Sky-Drones SMARTAP PRO User manual

Flight Control System
User’s Guide
www.sky-drones.com

All rights reserved

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CONTENT
CONTENT
Introduction
Hardware
SMARTLINK
SmartAP PRO
SmartAP MAX
SmartAP GNSS
SmartAP RTK
SmartAP PDB
Software
Supported airframes
About
Specifications
Introduction
Set includes
Description
Capabilities
General
Sensors
Flight Modes
Size and Weight
Previous versions
SmartAP PRO 2
SmartAP PRO 1
Installation
Mounting the board
Connections
External GNSS / MAG
SmartAP PRO 0.2 and later
SmartAP PRO 0.1 and earlier
GPS Receiver
RC Receiver
RSSI Monitoring
Motors ESC
Telemetry module
OSD Video
Electromagnetic sounder
Power supply
LED & Buzzer
Pressure sensor foam
Dimensions
SmartAP PRO v .2 pinout
SmartAP PRO v .1 pinout
SmartAP PRO v .0 pinout
Specifications
Introduction
Set includes
Description
Flight performance
General
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Processor
Sensors
Flight Modes
Interfaces
Size and Weight
Installation
Mounting the System
Autopilot
GNSS / MAG
Connecting Peripherals
Metal case version
Plastic case version
RC Receiver
ESC / Motors PWM
GNSS / MAG
Telemetry Module
Power Module
Electromagnetic sounder
Camera trigger
Assembled System
Specifications
Introduction
Features
Installation
Pinout
Soldering
Powering the autopilot
SmartAP PRO
SmartAP MAX
Buzzer support
Voltage and current sensors
Specifications
Specifications
Features
Package includes
Dimensions
RTK GNSS
Specifications
Features
Package includes
Specifications
Introduction
Set includes
Description
Air Module
Ground Module
Interfaces
Software
Interfaces
Air Module
Top
Left
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Front
Right
Rear
Bottom
Ground Module
Top
Left
Front
Right
Rear
Bottom
Installation
Set content
Preparing Air module
Preparing Ground module
Power supply
Autopilot
Initial power up
Software
Verify SmartLink was discovered
Run Ground Station Software
Manual control
Change settings
Accesing settings menu
Changing Radio settings
Changing Security settings
API and SDK
Telemetry
Video
Manual Control
Other AP / GCS support
QGroundControl
Configuration settings
Mission Planner
Configuration settings
Video
Firmware update
Using Ubuntu:
Get USB Boot utility (done only once)
Forcing bootloader and image flashing
Troubleshooting
Unable to ping smartlink.local - Unknown host
Linux
Mac OS
Windows
Looking up for SmartLink IP address
Drivers installation
Getting the software
First run
Create account
World pane
App Menu
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UAV Settings
Links Management
First connection
Firmware update
Latest firmware installation
Custom firmware upload
Getting the log
General configuration
General
Airframe
System orientation
Landing Gear
Motors IDLE speed
Radio
Sensors
Accelerometer calibration
Gyroscope calibration
Magnetometer
GNSS Configuration
Battery
Tuning
Control
OSD
Camera
Parameters
Standard PID presets
MicroDrones MD4-1000 Quadcopter
T960 Hexacopter
F450 Quadcopter
3DR Hexacopter
Updating GNSS Module
Getting U-Center
RTK GNSS Configuration update
SmartAP PRO Onboard GNSS module update
Flashing Bootloader
Tools required
Connections
Flashing
Flashing DFU (old)
Firmware and bootloader update via USB
Modes overview
Flight Modes overview
Mode Switch: 3 position switch (Main mode control):
Auto Switch: 2 position switch (Auto mode control):
RTH Switch: 2 position switch (RTH mode control):
Before take off
The Flight
After landing
Transmitter commands
ARM
DISARM
Accelerometer calibration
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Gyroscope calibration
Magnetometer calibration
Flying with SmartAP GCS
World Pane overview
Getting the video feed
Autonomous Flights
Waypoints flight
Guided flight
Flying with RTK GNSS
Locating the antenna
Connecting in SmartAP GCS
Starting Survey-In
Survey-In completed
RTK Modes
Geotag images
Logs analysis
Processing the Logs
Support
Safety
Safety basics
Additional safety information
Support
Disclaimer
Revision history
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Introduction
Sky-Drones - the leading manufacturer of autopilots and flight control systems solutions which can be applied to a wide range of Drones (UAVs)
applications such as Surveying, Mapping, Inspection, Security, Safety and High-Quality Media production. The company has an outstanding
background and experience in Research and Development, Manufacturing and Delivering products and solutions for extremely rapidly growing
market in Drones / UAV segment.
