Sensors

Sensors menu allows to configure any external or internal sensor of Veronte Autopilot 1x.

Accelerometer

Veronte Autopilot 1x incorporates 3 Inertial Measurement Units (IMUs) that allow the 1x system to measure different variables and that are the main navigation data source. In addition, external IMUs can also be used for this purpose.

From the IMU, the user can configure the accelerometer and gyroscope. The first one is explained below.

The user can choose between 3 types of source for the accelerometer:

• Internal (Internal 0/Internal 1/Internal 2/Internal 3): Autopilot 1x uses the internal sensor. The internal sensors available depend on the hardware version of Autopilot 1x.

  • 4.0: Internal 0 and 1 are available.
  • 4.5: Internal 0, 1 and 2 are available.
  • 4.8: Internal 1, 2 and 3 are available.

  Note

  Internal 0 has the same configurable parameters as the Internal 1.

• External sensor 0-1: Autopilot 1x uses values received from custom messages from a no-integrated external sensor.

• Decimal var sensor 0-1: Autopilot 1x uses a decimal value provided by an external sensor.

It is possible to select multiple of these sensors for the navigation algorithm, so that Veronte Autopilot 1x performs a combination of all the measurements of the selected accelerometers. This combination consists of calculating the means and variances of each of these accelerometers in a given time (time constant for mean and time constant for variance) to obtain a mean weighted with the inverse of the variance. The lower the variance, the greater the weight of that sensor in the mean.

Common accelerometers configuration

First of all, the parameters to be configured in the accelerometer panel regardless of the selected accelerometer are presented:

• Def. sensor: A default sensor must be chosen. If all selected sensors fail, the measurement value will be that of the default sensor.

  Note

  The selected sensor will be automatically included in the list of chosen sensors, and it will not be possible to remove it from that list.

• Time constant for mean/variance: Time taken by the Autopilot 1x system to estimate the mean/variance.

• Initial variance: Initial value of the variance from which the calculation of the combination of the measures is started.
• Minimum variance: The value estimated by the system for the variance cannot be less than the one set here.

To select the desired accelerometers, simply add them to the list. To do this, click on the icon and select them in the panel displayed:

Common configuration of the internal accelerometers

Secondly, some configuration parameters that are common to all Internal Accelerometers (Internal 1, Internal 2 and Internal 3) are explained:

• Notch filter: It is a filter that dampens signals only at a specific frequency.

  • Mode: The available options are:

    • Disabled: Notch filter disabled.
    • Main frequency: Only one filter is created on the main frequency.
    • Main frequency + 1st harmonic: Two filters are created, one at the main frequency and one at the first harmonic, i.e. at the frequency which is twice the main frequency.

  • Main Frequency: Main frequency (Hz) at which the notch filter reaches its maximum damping.

    Warning

    When a user variable is used to set this frequency, it must be initialized to a value other than 0, otherwise a PDI error will occur.

  • Bandwidth: Design parameter. There is a damping of at least 3 dB within the bandwidth. The main frequency at which the maximum damping (notch gain) is reached, lies in the center of this spectrum.

  • Notch gain: Design parameter. This parameters sets the maximum damping (dB) for the main frequency.

    Note

    Setting this parameter to zero disables the filter.

    

• Sensor filter: Enables a low pass filter which its cutoff frequency is configured manually, allowing the user to input any desired value in Hz.

  It is a software filter.

Sensor

Internal 1

This panel displays the possible parameters that can be configured for the Internal 1.

In this panel, it is possible to configure different options related to the range and filters of the accelerometer. The parameters that can be modified are:

• Range: Selectable range of forces that the accelerometer can measure, high ranges implies less precision while small ranges might mean the system saturates.

  Values allowed are 2g, 4g, 8g and 16g.

• Antialising filter bandwith: It is the bandwidth of the antialiasing low pass filter. The options available are 50Hz, 100Hz, 200Hz and 400Hz, the greater the value selected the worse the filtering will be.

• Enable digital filter sensor: Enables a low pass filter which its cutoff frequency is configured from the options 16.65Hz, 66.6Hz, 133.2Hz and 740.0Hz.

  This is a hardware filter, included directly in the accelerometer.

