardware Abstraction Layer on top for fast application development
- USB Bootloader - no need for an external programmer!
- Quaternion based Uncented/Extended Kalman Filter provides attitude and position estimation
- "Control signal to Motor"-mixing for different types of frames
- Flight control: Rate mode, Attitude mode and more to come as deveopment proceedes
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