Hardware Changelog

Hereby are described the main differences between the latest release of the Veronte Autopilot 1x hardware (v 4.8) and the previous commercial version (v 4.5).

../_images/comparison.png

Specifications

Mechanical

4.5

4.8

Mating connector

Circular mating connector with 68 pins

Enclosure

Anodized aluminum

Weight

190 g

198 g

Dimensions

78 x 63 x 40 mm

76 x 65 x 40 mm

Protection rating

IP67

Mounting

M4 screws

M3 screws

Temperature range (no convection)

-40 to 65 ºC

Pressure port

2.4 mm

SMC M5 series system. Usable with 2.5 x 4 mm polyurethane

RF connectors (LOS/BLOS/GNSS)

SSMA jack female

Sensors

4.5

4.8

Number of static pressure sensors

3

2

Static pressure range

0) 0 - 103,000 Pa

1) 1,000 - 120,000 Pa

2) 30,000 - 120,000 Pa

1) 1,000 - 120,000 Pa

2) 30,000 - 120,000 Pa

Static pressure band error

0) 1,030 Pa

1) 500 Pa

2) 200 Pa

1) 500 Pa

2) 200 Pa

Static pressure resolution

0) 25 Pa

1) 1.2 to 6.5 Pa

2) 0.5 Pa

1) 1.2 to 6.5 Pa

2) 0.5 Pa

Number of dynamic pressure sensors

1

Dynamic pressure range

3 Pa (5 kt 8 km/h sea level) to 6,900 Pa (206 kt 382 km/h sea level)

Dynamic pressure band error

0.01 %

Dynamic pressure resolution

25,500 Pa

Number of accelerometers (3 axis each one)

2

3

Accelerometers range

1) ±16 g

2) ±24 g

1) ±16 g

2) ±24 g

3) ±8 g

Accelerometers max. shock

1) 20,000 for 0.2 ms

2) 10,000 g/ms

1) 20,000 g for 0.2 ms

2) 10,000 g/ms

3) 14,700 m/s²

Accelerometers sensitivity

1) 16,393 LSB/(m/s²)

2) 10,920 LSB/(m/s²)

1) 16,393 LSB/(m/s²)

2) 10,920 LSB/(m/s²)

3) 26,756,268 LSB/(m/s²)

Number of gyroscopes (3 axis each one)

2

3

Gyroscopes range

1) 125 to 2,000 º/s

2) 125 to 2,000 º/s

1) 125 to 2,000 º/s

2) 125 to 2,000 º/s

3) 2,000 º/s

Gyroscopes sensitivity

1) 228 to 14.2 LSB/º/s

2) 262 to 16 LSB/º/s

1) 228 to 14.2 LSB/º/s

2) 262 to 16 LSB/º/s

3) 655,360 to 10 LSB/º/s

Number of magnetometers

2

3

Magnetometers range

1) 4 gauss

2) 8 gauss

0) 4 gauss

1) 8 gauss

2) 11 gauss

Magnetometers sensitivity

1) 6,842 to 1,711 LSB/gauss

2) 4,096 LSB/gauss

0) 6,842 to 1,711 LSB/gauss

1) 4,096 LSB/gauss

2) 0.13 mgauss

Number of GNSS units

2

GNSS constellations

BeiDou, GLONASS, GPS

BeiDou, Galileo GLONASS, GPS / QZSS

Concurrent GNSS constellations

Up to 2

Up to 4

GNSS bands

L2OF, L2C, E1B/C, B2l, E5b, L1C/A, L1OF, B1l

Position accuracy RTK

0.025 m + 1 ppm CEP

0.01 m + 1 ppm CEP

Update rate

8 Hz

up to 20 Hz

I/O (on base hardware - expansion boards available)

4.5

4.8

Vin

2 x (6.5 - 36 V) DC

PWM / GPIO

Up to 16

RS232

1 x

RS485

1 x

Vout

5 & 3.3 V

FTS

Deadman output (GPIO)

CAN bus

2 x

ADC

5 x

EQEP

1 x

I2C

1 x

UART

1 x (FTS - SuC)

1 x Microcontroller (i.e. external datalink)

USB

1 x

Architecture and Computing Power

Veronte Autopilot 1x 4.8 and 4.5 share the same internal architecture, powered by the same dual core microprocessor from the Texas Instruments EP (Enhanced Performance) series.

Line of Sight Communications

Veronte Autopilot 1x 4.5 had the possibility to install internal datalinks from Microhard (Pico Series), available in 2.4 GHz, 900 MHz and 400 MHz. In the new version (4.8), this datalink has been replaced by a short range module for testing, configuration and telemetry download.

Embention has decided to replace the 1W Microhard datalink for the following reasons:

  • As per past experience, each aircraft manufacturer has different datalink needs, so Embention has preferred that customers can have more flexibility choosing the appropriate brand, model and frequency.