• Maximum non-variation samples: Maximum number of samples with the same value, beyond which measurements are discarded. In case of failure, measurements are discarded.

• Maximum allowed increment: Maximum increase in sensor measurement between one measurement and the next.

Internal 2

This panel displays the possible parameters that can be configured for the Internal 2.

In this panel, it is possible to configure different options related to the range and filters of the accelerometer. The parameters that can be modified are:

• Range: Selectable range of forces that the accelerometer can measure, high ranges implies less precision while small ranges might mean the system saturates.

  Values allowed are 3g, 6g, 12g and 24g.

• Sampling frequency: That is the frequency at which the measurements are read out. Values allowed are 12.5Hz, 25Hz, 50Hz, 100Hz, 200Hz, 400Hz, 820Hz and 1600Hz. We recommend the highest.

• Low pass frequency: This is a hardware filter, included directly in the accelerometer, which its cutoff frequency is configured from the options 145Hz, 234Hz (215Hz for Z axis) and 280Hz (245Hz for Z axis).
• Maximum non-variation samples: Maximum number of samples with the same value, beyond which measurements are discarded. In case of failure, measurements are discarded.
• Maximum allowed increment: Maximum increase in sensor measurement between one measurement and the next.

Internal 3

This panel displays the possible parameters that can be configured for the Internal 3.

In this panel it is possible to set different options regarding range and filters from the accelerometer. The parameters that can be modified are:

• Mode 32 bits: Enable or disable. With 32 bits of precision. We recommend enabling it.
• Limit bandwith to 370Hz: Enable or disable. It can only be used without using a Low Pass Filter Stages. We recommend disabling it.
• Maximum non-variation samples: Maximum number of samples with the same value, beyond which measurements are discarded. In case of failure, measurements are discarded.
• Maximum allowed increment: Maximum increase in sensor measurement between one measurement and the next.

• Low Pass Filter Stages: IMU's Hardware filter. The options available are:

  • No filter
  • 1 stage (Cutoff f=364Hz)
  • 2 stages (Cutoff f=165Hz)
  • 3 stages (Cutoff f=80Hz)
  • 4 stages (Cutoff f=40Hz)
  • 5 stages (Cutoff f=20Hz)
  • 6 stages (Cutoff f=10Hz)

  We recommend 4 stages (Cutoff f=40Hz) option.

  Warning

  • It is recommended to choose the hardware filter (Low Pass Filter) except if a lower cutoff frequency is needed (< 10 Hz).
  • It is not recommended flying without a filter.

External sensor 0-1

In this panel, the user must configure some parameters in order to correctly receive and manage the measurements from the external sensor.

• Desired frequency: The sensor measurement shall only be considered correct if the frequency at which the message with this measurement is received is of the desired frequency defined here by the user. This frequency is stored in the variables External IMU 0 accelerometer reception frequency/External IMU 1 accelerometer reception frequency (RVars 1484 and 1486 respectively).

  For more information on these variables, see the Real Variables (RVar) - 32 Bits - Lists of interest section of the 1x Software Manual.

• Enable filter: Enables a butterworth second order low-pass filter which its cutoff frequency is configured manually, allowing the user to input any desired value in Hz.

• Minimum allowed value: Minimum sensor value.
• Maximum allowed value: Maximum sensor value.
• Maximum samples non-variation: Maximum number of samples with the same value, beyond which measurements are discarded. In case of failure, measurements are discarded.
• Maximum allowed increment: Maximum increase in sensor measurement between one measurement and the next.

Decimal var sensor 0-1

In this panel it is possible to configure real variables provided by an external sensor.

• Edit Rotation Matrix: Users must set the position of the external sensor with respect to the orientation of the Veronte Autopilot 1x.

  Error

  The rotation matrix cannot be a zero matrix and must respect the orthogonality of the axes. Not complying with this requirement means an invalid rotation and, consequently, the calibration of this magnetometer will not be possible.

  For more information on Autopilot 1x orientation, please refer to the Orientation - Hardware Installation section of the 1x Hardware Manual.

  

• Enable: When enabled, the user must select the real user variables for each axis (X,Y,Z) in which the values have been stored.

