Hardware Changelog

Hereby are described the main differences between the latest release of the Veronte Autopilot 4x hardware (v 1.8) and the previous commercial version (v 1.2).

Note

Note that all the technical differences related to Autopilot 1x are detailed in the Hardware Changelog section of the 1x Hardware Manual.

New funcionalities

  • Addition of second arbitrer microcontroller

  • Enhancement hardware detection mechanism for arbiters A and B

  • Implementation of independent power domains for each microcontroller and different peripherals

  • USB ID pin has a different functionality, now is the USB shielding connection

  • 5V_BUS and 3.3V_BUS removed from Main connector

  • Three UARTs (one from each Autopilot 1x) added to the redundant connector

Improvements

  • Optimized power supply circuit

Pinout changes from Autopilot 4x 1.2

The pinout for 1.2 and 1.8 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_4x.png

Pinout of Main and Arbiter connectors for both versions

Main Connector pinout

PIN

Signal

Type

Internal Power Domain

Description

1

I/O_0_MUXED

I/O

A

MUXED PWM / Digital I/O signal (0-3.3V)

Warning

Each pin withstands a maximum current of 1.65 mA.

2

I/O_1_MUXED

I/O

B

3

I/O_2_MUXED

I/O

A

4

I/O_3_MUXED

I/O

B

5

I/O_4_MUXED

I/O

A

6

I/O_5_MUXED

I/O

B

7

I/O_6_MUXED

I/O

A

8

I/O_7_MUXED

I/O

B

9

GND*

GROUND

Ground pin for signals 1-8

10

I/O_8_MUXED

I/O

A

MUXED PWM / Digital I/O signal (0-3.3V)

Warning

Each pin withstands a maximum current of 1.65 mA.

11

I/O_9_MUXED

I/O

B

12

I/O_10_MUXED

I/O

A

13

I/O_11_MUXED

I/O

B

14

I/O_12_MUXED

I/O

A

15

I/O_13_MUXED

I/O

B

16

I/O_14_MUXED

I/O

A

17

I/O_15_MUXED

I/O

B

18

GND*

GROUND

Ground pin for signals 10-17

19

MUXED_RS232_TX

OUTPUT

A

MUXED RS-232 output

20

MUXED_RS232_RX

INPUT

A

REDUNDANT RS-232 input

21

V2_USB_DP

I/O

Autopilot 2 USB positive data line

22

ANALOG_3

INPUT

B

REDUNDANT analog input (0-36V)

23

ANALOG_4

INPUT

B

24

V2_USB_DN

I/O

Autopilot 2 USB negative data line

25

CANA_ARB_P

I/O

A

CAN-bus interface. It supports data rates up to 1 Mbps.

A 120 Ohm Zo is required and twisted pair is recommended.

26

CANA_ARB_N

I/O

A

27

GND*

GROUND

GROUND pin for buses (except USB)

28

CANB_ARB_P

I/O

CAN-bus interface. It supports data rates up to 1 Mbps.

A 120 Ohm Zo is required and twisted pair is recommended

29

CANB_ARB_N

I/O

⚠️

30

1.2: V2_USB_ID

1.2: I/O

1.2: Veronte 2 USB ID Line

1.8: V2_USB2_GND

1.8: GROUND

1.8: Autopilot 2 USB ground

31

I2C_CLK

OUTPUT A

MUXED Clock line for I2C bus (0.3V to 3.3V)

32

I2C_DATA

I/O

A

MUXED data line for I2C bus

33

GND*

GROUND

Ground for 3.3V power supply

⚠️

34

1.2: 3.3V

1.2: POWER

B

1.2: 3.3V-100mA power supply

1.8: V1_ARB_TX

1.8: OUTPUT

1.8: Microcontroller UART transmitter for Autopilot 1

⚠️

35

1.2: GND

1.2: GROUND

1.2: Ground for 5V power supply

1.8: V1_ARB_RX

1.8: INPUT

1.8: Microcontroller UART receiver for Autopilot 1

⚠️

36

1.2: 5V

1.2: POWER

B

1.2: 5V-100mA power supply

1.8: V2_ARB_TX

1.8: OUTPUT

1.8: Microcontroller UART transmitter for Autopilot 2

⚠️

37

1.2: GND

1.2: GROUND

1.2: Ground for analog signals

1.8: V2_ARB_RX

1.8: INPUT

1.8: Microcontroller UART receiver for Autopilot 2

38

ANALOG_0

INPUT

A

REDUNDANT analog input (0-36V)

39

ANALOG_1

INPUT

A

40

ANALOG_2

INPUT

A

41

GND*

GROUND

Ground signal for buses

42

V3_USB_DP

I/O

Autopilot 3 USB positive data line

43

V3_USB_DN

I/O

Autopilot 3 USB negative data line

44

GND*

GROUND

Ground signal for buses

⚠️

45

1.2: UART_TX

1.2: OUTPUT

B

1.2: Muxed UART output

1.8: V3_ARB_TX

1.8: OUTPUT

1.8: Microcontroller UART transmitter for Autopilot 3

⚠️

46

1.2: UART_RX

1.2: INPUT

B

1.2: Redundant UART input

1.8: V3_ARB_RX

1.8: INPUT

1.8: Microcontroller UART receiver for Autopilot 3

47

GND*

GROUND

Ground signal for buses

48

⚠️

49

1.2: V3_USB_ID

1.2: I/O

1.2: Veronte 3 USB ID Line

1.8: V3_USB3_GND

1.8: GROUND

1.8: Autopilot 3 USB ground

50

OUT_RS485_P

OUTPUT

B

MUXED non-inverted output RS-485 bus

51

OUT_RS485_N

OUTPUT

B

MUXED inverted output RS-485 bus

52

IN_RS485_N

INPUT

REDUNDANT inverted inout RS-485 bus

53

IN_RS485_P

INPUT

REDUNDANT non-inverted input RS-485 bus

54

RS485_GND

GROUND

Ground for RS-485 bus

55

EQEP_A

INPUT

A for autopilots 1 and 2

B for autopilot 3

Encoder quadrature redundant input A (0-5V)

