Embention Veronte 4 Instructions for use

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Hardware User Manual

Veronte 4

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Table of Contents

1. OVERVIEW.....................................................................................................................................5

1.1 OPERATION ....................................................................................................................................5

1.2 PLATFORMS ....................................................................................................................................5

2. SAFETY ..........................................................................................................................................7

3. AIRCRAFT MOUNTING ...................................................................................................................7

3.1 ENCLOSURE ....................................................................................................................................7

3.2 OEM ............................................................................................................................................8

3.3 MECHANICAL MOUNTING .................................................................................................................9

3.3.1 Vibration Isolation ..................................................................................................................9

3.3.2 Location ................................................................................................................................10

3.3.3 Orientation ...........................................................................................................................10

3.4 CONNECTOR LAYOUT ......................................................................................................................10

3.5 MATING CONNECTORS....................................................................................................................11

3.6 ANTENNA INTEGRATION ..................................................................................................................11

3.7 PRESSURE LINES ............................................................................................................................12

4. ELECTRICAL..................................................................................................................................12

4.1 POWER ........................................................................................................................................12

4.2 VERONTE I/O SIGNALS....................................................................................................................13

4.3 HARNESS COLOUR CODE ..................................................................................................................15

4.4 JOYSTICK ......................................................................................................................................16

4.5 OEM BOARD PINOUT.....................................................................................................................18

5. PERFORMANCES..........................................................................................................................20

Figures and Tables

FIGURE 1: VERONTE FCS OVERVIEW.....................................................................................................................6

FIGURE 2: VERONTE AIR .....................................................................................................................................7

FIGURE 3: VERONTE DIMENSIONS (MM) ................................................................................................................8

FIGURE 4: VERONTE OEM DIMENSIONS (MM)........................................................................................................8

FIGURE 5: VERONTE DIMENSIONS (MM) ................................................................................................................9

FIGURE 6: VERONTE MOUNTS .............................................................................................................................9

FIGURE 7: AIRCRAFT AXIS .................................................................................................................................10

FIGURE 8: VERONTE CONNECTORS .....................................................................................................................10

FIGURE 9: 68-PIN REDUNDANT CONNECTOR FOR VERONTE AUTOPILOT (FRONTAL VIEW) ..............................................13

FIGURE 10: FUTABA T10 JOYSTICK .....................................................................................................................17

FIGURE 11: PPM SIGNAL .................................................................................................................................17

FIGURE 12: PPM CONNECTOR...........................................................................................................................17

TABLE 1: VERONTE CONNECTION PANEL...............................................................................................................11

TABLE 2: MATING CONNECTOR TABLE ................................................................................................................11

TABLE 3: ANTENNA INSTALLATION ......................................................................................................................11

TABLE 4: PRESSURE INTAKE CONNECT .................................................................................................................12

TABLE 5: VERONTE I/O INTERFACE .....................................................................................................................15

TABLE 6: COLOUR CODE ...................................................................................................................................16

TABLE 7: OEM BOARD PINOUT ..........................................................................................................................19

TABLE 7: VERONTE PERFORMANCES....................................................................................................................20

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Acronyms

ADC

Analog to Digital Converter

AWG

American Wire Gauge

CAP

Capture Module

Direct Current

DGPS

Differential GPS

DTS

Digital Transmission System

ECAP

Enhanced CAP

EGNOS

European Geostationary Navigation Overlay Service

EPWM

Enhanced PWM

FCS

Flight Control System

FHSS

Frequency Hopping Spread Spectrum

FTS

Flight Termination System

GIS

Geographical Information System

GND

Ground

GNSS

Global Navigation Satellite Systems

GPS

Global Positioning System

Ground Segment

ISM

Industrial Scientific and Medical

LADGPS

Local Area

LOS

Line of Sight

PWM

Pulse Width Modulation

PWR

Power

Radio Frequency

RS232

Recommended Standard 232

Receiver

SMA

SubMiniature Version A Connector

Transmitter

UAS

Unmanned Aerial System

UAV

Unmanned Aerial Vehicle

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CHANGES RECORD

Issue

Date

Change description

1.0

10/04/2017

Initial Issue document

1.1

15/05/2017

Safety information added

1.2

19/05/2017

Digital inputs voltage range

changed.

1.3

20/09/2017

Mechanical

drawing updated.

1.4

25/09/2017

Table 1 updated

1.5

20/12/2017

Section 4.4 added.

1.6

21/12/2017

Errata correction on section 4.4

1.7

24/05/2018

Power and torque updated.

Colour code added.

OEM pinout updated.