• Minimum allowed value: Minimum sensor value.
• Maximum allowed value: Maximum sensor value.
• Maximum samples non-variation: Maximum number of samples with the same value, beyond which measurements are discarded. In case of failure, measurements are discarded.
• Maximum allowed increment: Maximum increase in sensor measurement between one measurement and the next.

The configuration process must be done using custom messages. This is to be configured in the Custom Messages panel of the Input/Output menu. The configuration will depend on the device in use and its communication protocol.

Gyroscope

The gyroscope from the IMU can be configured as explained in the panels shown below.

The user can choose between 3 types of source for the gyroscope:

• Internal (Internal 0/Internal 1/Internal 2/Internal 3): Autopilot 1x uses the internal sensor. The internal sensors available depend on the hardware version of Autopilot 1x.

  • 4.0: Internal 0 and 1 are available.
  • 4.5: Internal 0, 1 and 2 are available.
  • 4.8: Internal 1, 2 and 3 are available.

  Note

  Internal 0 has the same configurable parameters as the Internal 1.

• External sensor 0-1: Autopilot 1x uses values received from custom messages from a no-integrated external sensor.

• Decimal var sensor 0-1: Autopilot 1x uses a decimal value provided by an external sensor.

It is possible to select multiple of these sensors for the navigation algorithm, so that Veronte Autopilot 1x performs a combination of all the measurements of the selected gyroscopes. This combination consists of calculating the means and variances of each of these gyroscopes in a given time (time constant for mean and time constant for variance) to obtain a mean weighted with the inverse of the variance. The lower the variance, the greater the weight of that sensor in the mean.

Common gyroscopes configuration

First of all, the parameters to be configured in the gyroscope panel regardless of the selected gyroscope are presented:

• Def. sensor: A default sensor must be chosen. If all selected sensors fail, the measurement value will be that of the default sensor.

  Note

  The selected sensor will be automatically included in the list of chosen sensors, and it will not be possible to remove it from that list.

• Time constant for mean/variance: Time taken by the Autopilot 1x system to estimate the mean/variance.

• Initial variance: Initial value of the variance from which the calculation of the combination of the measures is started.
• Minimum variance: The value estimated by the system for the variance cannot be less than the one set here.

To select the desired gyroscopes, simply add them to the list. To do this, click on the icon and select them in the panel displayed:

Common configuration of the internal gyroscopes

Secondly, some configuration parameters that are common to all Internal Gyroscopes (Internal 1, Internal 2 and Internal 3) are explained:

• Notch filter: It is a filter that dampens signals only at a specific frequency.

  • Mode: The available options are:

    • Disabled: Notch filter disabled.
    • Main frequency: Only one filter is created on the main frequency.
    • Main frequency + 1st harmonic: Two filters are created, one at the main frequency and one at the first harmonic, i.e. at the frequency which is twice the main frequency.

  • Main Frequency: Main frequency (Hz) at which the notch filter reaches its maximum damping.

    Warning

    When a user variable is used to set this frequency, it must be initialized to a value other than 0, otherwise a PDI error will occur.

  • Bandwidth: Design parameter. There is a damping of at least 3 dB within the bandwidth. The main frequency at which the maximum damping (notch gain) is reached, lies in the center of this spectrum.

  • Notch gain: Design parameter. This parameters sets the maximum damping (dB) for the main frequency.

    Note

    Setting this parameter to zero disables the filter.

    

• Sensor filter: Enables a low pass filter which its cutoff frequency is configured manually, allowing the user to input any desired value in Hz.

  It is a software filter.

Sensor

Internal 1

This panel displays the possible parameters that can be configured for the Internal 1.

In this panel it is possible to set different options regarding range and filters from the gyroscope. The parameters that can be modified are:

• Range: Sets the maximum range of performance, high ranges implies less precision while small ranges might mean the system saturates.

  Values allowed are 125°/s, 250°/s, 500°/s, 1000°/s and 2000°/s.

• Maximum non-variation samples: Maximum number of samples with the same value, beyond which measurements are discarded. In case of failure, measurements are discarded.

• Maximum allowed increment: Maximum increase in sensor measurement between one measurement and the next.

Internal 2

This panel displays the possible parameters that can be configured for the Internal 2.