Sky-Drones Docs - online documentation whic will help introducing the most basic ideas of assembling, configuring and flying a drone with
SmartAP Autopilot developed by Sky-Drones. This page gives an overview about the available flight controller hardware and software.
The latest offline PDF version of this User's Guide can be downloaded here: PDF User's Guide
Hardware
Sky-Drones flagship flight controllers are SmartAP PRO and SmartAP MAX
SMARTLINK
Broadband Digital Datalink with Integrated Onboard Computer. Two HD video channels, telemetry and control with ultra low latency and range up
to 20 km.
Introduction
SmartAP PRO
SmartAP MAX
SmartAP PDB
SmartAP GNSS
SmartLink
Autopilot configuration
Flying
Support
Revision history
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As well as many other peripherals and electronics needed for autonomous unmanned aerial vehicles:
SmartAP PRO
Industry leading Flight Control System with outstanding reliability, positioning precision and control accuracy for professional applications with
various peripherals already integrated onboard
SmartAP MAX
Flight Control System aimed at the wide range of purposes for consumer and professional applications with the compact main core and externally
connected peripherals
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SmartAP GNSS
GPS/GLONASS receiver with integrated patch antenna, magnetometer and pressure sensor
SmartAP RTK
GPS/GLONASS RTK (Real-Time Kinematics) receiver for high-precision positioning
SmartAP PDB
Power Distribution Board for ESCs / Motors power supply and 5V / 12V generation
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Purchase the Hardware in official Sky-Drones Store
Software
SmartAP GCS (Ground Control Station) is the software application which allows you to plan and create autonomous missions for your SmartAP
Autopilot as well as control the UAV using intuitive high-level commands. SmartAP GCS also includes Configurator.
Download the Software and more
Supported airframes
Can't find yours? Let us know!
About
All further information can be asked using the Contact Form.
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Specifications
Introduction
Set includes
Description
Capabilities
General
Sensors
Flight Modes
Size and Weight
Previous versions
Installation
Specifications
Introduction
SmartAP PRO Autopilot is the latest generation of professional flight control system for multirotor Unmanned Aerial Vehicles capable of fully
autonomous flight. It has a powerful microcontroller, multiple redundant 9-axis Inertial Measurement Unit (Gyroscopes, Accelerometers,
Magnetometer) with temperature stabilization, integrated telemetry module, external GNSS module with the latest with integrated magnetometer.
SmartAP supports any type of multirotor UAV with outstanding navigation and control precision.
Set includes
Introduction
SmartAP PRO
SmartAP MAX
SmartAP PDB
SmartAP GNSS
SmartLink
Autopilot configuration
Flying
Support
Revision history
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1. SmartAP PRO Flight Controller Main board
2. External GNSS / Magnetometer module
3. Ground telemetry module
4. Onboard telemetry antenna
5. High-gain ground telemetry antenna
6. Power input cable
7. MicroSD card with SD card adapter
Description
Capabilities
Outstanding flight stability in all modes - manual (user control), position hold (semi-autonomous control) and auto (fully autonomous
navigation and control)
Temperature-stabilized IMU
Fully compatible with SmartAP GCS Ground Control Station for Configuration and Mission Planning
Integrated OSD (On-Screen Display for FPV)
Accurate GPS Position hold (up to 40cm with good GNSS reception quality)
Accurate Altitude hold (up to 10 cm), manual altitude override
Return to Home flight mode
Fully autonomous waypoints flight mode
Guided flight mode
Various failsafe events configuration and triggering
Operating temperature -40...+85C
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General
Powerful microcontroller 32 bit 168 MHz STM32F4 ARM Cortex M4
Compact board size of 8x8 cm (3.15"x3.15"), weight 60g, 6 layers PCB design
Power supply from the main LiPO battery (3S - 14S) support, up to 60 Volts
Power supply from BEC 5V support
12V, 5V, 3.3V generated onboard
Integrated GNSS receiver UBlox NEO M8N, GPS/GLONASS, up to 24 sats, 10 Hz), active antenna
Exnternal GNSS module support (primary configuration)
Integrated 500 mW telemetry module (primary configuration)
External telemetry module support
Integrated OSD module
Up to 24 PWM I/O support (5V out, high-power)
SBUS input support
FrSky S.Port output support
USB interface for configuration / firmware update
Various communication lines (UART/USART, RS232, I2C, SPI)
6-pin JTAG port for programming / debugging
MicroSD card driven by 4-bit SDIO interface for data-logging / parameters
Backup battery for real-time clock and GNSS receiver
Integrated main LiPo battery voltage monitoring
4 ADC inputs, battery voltage / current monitoring
Electromagnetic sounder
3-channels bright LED support (up to 300mA/ch)
RGB LED support
2-channel solid state relay
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Sensors
IMU: InvenSense MPU-9150
Magnetometer: Honeywell HMC5983L
Pressure sensors: MS5611
Flight Modes
Stabilization
Altitude Hold
Position Hold
Return to Home
Autonomous Waypoints Flight
Guided
Follow me
Take off
Landing
Size and Weight
Length: 80mm
Width: 80mm
Height: 17mm
Weight: 39g
Previous versions
SmartAP PRO 2
SmartAP PRO 1
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SmartAP AutoPilot User’s Guide Installation
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Specifications
Installation
Mounting the board
Connections
External GNSS / MAG
GPS Receiver
RC Receiver
RSSI Monitoring
Motors ESC
Telemetry module
OSD Video
Electromagnetic sounder
Power supply
LED & Buzzer
Pressure sensor foam
Dimensions
SmartAP PRO v .2 pinout
SmartAP PRO v .1 pinout
SmartAP PRO v .0 pinout
Installation
WARNING!