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1. Overview

Veronte Autopilot is a miniaturized high reliability avionics system for advanced control of

unmanned systems. This control system embeds a state-of-the-art suite of sensors and

processors together with LOS and BLOS M2M datalink radio, all with reduced size and weight.

1.1 Operation

The unique Plug ´n Fly control system, Veronte Autopilot ads fully autonomous control

capabilities to any unmanned system for complete operation, compatible with: UAV, Drone,

RPAS, USV, UGV…

•Highly configurable: Veronte control system is fully configurable; payload, platform

layout, control phases, control channels… even the user interface layout can be user

defined.

•Custom routines:User selectable automatic actions, activated on system event or

periodically.

•Actions: phase change, activate payload, move servo, go to, onboard log, parachute

release…

•Events: waypoint arrival, inside/outside polygon, alarm, variable range, button…

•Telemetry & log: Embedded datalink for system monitoring and telecommand and

customizable user log in both onboard and control station, all with user defined

variables and frequency record.

•External sensor: Support for external sensor connection: magnetometer, radar,

LIDAR, RPM, temperature, fuel level, battery level, weather…

•Payload & Peripheral:Transponder, secondary radios, satcom transceivers, camera

gimbals, motor drivers, photo cameras, flares, parachute release systems, tracking

antennas, pass through RS232 & CAN tunnel...

1.2 Platforms

The Veronte Autopilot is designed to control any unmanned vehicle, either aircraft such as:

multirotors, helicopters, airplanes, VTOL, blimps… as well as ground vehicles, surface vehicles

or many others. Custom flight phases and control channels provide support for any aircraft

layout and performance by using the same software and hardware for: UAS, RPAS, Drone, USV

/ ASV, UGV…

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Figure 1: Veronte FCS Overview

Veronte contains all the electronics and sensors needed in order to properly execute all the

functions needed to control the UAV. A Veronte-based FCS contains the following elements:

Veronte (Air): it executes in real time all the guidance, navigation and control algorithms

for the carrying airframe, acting on the control surfaces and propulsion system and

processing the signals from different sensors: accelerometers, gyroscopes,

magnetometer, static pressure, dynamic pressure, GPS (EGNOS/Galileo compatible).

Veronte (Ground): apart from linking to other flying Veronte units and supporting manual

and arcade modes with conventional joysticks, it can also control a directional antenna in

order to expand the maximum range. It communicates to Veronte Pipe (software for

ground segment mission management).

Veronte Pipe: software for mission management at the ground segment. It monitors flying

vehicles in real time and can also reproduce past missions in an offline manner. It is also

the graphical user interface where commands and flight plans are produced.

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2. Safety

Veronte autopilot includes the following features in order to provide your UAS with the best

safety performances:

•Redundant IMU.

•Redundant GPS receiver.

•Redundant Pressure sensor.

•Dual core principal microprocessor + dissimilar safety microcontroller (comicro).

•Independent power supply for main system and safety microcontroller.

In case any malfunction occurs in the principal microprocessor, the comicro can activate

different safety mechanisms by means of 2 digital outputs and 1 serial port (see table 5).

3. Aircraft Mounting

There are two versions of Veronte autopilot: with or without enclosure.

3.1 Enclosure

Veronte is provided using an anodized-aluminium enclosure with enhanced EMI shielding and

IP protection. A high reliability connector is also provided with this version. The total

approximate weight is 190g.

Figure 2: Veronte Air

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Figure 3: Veronte dimensions (mm)

3.2 OEM

Veronte can be provided in OEM version too. The total approximate weight is 90g.

Figure 4: Veronte OEM dimensions (mm)

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3.3 Mechanical Mounting

M4 screws are recommended for mounting.

Figure 5: Veronte dimensions (mm)

Vibration Isolation

Although Veronte ultimately rejects noise and high-frequency modes of vibration with

electronic filters and internal mechanical filters, there might be situation where external

isolation components might be needed.

Veronte can be mounted in different ways in order to reject the airframe vibration. The

simplest could be achieved by just using a double-sided foam tape on the bottom side of

Veronte. Other ways may use some external structure which could be rigidly attached to the

airframe and softly attached to Veronte (e.g. foam, silent blocks, αgel, etc…).

Figure 6: Veronte Mounts

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The user should take into account that wiring should be loose enough so vibrations may not

be transmitted to Veronte.

In cases where Veronte isolation is not viable, it is possible to use soft engine mounts. It is also

recommended when there are other sensible payloads like video cameras or for high vibration

engines.

Location

The location of Veronte has no restrictions. You only need to configure its relative position

with respect to the centre of mass of the aircraft and the GPS antenna. The configuration of

the location of Veronte can be easily configured using Veronte Pipe Software.