In this panel it is possible to set different options regarding range and filters from the gyroscope. The parameters that can be modified are:

• Range: Sets the maximum range of performance, high ranges implies less precision while small ranges might mean the system saturates.

  Values allowed are 125°/s, 250°/s, 500°/s, 1000°/s and 2000°/s.

• Sampling: That is the angular velocity at which the measurements are read out. Values allowed are 100°/s filter at 32 Hz, 200°/s filter at 64 Hz, 100°/s filter at 12 Hz, 200°/s filter at 32 Hz, 400°/s filter at 47 Hz, 1000°/s filter at 116 Hz, 2000°/s filter at 230 Hz and 2000°/s filter at 532 Hz.

• Maximum non-variation samples: Maximum number of samples with the same value, beyond which measurements are discarded. In case of failure, measurements are discarded.

• Maximum allowed increment: Maximum increase in sensor measurement between one measurement and the next.

Internal 3

This panel displays the possible parameters that can be configured for the Internal 3.

In this panel it is possible to set different options regarding range and filters from the gyroscope. The parameters that can be modified are:

• Mode 32 bits: Enable or disable. With 32 bits of precision. We recommend enabling it.
• Limit bandwith to 370Hz: Enable or disable. It can only be used without using a Low Pass Filter Stages. We recommend disabling it.
• Maximum non-variation samples: Maximum number of samples with the same value, beyond which measurements are discarded. In case of failure, measurements are discarded.
• Maximum allowed increment: Maximum increase in sensor measurement between one measurement and the next.

• Low Pass Filter Stages: IMU's Hardware filter. The options available are:

  • No filter
  • 1 stage (Cutoff f=364Hz)
  • 2 stages (Cutoff f=165Hz)
  • 3 stages (Cutoff f=80Hz)
  • 4 stages (Cutoff f=40Hz)
  • 5 stages (Cutoff f=20Hz)
  • 6 stages (Cutoff f=10Hz)

  We recommend 4 stages (Cutoff f=40Hz) option.

  Warning

  • It is recommended to choose the hardware filter (Low Pass Filter) except if a lower cutoff frequency is needed (< 10 Hz).
  • It is not recommended flying without a filter.

External sensor 0-1

In this panel, the user must configure some parameters in order to correctly receive and manage the measurements from the external sensor.

• Desired frequency: The sensor measurement shall only be considered correct if the frequency at which the message with this measurement is received is of the desired frequency defined here by the user. This frequency is stored in the RVars 1488-1489.

  For more information on these variables, see the Real Variables (RVar) - 32 Bits - Lists of interest section of the 1x Software Manual.

• Enable filter: Enables a butterworth second order low-pass filter which its cutoff frequency is configured manually, allowing the user to input any desired value in Hz.

Decimal var sensor 0-1

In this panel it is possible to configure real variables provided by an external sensor.

• Edit Rotation Matrix: Users must set the position of the external sensor with respect to the orientation of the Veronte Autopilot 1x.

  Error

  The rotation matrix cannot be a zero matrix and must respect the orthogonality of the axes. Not complying with this requirement means an invalid rotation and, consequently, the calibration of this magnetometer will not be possible.

  For more information on Autopilot 1x orientation, please refer to the Orientation - Hardware Installation section of the 1x Hardware Manual.

  

• Enable: When enabled, the user must select the real user variables for each axis (X,Y,Z) in which the values have been stored.

• Minimum allowed value: Minimum sensor value.
• Maximum allowed value: Maximum sensor value.
• Maximum samples non-variation: Maximum number of samples with the same value, beyond which measurements are discarded. In case of failure, measurements are discarded.
• Maximum allowed increment: Maximum increase in sensor measurement between one measurement and the next.

The configuration process must be done using custom messages. This is to be configured in the Custom Messages panel of the Input/Output menu. The configuration will depend on the device in use and its communication protocol.

Magnetometer

Veronte Autopilot 1x incorporates internal magnetometers that allow the 1x system to measure the magnetic field. In addition, external magnetometers can also be used for this purpose.

The user can choose between 4 types of source for the magnetometer.

• Internal (Internal 0/Internal 1/Internal 2): Autopilot 1x uses the internal sensor. The internal sensors available depend on the hardware version of Autopilot 1x.

