Foxtech Leo 2 User manual
1
2.1
3.1
3.2
3.3
3.4
3.5
3.5.1
3.5.2
3.5.3
3.6
3.7
4.1
4.2
4.2.1
4.2.2
4.2.3
4.3
4.4
5.1
6.1
Table of Contents
Leo 2 Multirotor Manual
Before Reading
Cautions
Introduction
Product Overview
Function Description
Device Dimensions
Specification
Interface
PNP
ADV
PRO
Indicators
Redundancy Scheme
Installation
Preparation
Desktop Connection
PNP
ADV
PRO
Start Installation
Installation Parameters
Pre-flight Inspection
Flight Inspection Wizard
The First Flight
Pre-flight Inspection
3
Reading Tips
Copyright Notice
Disclaimer
Reading Tips
Blue Text: Suggestions and possible contents.
Orange Text: Content that needs close attention.
Red Text: Must be strictly implemented.
Copyright Notice
The intellectual property rights of this product and the manual are solely owned by
AheadX Technology. Without written permission, any unauthorized copying,
reproduction or sale by any organization or individual is prohibited. Please state
the source is AheadX if you quote or publish any content. The manual should not
be quoted, abridged or modified without any permission
The dimension and weight listed in this manual are approximate values
based on the design and repeated measurements.
All documents have been carefully verified to make sure the accuracy.
Related information is subject to the latest version released by the company.
The company reserves the right to change product specifications without
prior notice. Please pay attention to AheadX's official website
Registered for AheadX Technology (Beijing) Co., Ltd.
Disclaimer
Please read the entire document carefully before using this product. By using this
product, you hereby signify that you have read this disclaimer carefully and agree
to abide by the terms and contents herein. This product is not suitable for children
under the age of 18.
AheadX GNC is a high quality UAV avionic. The company shall not be liable for
personal injury, property loss, etc. (including direct or indirect damage) due to the
following reasons:
1. The operator causes damage in the case of alcohol, drug abuse, drug
anesthesia, dizziness, fatigue, nausea and other poor physical or mental
condition. Any compensation for mental injury caused by the accident.
2. The product is not assembled or manipulated in accordance with the correct
guidance of the manual
4
3. Personal injury or property loss caused by operator’s errors or subjective
judgment
4. Knowing that the relevant equipment is in an abnormal state (such as water
damage, oil damage, soil & sand damage and entry of other unidentified
substances and incomplete assembly, main components with obvious
failures, spare parts with obvious defect or missing), but still use the
equipment and cause damages.
5. Any damage caused by flying the drone in magnetic interference zone, radio
interference zone, no-fly zone, or the pilot flies the drone with following
conditions such as in a shadow, poor light, blurred vision and vision obscured
6. Collision, overturns and force majeure as fire, storms, tornadoes, heavy
rains, floods, tsunamis, earthquakes etc.
7. Direct or indirect liability for any illegal use, or other unauthorized purposes.
8. Third-party liability arising from the use of our software and hardware
products ..
9. Any loss caused by obtaining or using our software or hardware and related
manuals through unauthorized ways
10. Other losses that are not within the AheadX’s sphere of accountability
Copyright © 2014-2020 AheadX all right reservedRevision time of this article:
2020-10-14 17:31:39
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Function Description
System Components
Function Description
AheadX Leo2 GNC (Micro Guidance Navigation Control System) as an upgraded
version of Leo, provides a new generation of Micro Guidance Navigation Control
System with high integration, high reliability and high performance price ratio for
industry class UAVs. Support multirotor, fixed wing, quad plane, tilt rotors,
unmanned vehicle, unmanned ship, etc.
Leo2 uses 4-redundant IMU design, seamless switching of IMU data sources
through powerful data arbitration mechanism; The accuracy of attitude
measurement can reach 0.05 degree; automatic switching of double redundancy
compass with the standard configuration; able to be extended to 3 redundancy
yaw measurement (with Dual GNSS antenna orientation), dual redundancy
satellite receiver and dual redundancy airspeed measurement.