  • By removing the Microhard modules, there is now more space to include better sensors with extended accuracy.

  • Reducing the power of the internal RF module from the autopilot permits to reduce electromagnetic interferences.

  • Reducing the power consumption also reduces the heat dissipation needs on the autopilot and improves performance in warm environments.

Thus, Autopilot 1x 4.8 internal datalink has been replaced by Digi XBee® 3 PRO Zigbee 3.0, a 2.4 GHz short range module. This module has the mission to allow the integration and PDI tuning of the autopilot into the customer’s platform. An external datalink (Microhard or others) can be installed in the additional UART port available in 4.8.

Performance for Digi XBee® 3 PRO Zigbee 3.0

Data rate

RF 250 kbps, serial up to 1 Mbps

Indoor/urban range

Up to 300 ft (90 m)

Outdoor/RF line-of-sight range

Up to 2 miles (3200 m)

Transmit power

+19 dBm

Receiver sensivity (1 % PER)

-103 dBm normal model

Features

Frequency band

ISM 2.4 GHz

Interference immunity

DSSS (Direct Sequence Spread Spectrum)

Networking and security

Protocol

Zigbee 3.0

Encryption

128/256 bit AES

Reliable packet delivery

Retries / acknowledgements

IDS

PAN ID and addresses, cluster IDs and endpoints (optional)

Channels

16 channels

New Features

One of our fundamentals at Embention is the continuous evolution of our products and services. The UAM sector is evolving everydays and new needs and technical requirements are demanded almost every week. For this reason, in order to help our customers to achieve their goals, Embention has released a new version of its hardware, with the following features.

  • Enhanced sensor accuracy and reliability: Dead reckoning navigation is a critical tool for degraded GNSS scenarios, the new sensors in Veronte Autopilot 1x are significantly more accurate than previous ones.

    These enhanced sensors allows to improve the navigation estimation during the standard operation and in GNSS denied navigation.

  • Improved RTK and GNSS heading: New GNSS sensors in Veronte Autopilot 1x are significantly better in various aspects (supported constellations, accuracy, number of concurrent constellations and frequency).

    The positioning accuracy has improved from 0.025 m + 1 ppm to 0.01 m + 1 ppm CEP, it also improves RTK and GNSS heading estimation.

  • Enhanced high-temperature hardware design and production materials: In order to offer the best performances in extreme scenarios and to pass more demanding quality and environmental tests.

    New materials are used in PCB manufacturing. These new fibers have better performance in heat conditions, extending the lifetime of the product.

  • Additional failure detection means: Development of failure detection algorithms and redundant hardware.

    The new PCB design includes additional signals for failure detection that can communicate each one of the autopilot cores with the arbiter. Also, the internal CAN Bus network has been modified to enhance robustness.

  • Short-range 2.4 GHz LOS included in all units: Short range communications module included, in order to facilitate system integration.

    This module is based on Digi Xbee and permits to have an independent link for telemetry download and configuration.

  • BLOS module with extended coverage: BLOS communications and UTM capabilities through a physical or eSIM card.

  • Extended GNSS-denied navigation capabilities: Flexible and custom Kalman filters, high precision IMU sensors and several tools in order to build safety automations if GNSS is lost.

    Inertial navigation highly depends on the IMU accuracy, which has been significantly improved with the new setup.

  • Internal Remote ID or ADS-B with IN/OUT: Extended collaborative sense and avoid capabilites, allowing the compliance of new FAA unmanned operation requirements.

    WIFI and Bluetooth modules have been integrated to enable Remote ID communications. This module can be replaced by a 1W ADS-B IN & OUT module if preferred.

  • Embedded global DEM, geoid, magnetic and gravity fields: Advanced custom possibilites for the user during the map configuration, in order to carry out high-accuracy operations in the safest way possible.

    Worldwide terrain altitude and magnetic field are included in Veronte Autopilot 1x.

  • Internal enclosure pressure port: A new pressure port has been included for measuring the pressure inside the autopilot.

Collaborative Sense & Avoid and UTM

Some of the most important aeronautical authorities in the world have been very clear about the future lines in the certification process: all aircraft have to have collaborative detection capabilities. For example, the American FAA has expressed in several documents that a Remote ID system for drone identification and detection for smaller drones. For larger drones, it is expected that the ADS-B technology will prevail.

Remote ID

Remote ID is a young technology based on personal area networks (Bluetooth) and local area networks (WiFi). The system is emitting a constant signal with the ID of the drone and its positioning at each moment. Users can see the track of the operation and customers have the ability to configure the information shown.