  • 4.0: Only Internal 0 is available.
  • 4.5: Internal 0 and 1 are available.
  • 4.8: Internal 0, 1 and 2 are available.

• External sensor 0-1: Autopilot 1x uses values received from custom messages from a no-integrated external sensor.

• Decimal var sensor 0-1: Autopilot 1x uses a decimal value provided by a no-integrated external sensor.
• External (LIS3MDL/HSCDTD008A/MMC5883MA/RM3100): Autopilot 1x uses the information from one of the compatible external magnetometers.

It is possible to select multiple of these sensors for the navigation algorithm, so the user will have redundancy in magnetometer sensor.

Sensor

Internal 0/Internal 1/Internal 2

This panel displays the possible parameters that can be configured for the internal magnetometers.

In this panel it is possible the following options regarding the digital filter:

• Digital filter: By enabling the Sensor filter checkbox, the user enables a low pass filter which its cutoff frequency is configured manually, allowing the user to input any desired value in Hz. It is a software filter.

• Maximum samples non-variation: Maximum number of samples with the same value, beyond which measurements are discarded. In case of failure, measurements are discarded.

• Maximum allowed increment: Maximum increase in sensor measurement between one measurement and the next.

External sensor 0-1

In this panel, the user must configure some parameters in order to correctly receive and manage the measurements from the external sensor.

• Edit Rotation Matrix: Users must set the position of the external sensor with respect to the orientation of the Veronte Autopilot 1x.

  Error

  The rotation matrix cannot be a zero matrix and must respect the orthogonality of the axes. Not complying with this requirement means an invalid rotation and, consequently, the calibration of this magnetometer will not be possible.

  For more information on Autopilot 1x orientation, please refer to the Orientation - Hardware Installation section of the 1x Hardware Manual.

• Enable: Users must enable it if they want this sensor to be selected.

  • Desired frequency: The sensor measurement shall only be considered correct if the frequency at which the message with this measurement is received is of the desired frequency defined here by the user. This frequency is stored in the RVars 1488-1489.

    For more information on these variables, see the Real Variables (RVar) - 32 Bits - Lists of interest section of the 1x Software Manual.

  • Enable filter: Enables a butterworth second order low-pass filter which its cutoff frequency is configured manually, allowing the user to input any desired value in Hz.

• Minimum allowed value: Minimum sensor value.

• Maximum allowed value: Maximum sensor value.
• Maximum samples non-variation: Maximum number of samples with the same value, beyond which measurements are discarded. In case of failure, measurements are discarded.
• Maximum allowed increment: Maximum increase in sensor measurement between one measurement and the next.

Decimal var sensor 0-1

In this panel it is possible to configure real variables provided by an external sensor.

• Edit Rotation Matrix: Users must set the position of the external sensor with respect to the orientation of the Veronte Autopilot 1x.

  Error

  The rotation matrix cannot be a zero matrix and must respect the orthogonality of the axes. Not complying with this requirement means an invalid rotation and, consequently, the calibration of this magnetometer will not be possible.

  For more information on Autopilot 1x orientation, please refer to the Orientation - Hardware Installation section of the 1x Hardware Manual.

  

• Enable: When enabled, the user must select the real user variables for each axis (X,Y,Z) in which the values have been stored.

• Minimum allowed value: Minimum sensor value.
• Maximum allowed value: Maximum sensor value.
• Maximum samples non-variation: Maximum number of samples with the same value, beyond which measurements are discarded. In case of failure, measurements are discarded.
• Maximum allowed increment: Maximum increase in sensor measurement between one measurement and the next.

The configuration process must be done using custom messages. This is to be configured in the Custom Messages panel of the Input/Output menu. The configuration will depend on the device in use and its communication protocol.

External LIS3MDL/HSCDTD008A/MMC5883MA/RM3100

Autopilot 1x has been designed to have compatibility with these external magnetometers.

The user can modify the following parameters:

• Edit Rotation Matrix: It must be modified in the case that the axes of the magnetometer do not coincide with those of the aircraft.

  Error

  The rotation matrix cannot be a zero matrix and must respect the orthogonality of the axes. Not complying with this requirement means an invalid rotation and, consequently, the calibration of this magnetometer will not be possible.