The industrial processor with capacity up to 1440 DMIPS, ensure efficient
operation of the system. The power management adopts a wide-voltage isolation
power supply scheme, and has multiple protection mechanisms such as input
under-voltage protection, output short-circuit protection, and over-current
protection. It has passed EN62368 certification to ensure the stable power supply
of the system.
Leo2 uses MEMS sensors with temperature compensation from - 20 ℃ to 75 ℃,
full metal shielding case. Taurus 2 uses double extended Kalman filter, Improved
L1 guidance law, and ADRC controller as the core algorithms of Guidance
Navigation Control, It has high control precision.
Leo 2 is equipped with advanced real-time motion planning algorithm - AxPlanner
due to its powerful computing power, which can ensure that the UAV completes
the transition between mission segments in the most energy-saving and
dynamically accessible way, and ensures that it enters the measurement area
with a stable attitude, improve the effect of taking pictures and imaging.
AxPlanner solves the problem of adding a large number of auxiliary turning
waypoints for task planning such as traditional aerial mapping and inspection.
Leo 2 integrates a centimeter-level GNSS system, which supports simultaneous
operation of RTK and PPK ; supports dual antenna satellite orientation, and can
still fly normally when the magnetic compass is interfered; dual-redundancy
satellite receivers improve the reliability of satellite navigation.
Leo2 PNP and ADV version have built-in 20KM datalink. It can be extended to
dual redundant data links, with a complete control authority management
mechanism, and flexible switching of control rights between the main and backup
datalinks, which is very suitable for team collaboration.
Compared with the first generation product, Leo2 has richer expansion interface,
adapt to more application scenarios. Excellent internal shock absorption structure
design allows Leo2 to adapt to a variety of aircrafts without external damper. With
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the new avionics modules: navigation light module, airspeed module, and GNSS-
compass module, Leo2 has great ease of use.
Three versions are available to meet the needs of different users.
Features and applications
Three versions are available to adapt to different application scenarios.
Centimeter-level satellite positioning system, supports RTK&PPK working at
the same time, supports dual satellite antenna orientation.
Built-in 20KM data link can realize one station and multiple drones (Exclude
Leo2-PRO).
The built-in data processing and conversion module is used as the secondary
processor, which supports the third party devices (such as gimbal cameras
and radar systems) accessing easily (Leo2-PRO Only).
Industrial-grade processors with a processing capacity of up to 1440 DMIPS
are selected to ensure the efficient operation of the system.
Wide-voltage isolation power supply scheme, with multiple protection
mechanisms such as input under-voltage protection, output short-circuit,
over-current protection, etc., and meets the EN62368 (World Product Safety
Specification) certification standard.
Working temperature -40 ~ 75 ℃, internal graphite hybrid cooling system
design, stable and reliable operation of the equipment.
Built in The latest AxFusion sensor fusion technology, the attitude
measurement accuracy can reach 0.05 degree.
The design of 4 redundancy IMU is adopted to realize seamless switching of
IMU data source through powerful data arbitration mechanism;
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Excellent internal damping structure can effectively reduce the impact of
vibration on inertial measurement unit.
Leo2 is able to be connected to two AM1 high-precision airspeed modules
with temperature compensation to improve the reliability through redundancy
technology.
Dual redundancy satellite receiver and three redundancy yaw with standard
configuration.
Support high-precision 200Hz position, attitude, speed, airspeed and other
motion information output, support redundancy switch command, can be
used as GPS / INS inertial navigation system.
8KV electrostatic protection.
Rich interface, 19 PWM output, 6 serial ports. (Max configuration with Leo2-
PRO)
It can record airborne data, PPK data, POS data, etc. at the same time, and
the recording time over 200 hours.
Support 3-way voltage monitoring and rigorous low-voltage protection
strategy.
Support multirotor, fixed wing, quad plane, tilt rotors, unmanned vehicle,
unmanned ship, etc.
With the use of the software of AheadX Space Pro, it can realize the
application of one station controlling multiple aircrafts.