1. Do not power on the board without gps and wireless telemetry modules’ antennas connected!
2. Do not disconnect antennas when the board is powered on!
Mounting the board
Mount your board on your copter airframe. It's highly recommended to mount the board as close to the geometrical center of the copter as
possible. Mounting should be done with four 3 mm nylon screws. Add rubber spacers to reduce motors’ vibration noise.
Note the "FWD" arrow to install the board properly (`FWD` = Forward).
Connections
Connect the general peripherals as shown on the diagram below:
Introduction
SmartAP PRO
SmartAP MAX
SmartAP PDB
SmartAP GNSS
SmartLink
Autopilot configuration
Flying
Support
Revision history
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External GNSS / MAG
If you’re using external GNSS / Magnetometer module board then the connection should be as following:
SmartAP PRO 0.2 and later
GNSS / Magnetometer cable goes to dedicated GNSS / MAG port having 6 wires ( GND , SDA , SCL , RX , TX , 5V ).
SmartAP PRO 0.1 and earlier
GPS Cable (4 wires: GND , 5V , RX , TX ) goes to GPS port and magnetometer cable (I2C: SCL , SDA ) goes to Magnetometer port as
shown on the picture above.
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Make sure to place GPS module as far as possible from:
Main body of the airframe
RF emitting devices such as transmitters
High-current cables (ESC / motors power supply)
GPS Receiver
Connect GPS antenna to GPS antenna port. This is only for the versions which have integrated GNSS module.
RC Receiver
After mounting the board you need to connect cables from RC Receiver to SmartAP PPM / SBUS Input.
You can also connect FrSky S.Port from FrSky receiver and get real-time telemetry on your FrSky transmitter (e.g. Taranis) screen. Simply
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connect S.Port wire from receiver to Tel pin next to SBus input.
Channels assignments should normally be as following:
Input channel 1 – Roll
Input channel 2 – Pitch
Input channel 3 – Throttle
Input channel 4 – Yaw
Input channel 5 – Mode selection
Input channel 6 – RTH Mode
Input channel 7 – Auto Mode
Modes can be remapped in Configurator software later.
RSSI Monitoring
If you want the flight controller to read the information about RSSI (Received Signal Strength Indicator) from RC receiver - simply connect the
RSSI output and GND from your RC receiver to PWM I/0 #13 of the flight controller. RSSI information will appear in the GCS and also on OSD
screen.
Motors ESC
Connect ESC inputs to SmartAP PWM outputs 1-12. The first motor is always front or front-right, it’s spinning direction is CCW.
Be sure NOT to mix up polarity!
GND line (black) is near edge, +5V line (red) in the middle, Signal line (yellow) is upper row.
Telemetry module
Connect telemetry antenna to telemetry antenna port. If you would like to use external telemetry module - connect GND , 5V , RX , TX pins
of the Telemetry port to external telemetry module. Later, you will need to disable onboard telemetry module SmartAP GCS Configurator
software.
OSD Video
SmartAP has integrated OSD (On-Screen display) module. It means that you can connect your camera output to the autopilot (instead of direct
connection to the video transmitter) and then connect the Video Output of the flight controller to the video transmitter. In this case, the autopilot will
overlay the flight information (mode, altitude, speed, battery status and etc.) on the screen. Connect the video camera to Video IN port of the
autopilot ( GND , 12V , VIN ). Connect the video transmitter to Video OUT port of the autopilot ( GND , 12V , VOUT ).
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