• Digital filter: By enabling the Sensor filter checkbox, the user enables a low pass filter which its cutoff frequency is configured manually, allowing the user to input any desired value in Hz. It is a software filter.

• Maximum samples non-variation: Maximum number of samples with the same value, beyond which measurements are discarded. In case of failure, measurements are discarded.

• Maximum allowed increment: Maximum increase in sensor measurement between one measurement and the next.

Dynamic Pressure

Autopilot 1x has three pressure input lines, two for static pressure to determine the absolute pressure and one for pitot in order to determine the dynamic pressure.

Sensor

The user can choose between 2 types of source:

• Internal: Autopilot 1x uses the internal sensor.
• Decimal var sensor 0-1: Autopilot 1x uses a decimal value provided by an external sensor.

Internal

This panel displays the possible parameters that can be configured for the internal Dynamic Pressure sensor.

In this panel it is possible to set different options regarding filters.

• Sensor filter: Enables a low pass filter which its cutoff frequency is configured manually, allowing the user to input any desired value in Hz.

  It is a software filter.

• Maximum samples non-variation: Maximum number of samples with the same value, beyond which measurements are discarded. In case of failure, measurements are discarded.

• Maximum allowed increment: Maximum increase in sensor measurement between one measurement and the next.

Decimal var sensor 0-1

In this panel, the user selects a real variable, this does not require a signal treatment.

• Variable: Select the real user variable in which the value has been stored.

  The process of configuration has to be done using custom messages. This is to be configured in the Custom Messages panel of the Input/Output menu. The configuration will depend on the device in use and its communication protocol.

• Minimum allowed value: Minimum sensor value.

• Maximum allowed value: Maximum sensor value.
• Maximum samples non-variation: Maximum number of samples with the same value, beyond which measurements are discarded. In case of failure, measurements are discarded.
• Maximum allowed increment: Maximum increase in sensor measurement between one measurement and the next.

Static Pressure

Autopilot 1x has three pressure input lines, two for static pressure to determine the absolute pressure and one for pitot in order to determine the dynamic pressure.

This panel allows the user to configure a static pressure sensor input in 1x.

Atmospheric calibration export

The Atmospheric calibration export allows, in a standard ground-air configuration, to continuously send information regarding the static pressure configured on the ground platform to the desired air platform. Therefore, it is a configuration that must be performed on the Veronte Autopilot 1x ground unit.

This function is useful when making long flights as the static pressure varies significantly throughout the day and therefore the altitude estimation will also vary.

This option is configured independently of the selected Static Pressure sensor.

• Export atmospheric correction: Enables this feature.

This panel has 5 parameters that need to be configured:

• Send to: Points to the address where the correction will be sent. For more information on the available addresses, see List of Addresses - Lists of interest section of the 1x Software Manual.

• Period: Period of time spent between sending each correction.

• Altitude: There are 2 options available for this parameter:

  • External: Users can manually enter the altitude if known.

  • Computed: By selecting this option, the altitude will be computed by the system.

    Warning

    When this option is selected, it is necessary to add an automation in the 1x ground unit to calibrate the atmosphere periodically (see Atmosphere Calibration action of the Automations menu), to prevent the MSL from drifting.

• MSL: Can be entered manually or by a system variable.

  Important

  This parameter is only enabled when the External option is selected as Altitude.

• OAT: Outside Atmospheric Temperature, to be defined by the user.

Sensor

The user can choose between 2 types of source:

• Internal Sensor (Internal 0/Internal 1/Internal 2): Autopilot 1x uses the internal sensor. The internal sensors available depend on the hardware version of Autopilot 1x.

  • 4.0: Internal 0 and 1 are available.
  • 4.5: Internal 0, 1 and 2 are available.
  • 4.8: Internal 1 and 2 are available.

  Note

  Internal 0 has the same configurable parameters as the Internal 1.

• Decimal var sensor 0-1: Autopilot 1x uses a decimal value provided by an external sensor.

Internal 1-2

This panel displays the possible parameters that can be configured for the internal Static Pressure sensors.