Orientation

The orientation of Veronte has no restrictions either. You only need to configure Veronte axes

with respect to the aircraft body axes by means of a rotation matrix or a set of

correspondences between axes. The configuration of the location of Veronte can be easily

configured using Veronte Pipe Software.

Veronte axes are printed on the box and aircraft coordinates are defined by the standard

aeronautical conventions.

Figure 7: Aircraft Axis

3.4 Connector Layout

Figure 8: Veronte Connectors

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Index Connector

1 LOS SSMA connector

2 GNSS1 SSMA connector

3 M2M SSMA connector

4 GNSS2 SSMA connector

5 Static pressure port (Fitting 5/64in)

6 Dynamic pressure port (Fitting 5/64in)

7 68-pin connector

Table 1: Veronte connection panel

For both pressure ports, mating with clamped 2mm internal diameter flexible tubing is

recommended.

3.5 Mating Connectors

Index Connector Mating Connector

RF antenna

(SSMA Jack Female)

SSMA male Plug, low-loss cable is recommended.

2,4 GPS antenna

(SSMA Jack Female)

SSMA male Plug, low loss cable is recommended. Active Antenna GPS: Gain min

15dB (to compensate signal loss in RF Cable) max 50dB, maximum noise figure

1.5dB, power supply 3.3V max current 20 mA

M2M antenna

(SSMA Jack Female)

SSMA male Plug, low-loss cable is recommended.

Connector

HEW.LM.368.XLNP

Mating connector P/N: FGW.LM.368.XLCT

Mating harness is available on demand.

Table 2: Mating Connector Table

3.6 Antenna Integration

The system uses different kinds of antennas to operate that must be installed on the airframe.

Here you can find some advices for obtaining the best performance and for avoiding antenna

interferences.

Antenna Installation

•Maximize separation between antennas as much as possible.

•Keep it far away from alternators or other interference generators.

•Always isolate antenna ground panel from the aircraft structure.

•Make sure that the antenna is securely mounted.

•Always use high quality RF wires minimising the wire length.

•Always follow the antenna manufacturer manual.

•SSMA connections shall be tightened applying 1Nm of torque.

GPS Antenna

•Antenna top side must point the sky.

•Install it on a top surface with direct sky view.

•Never place metallic / carbon parts or wires above the antenna.

•It is recommended to install it on a small ground plane.

Table 3: Antenna Installation

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3.7 Pressure Lines

Veronte has two pressure input lines, one for static pressure to determine the absolute

pressure and one for pitot in order to determine the dynamic pressure.

Absolute pressure connection on the aircraft is mandatory while pitot port can be obviated in

some aircrafts. Pitot port absence must be configured on Veronte Pipe software.

Pressure Intake

•Pressure intakes must be located in order to prevent clogging.

•Never install pressure intakes on the propeller flow.

•Design pressure tubing path in order to avoid tube constriction.

Static Pressure

•It is not recommended to use inside fuselage pressure if it is not properly vented.

Pitot Tube

•Pitot tube must be installed facing the airflow in the direction of the “x” axis of the aircraft.

•It is recommended to install it near the aircraft axis in order to avoid false measures during manoeuvres.

•For low speed aircrafts it is recommended at least 6,3mm tubes for preventing rain obstruction.

Table 4: Pressure Intake Connect

4. Electrical

4.1 Power

Veronte can use unregulated DC (6.5V to 36V). Pins used for power and ground are the same

for both Ground and Air configurations.

LiPo batteries between 2S and 8S can be used without regulation needs. Remaining battery

can be controlled by the internal voltage sensor and by configuring the voltage warnings on

the PC application.

For higher voltage installations, voltage regulators must be used. For dimensioning voltage

regulators take into account that a blocked servo can activate regulator thermal protection.

Caution!! Power Veronte out of the given range can cause irreversible damage

to the system. Please read carefully the manual before powering the system.

Veronte and servos can be powered by the same or different batteries. In case there are more

than one battery on the system, a single point ground union it is needed to ensure a good

performance. The ground signal should be isolated from other noisy ground references (e.g.

engines). If all ground need to be connected, connection should be made on the negative pole

of the battery.

It is recommendable to use independent switches for autopilot and motor / actuators. During

the system initialization, PWM signal will be fixed to low level (0V), please make sure that

actuators / motor connected support this behaviour before installing a single switch for the

whole system.

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4.2 Veronte I/O Signals

Figure 9: 68-pin redundant connector for Veronte Autopilot (frontal view)

68-PIN CONNECTOR

SIGNAL

TYPE COMMENTS

I/O1

I/O