For the AdaPilot project, the STM32F4 Cortex-M4 and Texas Instruments TM570 Cortex-R5 processors were selected due their wide availability on open-source projects and global developers communities, and the current ARM Cortex ‘v7’ architecture support of this processors in Ada GNAT GPL Edition. A custom STM32F4 FCS board, named AdaRacer-FCS, will be used for the entire preliminary development stage (AdaPilot-M4), finally, a TM570 safety critical flight controller board will be developed. The AdaRacer-FCS will still remain available as a hobby, racing or education & research autopilot system.
The Reference Hardware Development Kit, combined to form a complete Digital Flight Control System (DFCS), is consists of:
Primary Flight Control Computer (PFCC): It evaluates a multitude of sensory parameters, the aircraft’s environment as well as operational limitations. It handles auto-trim adjustments, the stability augmentation, vehicle-tailored flight control law algorithms, motor control (PWM/CAN) generation, data logging (black box) and basic autopilot functions. For the Cortex-M4 version of the AdaPilot project (AdaPilot-M4), the AdaRacer-FCS board was developed and include an onboard pressure and 9-axis IMU MEMS sensors.
- For detailed infos about the AdaRacer FCS: click here
Attitude & Heading Reference System (AHRS): The optionally stand-alone AHRS module is a 3-axis sensor system that provides real-time 3D orientation - pitch, roll and heading - by integrating gyroscopes and fusing this data with accelerometer, magnetometer, barometer and GNSS data. Its primary function is to provide orientation data to the PFCC via a serial or CAN bus interface. The LKB mAHRS will be the optionally reference 3D-orientation platform. Other more powerfull systems will be integrated further.
- For detailed infos about the mAHRS: click here
Mission Management Computer (MMC): The MMC incorporates highly integrated I/O capability that interfaces with the unmanned vehicle’s sub-systems (engine, fuel system, battery management system, altimeter, visual sensors, air speed sensors and many more) and the primary flight control computer. By default, the MMC is based on the NECSarm with the STM32F4 processor, but any other high-performance, COTS-based, open systems architecture product configurable to any operating environment can act as a mission management computer including ROS. A perfect high-performance MMC match is the NVIDIA Jetson TX1. This makes the AdaPilot so flexible, powerful and future-proof.
- For detailed infos about the NECSarm: click here
- For detailed infos about the NVIDIA Jetson TX1: click here
Mission Control Computer