Support cloud management, and realize cloud monitoring, remote control, no
fly zone query, differential base station sharing, and data access of CORS
station.
Support application scenarios such as block mapping, strip mapping,
electricity/oil pipeline inspection, UAV operator training, pod monitoring, etc.
Motion planning and terrain following flight functions make operations easier
and more efficient.
Strong remote technical assistance services, no matter when and where
users are, they can request the official remote technical support from AheadX
through the Internet at any time.
10 mission routes, up to 1000 waypoints in a single mission route, and the
route merging function is supported. (9 Routes for VTOL and Fixed-wing
version)
Simulation training function. Leo2 can be used with the AheadX hardware in
the loop simulation system to facilitate the daily simulation training of UAV
pilots;
Online upgrade function. Users can quickly obtain the latest version of
firmware and ground station software through the Internet.
System Components
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Copyright © 2014-2020 AheadX all right reservedRevision time of this article:
2020-10-10 17:06:28
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LEO-2 PRO
12
GNSS-compass Module
SuperNova (Aviation Light Module) (Multirotor only)
13
Airspeed Module (Fixed-wing and VTOL)
`
Copyright © 2014-2020 AheadX all right reservedRevision time of this article:
2020-10-12 17:47:35
15
Index MAX Typical MIN Unit Remark
Supply Voltage 53 25 12 V
GNSS-
Compass,
SuperNov
and
Airspeed
Modules: 7
-28V
Power
Consumption 15 W
Working
Temprature
(Enviroment)
75 25 -40 ℃
Attitude
Accuracy 0.1 0.05 °
High
accuracy
positioned
no
magnetic
interferenc
Yaw Accuracy 0.2 °
High
accuracy
positioned
no
magnetic
interferenc
Anglerate
Range 1000 -1000 °/s
Acceleration
Range 8 -8 g
Position
Accuracy 0.01 m CEP
Speed
Accuracy 0.02 m/s
Altitude Range 10000 -400 m
Airspeed
Range 140 0 m/s
Ground Speed
Range 500 0 m/s
PWM Control
Channels 15 channel
SBUS Input 1 channel For backu
RC receive
SBUS Output 1 channel
PWM
Frequency 400 50 Hz
Communication
Port 1 channel RS232
Interface
16
Voltage
Measurement 3 channel
Voltage
measurement
range
58 0 V
RPM
Measurement 1 channel
RMP Range 65535 0 RPM
CAN
Communication
Ports
2 channel
Support al
AheadX
CAN
avionics
Extended
Serial Port 2 channel
Copyright © 2014-2020 AheadX all right reservedRevision time of this article:
2020-10-10 17:12:52
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Copyright © 2014-2020 AheadX all right reservedRevision time of this article:
2020-10-10 16:45:48
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Interface Definition - PNP
POWER
DATALINK ANTENNA
GNSS ANTENNA
PWM
SBUS Input
USB Type-C
Function Interface
Interface Definition - PNP
POWER
The power supply interface, and the power supply voltage is 12-53v.
P1+: Leo2 power supply positive pole, voltage monitoring channel 1 collects this
pin.
P2+: Built-in datalink power supply positive pole.
P-: Leo2 power supply negative pole.
DATALINK ANTENNA
19
Built-in datalink antenna, MCX-KK interface.
GNSS ANTENNA
Built-in differential GNSS receiver module antenna interface, MCX-KK interface.
MAIN: Main antenna interface, work independently for positioning.
AUX: AUX: Auxiliary antenna interface, used in conjunction with the main antenna
for orientation.
PWM
20
PWM pulse signal output interface.
PWM1~14: PWM signal output.
Vser: External power supply of servo, voltage monitoring #2 collect this pin,
interconnected.
Gnd: PWM digital ground, interconnected.
PWM1-14 interface Gnd connected, Vser connected.
SBUS Input
SBUS input interface, access to airborne RC receiver.
S-IN: SBUS input signal.
8.4V: 8.4V power output.
Gnd: Ground.
Please make sure that the receiver support 8.4v power supply before connecting.
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