Veronte

Unit name

• Vehicle name: The user can define the name of the configuration.
• PDI Mode: It can be enabled or disabled. PDI mode allows the user to change the setup if Autopilot 1x is not in INI phase.

Attitude

This menu allows the user to define the orientation of the autopilot with respect to the platform once it is installed. Aircraft axis are defined according to international aviation convention. Autopilot 1x axis are drawn on the autopilot's external case as defined in the Orientation - Hardware Installation section of the 1x Hardware Manual.

1. Distance from the center of mass in aircraft body frame: The autopilot's distance from the center of mass must be defined. This distance is entered in meters and accordingly to aircraft axis. If the autopilot is not located in the center of mass, it will measure a non-zero acceleration when turning. Distance from the center of mass in aircraft body frame is used to compensate this value. An example is presented below:

   

   

2. Orientation: It is not compulsory to install the autopilot aligned with the aircraft axis. In order to indicate the autopilot's relative position inside the platform, select the advanced option (3). A matrix relating vehicle axis and autopilot axis is needed to be filled in. The case of a non-orthogonal installation can be covered.

   

   Note

   If only a simple rotation is required, for example, a -90º rotation in the Z axis, it is simpler to select the correct axis directly in the 'plane':

   

Frequencies

The frequency of the GNC task refers to the maximum working frequency of the core, with 400 Hz being the maximum possible.

GPIO

In this tab each individual GPIO behavior can be configured:

1. Signal: Pin ID as described in Pinout - Hardware Installation section of the 1x Hardware Manual.
2. GPIOId: GPIO ID of the microcontroller.
3. IO: Define GPIO as an input or output.
4. Pull-up: Enable or disable the pull-up resistance.

5. Function: Mux 0: GPIO, Mux 1: PWM, Mux 2, Mux 3, etc. These are the different functionalities that the GPIO can have, this depends on the multiplexer.

   Note

   When users set Function to "Mux 1", it indicates that the corresponding pin is disabled as GPIO and enabled as PWM. Consequently, when saving this change, the corresponding PWM pin of the PWM panel should automatically be added as PWM and "disappear" as GPIO. This behavior also happens the other way around, i.e. when switching from PWM (Mux 1) to GPIO (Mux 0).

   Warning

   Once the change has been saved, check that the corresponding PWM pin has been added to the PWM panel or that the corresponding GPIO pin has been added to the GPIO panel, depending on the change that has been made.

6. Qsel: This is the "input qualification", it is used to control how the value of a GPIO is evaluated. The available options are:

   • Sync: The value is taken as whatever is present at the time it is checked (synchronously). This is the default mode of all GPIO pins.
   • 3 Samples: The value is checked 3 times and the value is only changed when the 3 times are the same.
   • 6 Samples: Same as before, but checking 6 times instead of 3.
   • ASync: No checks are performed. It is used when it is not used as GPIO.

Status

This option enables the periodic sending of the status message that Veronte Link uses to recognize the Autopilot 1x.

• Period: Enter a desired period to send repeatedly the status message.