Frequency

WiFi & bluetooth bands

Developed according to

RIN 2120-AL31

Remote identification of Unmanned Aircraft FAA Standard

Parameters

Aircraft ID, position, altitude and time mark

Compatibility

FAA Remote ID Scanner App

To comply with the final rule of Remote Identification of Unmanned Aircraft (Part 89), manufacturers need to produce standard Remote ID drones and meet the requirements of this rule by September 16th, 2022.

Embention’s Remote ID is being adapted in order to be in complicance with Active Standard ASTM F3411 requirements, developed by subcommittee F38.02.

ADS-B

Internal ADS-B with IN & OUT capabilities is another option in order to reach the collaborative detection capabilities and to enhance the fleet management performance.

Frequency band

1090 MHz

Current consumption

Averaged 140 mA

Sensitivity

-80 dBm

RF output power

Configurable + 30 dBm (1W), + 27 dBm (0,5 W), + 24 dBm (0,25 W)

ESD protection

All lines protected

MAVlink (baud)

115200 bps

AERO (baud)

115200 bps (AT commands)

Pinout changes from Autopilot 1x 4.5

The pinout for 4.5 and 4.8 versions are very similar, but they have several differences. To prevent any confusion, the following table shows the pinout for both versions. The different pins are marked with ⚠️, all the rest have the same function.

../_images/pinout_1x.png

68 pin connector for both versions

PIN

Signal

Type

Description

1

I/O0

I/O

PWM / Digital I/O signal (0-3.3V). Protected against ESD and short circuit

2

I/O1

I/O

PWM / Digital I/O signal (0-3.3V). Protected against ESD and short circuit

3

I/O2

I/O

PWM / Digital I/O signal (0-3.3V). Protected against ESD and short circuit

4

I/O3

I/O

PWM / Digital I/O signal (0-3.3V). Protected against ESD and short circuit

5

I/O4

I/O

PWM / Digital I/O signal (0-3.3V). Protected against ESD and short circuit

6

I/O5

I/O

PWM / Digital I/O signal (0-3.3V). Protected against ESD and short circuit

7

I/O6

I/O

PWM / Digital I/O signal (0-3.3V). Protected against ESD and short circuit

8

I/O7

I/O

PWM / Digital I/O signal (0-3.3V). Protected against ESD and short circuit

9

GND

GROUND

Ground signal for actuators 1-8

10

I/O8

I/O

PWM / Digital I/O signal (0-3.3V). Protected against ESD and short circuit

11

I/O9

I/O

PWM / Digital I/O signal (0-3.3V). Protected against ESD and short circuit

12

I/O10

I/O

PWM / Digital I/O signal (0-3.3V). Protected against ESD and short circuit

13

I/O11

I/O

PWM / Digital I/O signal (0-3.3V). Protected against ESD and short circuit

14

I/O12

I/O

PWM / Digital I/O signal (0-3.3V). Protected against ESD and short circuit

15

I/O13

I/O

PWM / Digital I/O signal (0-3.3V). Protected against ESD and short circuit

16

I/O14

I/O

PWM / Digital I/O signal (0-3.3V). Protected against ESD and short circuit

17

I/O15

I/O

PWM / Digital I/O signal (0-3.3V). Protected against ESD and short circuit

18

GND

GROUND

Ground signal for actuators 9-16

19

RS 232 TX

Output

RS 232 Output (-13.2V to 13.2V Max, -5.4V to 5.4V Typical). Protected against ESD and short circuit

20

RS 232 RX

Input

RS 232 Input (-25V to 25V Max, -0.6V Low and 2.4V High Threshold). Protected against ESD and short circuit

21

GND

GROUND

Ground signal for buses

22

ANALOG_3

Input Analog

Input 0-3.3V. Protected against ESD and short circuit

23

ANALOG_4

Input Analog

Input 0-3.3V. Protected against ESD and short circuit

24

GND

GROUND

Ground signal for buses

25

CANA_P

I/O

CANbus interface, up to 1Mbps (2.3V Typical, 1.2V-2.3V Differential). Protected against ESD

26

CANA_N

I/O

Twisted pair with a 120 ohms Zo recommended (2.3V Typical, 1.2V-2.3V Differential). Protected against ESD

⚠️

27

4.5: GND

4.5: GROUND

4.5: Ground signal for buses

4.8: 4XV_WD

4.8: I/O

4.8: Reserved. Do not connect

28

CANB_P

I/O

CANbus interface. It supports data rates up to 1 Mbps. Protected against ESD

29

CANB_N

I/O

Twisted pair with a 120 ohms Zo recommended. Protected against ESD

30

GND

GROUND

Ground signal for buses

31

I2C_CLK

Output

Clk line for I2C bus (0.3V to 3.3V). Protected against ESD and short circuit

32

I2C_DATA

I/O

Data line for I2C bus (0.3V to 3.3V). Protected against ESD and short circuit

33

GND

GROUND

Ground for 3.3V power supply

34

3.3V

POWER

3.3V - 100mA power supply. Protected against ESD short circuit with 100mA resettable fuse