Autopilot 1x has embedded these 2 digital static pressure sensors. For more information on the pressure ports, see the Pressure lines - Hardware Installation section of the 1x Hardware Manual.

In this panel it is possible to set different options regarding filters.

• Sensor filter: Enables a low pass filter which its cutoff frequency is configured manually, allowing the user to input any desired value in Hz.

  It is a software filter.

• Maximum samples non-variation: Maximum number of samples with the same value, beyond which measurements are discarded. In case of failure, measurements are discarded.

• Maximum allowed increment: Maximum increase in sensor measurement between one measurement and the next.

Decimal var sensor 0-1

In this panel, the user selects a real variable, this does not requiere a signal treatment.

• Variable: Select the real user variable in which the value has been stored.

  The process of configuration has to be done using custom messages. This is to be configured in the Custom Messages panel of the Input/Output menu. The configuration will depend on the device in use and its communication protocol.

• Minimum allowed value: Minimum sensor value.

• Maximum allowed value: Maximum sensor value.
• Maximum samples non-variation: Maximum number of samples with the same value, beyond which measurements are discarded. In case of failure, measurements are discarded.
• Maximum allowed increment: Maximum increase in sensor measurement between one measurement and the next.

RPM

Autopilot 1x can measure RPMs by reading from up to 6 input sources:

• Units: Sensor conversion factor. It can be Custom, Radians per pulse or Pulses per cycle.
• Average: Filter to prevent voltage spikes. The readout of the pulse can be filtered as an average output. The amount of measurements to do the average needs to be specified.
• Minimum: Here the minimum expected pulse period needs to be specified. This will discard spurius pulses (e.g. induced by EMI) which are smaller than this minimum pulse.
• Maximum: This is the maximum period of time allowed without capturing. If no incoming pulse is received for more than this time, the output RPMs will be 0.

Lidar

The I2C bus allows the connection of several devices with different addresses to the same line via master-slave communication. At this moment, Autopilot 1x supports the following Lidar devices:

• Garmin Lidar Lite v3: Optical distance measurement sensor with a range of 5 cm to 40 m.
• SF11 Lidar: Long range laser altimeter. Supported SF11/B and SF11/C with a range of maximum 50 m and 0.2 m to 120 m respectively.
• SF20 Lidar: OEM laser altimeter module. Supported SF20/C with a range of 0.2 m to 100 m.

1x allows up to 5 Lidar devices to be connected to the system at the same time. The configuration panel can be seen below:

After enabling the needed number of Lidar devices, configurable parameters are:

• Type of Lidar.
• Address: With an accepted value between 16 - 239, this is the origin address from the Lidar being configured.

• Additional:

  

  • By enabling the Sensor filter checkbox, the user enables a low pass filter which its cutoff frequency is configured manually, allowing the user to input any desired value in Hz. It is a software filter.

  • Maximum allowed increment: Maximum increase in sensor measurement between one measurement and the next.

  • Maximum non-variation samples: Maximum number of samples with the same value, beyond which measurements are discarded. In case of failure, measurements are discarded.

Internest

An ultrasound sensor computes Veronte Autopilot 1x position by measuring the time the signal sent out takes to return. The following panel together with Relative position sensor block (see Relative position sensor - Block Programs section) allows the user to configure an Internest system with Veronte Autopilot 1x.

This panel allows the user to choose the version of Internest to be used, its range and the rotation matrix:

• Version: Users must choose the version of the Internest system, the available options are Base and Explore.
• Range: Defines the distance at which Internest values will start to be valid.

• Sensor to base rotation matrix: Matrix to rotate the system to match the Veronte Autopilot 1x coordinate system.

  

External Navigation Sensor

It is possible to operate Autopilot 1x with a configuration in which navigation is controlled externally, rather than with internal navigation. From this panel, users can configure the frequency with which this external navigation data is processed.

• Desired frequency: Enter the desired frequency for external navigation.

  Warning

  External navigation at a frequency greater than 100 Hz on a serial connection at 115200 Baud is not supported due to bandwidth limitations.

• Required Status: By enabling Required Status, it is possible to enter the expected integer value in Status Value, that checks the values of a specific variable.

For more information on configuring an External Navigation Sensor, refer to the External Navigation - Integration examples section of this manual.