35

GND

GROUND

Ground for 5V power supply

36

5V

POWER

5V - 100mA power supply. Protected against ESD short circuit with 100mA resettable fuse

37

GND

GROUND

Ground for analog signals

38

ANALOG_0

Input

Analog input 0-3.3V. Protected against ESD and short circuit

39

ANALOG_1

Input

Analog input 0-3.3V. Protected against ESD and short circuit

40

ANALOG_2

Input

Analog input 0-3.3V. Protected against ESD and short circuit

⚠️

41

4.5: GND

4.5: GROUND

4.5: Ground for FTS signals

4.8: 4XV_A

4.8: I/O

4.8: Reserved. Do not connect

42

FTS1_OUT

Output

Deadman signal from comicro. Protected against ESD and short circuit

43

FTS2_OUT

Output

!SystemOK Bit. Protected against ESD and short circuit

⚠️

44

4.5: GND

4.5: GROUND

4.5: Ground signal for safety buses

4.8: 4XV_B

4.8: I/O

4.8: Reserved. Do not connect

⚠️

45

4.5: V_ARB_TX

4.5: Output

4.5: Veronte comicro UART output to activate safety mechanism. Protected against ESD and short circuit

4.8: UARTA_TX

4.8: Output

4.8: Microcontroller UART

⚠️

46

4.5: V_ARB_RX

4.5: Input

4.5: Veronte comicro UART output to activate safety mechanism. Protected against ESD and short circuit

4.8: UARTA_RX

4.8: Input

4.8: Microcontroller UART

47

GND

GROUND

Ground signal comicro power supply

48

V_ARB_VCC

POWER

Veronte comicro power (6.5V to 36V). Protected against ESD and reverse polarity

49

FTS3_OUT_MPU

Output

MPU alive voting signal, to use with 4xVeronte. It is a Square Wave at [100,125] Hz. Protected against ESD and short circuit

50

OUT_RS485_P

Output

Non-inverted output from RS485 bus (-7V to 12V Max, -2.3V to 2.3V Typical). Protected against ESD and short circuit

51

OUT_RS485_N

Output

Inverted output from RS485 bus (-7V to 12V Max, -2.3V to 2.3V Typical). Protected against ESD and short circuit

52

IN_RS485_N

Input

Inverted input from RS485 bus (-7V to 12V Max, -2.3V to 2.3V Typical). Protected against ESD and short circuit

53

IN_RS485_P

Input

Non-inverted output from RS485 bus (-7V to 12V Max, -2.3V to 2.3V Typical). Protected against ESD and short circuit

54

OUT_GND

GND

Ground for RS-485 bus

Warning

This is not a common GND pin.

55

EQEP_A

I/O

DIGITAL output / DIGITAL input / Encoder quadrature input A (0-3.3V). Protected against ESD and short circuit

56

EQEP_B

I/O

DIGITAL output / DIGITAL input / Encoder quadrature input B (0-3.3V). Protected against ESD and short circuit

Warning

Only use it as digital I/O with Veronte units of Hardware version 4.5 or lower

57

EQEP_S

I/O

DIGITAL output / DIGITAL input / Encoder strobe input (0-3.3V). Protected against ESD and short circuit

58

EQEP_I

I/O

DIGITAL output / DIGITAL input / Encoder index input A (0-3.3V). Protected against ESD and short circuit

59

GND

GROUND

Ground for encoders

60

V_USB_DP

I/O

Veronte USB data line. Protected against ESD

61

V_USB_DN

I/O

Veronte USB data line. Protected against ESD

⚠️

62

4.5: V_USB_ID

4.5: I/O

4.5: Veronte USB ID line. Protected against ESD and short circuit

4.8: USB_SHIELD_GND

4.8: GROUND

4.8: USB cable shielding

63

FTS_OUT_MPU

Output

Abort mission voting signal from MPU, to use with 4xVeronte. Bit Low (0V) if mission OK. High (3.3V) if mission wants to be terminated. Protected against ESD and short circuit

64

FTS2_OUT_MPU

Output

Abort mission voting signal 2 from MPU, to use with 4xVeronte. Bit Low (0V) if mission OK. High (3.3V) if mission wants to be terminated. Protected against ESD and short circuit

65

GND

GROUND

Veronte ground input

66

GND

GROUND

Veronte ground input

67

VCC

POWER

Veronte power supply (6.5V to 36V). Protected against ESD and reverse polarity.

Warning

Both pins are common. They MUST be connected to the same power supply.

68

VCC

POWER

Warning

Remember!! All GND pins are common. Note that pin 54 is not a common GND pin.