56

EQEP_B

INPUT

Encoder quadrature redundant input B (0-5V)

57

EQEP_S

INPUT

Encoder strobe redundant input (0-5V)

58

EQEP_I

INPUT

Encoder index redundant input (0-5V)

59

GND*

GROUND

Autopilot 3 ground pin

60

V1_USB_DP

I/O

Autopilot 1 USB positive data line

61

V1_USB_DN

I/O

Autopilot 1 USB negative data line

⚠️

62

1.2: V1_USB_ID

1.2: I/O

1.2: Veronte 1 USB ID Line

1.8: V1_USB1_GND

1.8: GROUND

1.8: Autopilot 1 USB ground

63

GND*

GROUND

Ground signal for buses

64

BAT_2

POWER

Autopilot 3 power supply (6.5 to 36V)

65

GND*

GROUND

Autopilot 2 ground pin

66

GND*

GROUND

Autopilot 1 ground pin

67

BAT_1

POWER

Autopilot 2 power supply (6.5 to 36V)

68

BAT_0

POWER

Autopilot 1 power supply (6.5 to 36V)

Warning

Common grounds are marked with *.

Arbiter Connector pinout

Although being the same component, Main Connector and Arbiter connector are polarized differently, but they have different mechanical connections to avoid wiring swapping.

PIN

Signal

Type

Internal Power Domain

Description

1

I/O_0_EXTERNAL

I/O

A

External MUXED PWM / Digital I/O signal (0-3.3V). In case of employing an additional external autopilot, its pins I/XX must be connected here.

Each signal I/O_XX_EXTERNAL will be sent to I/XX of Main Connector if the arbiter commands it.

Warning

Input current must be limited to 25 mA for each I/O EXTERNAL pin.

2

I/O_1_EXTERNAL

I/O

B

3

I/O_2_EXTERNAL

I/O

A

4

I/O_3_EXTERNAL

I/O

B

5

I/O_4_EXTERNAL

I/O

A

6

I/O_5_EXTERNAL

I/O

B

7

I/O_6_EXTERNAL

I/O

A

8

I/O_7_EXTERNAL

I/O

B

9

I/O_8_EXTERNAL

I/O

A

10

I/O_9_EXTERNAL

I/O

B

11

I/O_10_EXTERNAL

I/O

A

12

I/O_11_EXTERNAL

I/O

B

⚠️

13

1.2: VCC2
1.2:

POWER

1.2: Veronte 2 power supply (6.5 to 36 V)

1.8: ARBITER_ANALOG_7
1.8:

INPUT

1.8: Arbiter analog input (0-36V)

14

EXTERNAL_ANALOG_0

OUTPUT

A

External analog signal (0-3V). This is the analog signal from ANALOG_0 on Main Connector, which is reduced from 0-36V to 0-3V.

15

EXTERNAL_ANALOG_1

OUTPUT

A

External analog signal (0-3V). This is the analog signal from ANALOG_1 on Main Connector, which is reduced from 0-36V to 0-3V.

16

EXTERNAL_ANALOG_2

OUTPUT

A

External analog signal (0-3V). This is the analog signal from ANALOG_2 on Main Connector, which is reduced from 0-36V to 0-3V.

17

EXTERNAL_ANALOG_3

OUTPUT

B

External analog signal (0-3V). This is the analog signal from ANALOG_3 on Main Connector, which is reduced from 0-36V to 0-3V.

18

FTC_VOTING_B

OUTPUT

B

This pin is an open drain output (0 - 48V), which is open or connected to GND depending on the FTS signals of the Autopilots 1x. This logic is implemented at the Voting Stage, explained in detail in the Flight Termination System section of this manual.

Use this pin for an emergency device; for example the ground of a relay that activates a parachute.

FTC_VOTING_A (pin 53) and FTC_VOTING_B (pin 18) do the same function, but they have dissimilarity.

19

EXT_RS232_TX

INPUT

A

In case of employing an additional external autopilot, its pin RS 232 TX must be connected here. If arbiter decides to multiplex this signal, it will be transmitted to MUXED_RS232_TX on Main Connector with RS232 protocol.

20

EXT_RS232_RX

OUTPUT

A

In case of employing an additional external autopilot, its pin RS 232 RX must be connected here. If arbiter decides to multiplex this signal, it will be transmitted to MUXED_RS232_TX on Main Connector with RS232 protocol.

21

IN_RS485_P

OUTPUT

This pin is connected with IN_RS485_P from Main Connector

22

IN_RS485_N

OUTPUT

This pin is connected with IN_RS485_N from Main Connector

23

EXT_OUT_RS485_P

INPUT

B

In case of employing an additional external autopilot, its pin OUT_RS485_P must be connected here. If arbiter decides to multiplex this signal and EXT_DETECT of Arbiter Connector is connected to GND, it will be transmitted to OUT_RS485_P on Main Connector with RS232 protocol

24

EXT_OUT_RS485_N

INPUT

B

In case of employing an additional external autopilot, its pin OUT_RS485_N must be connected here. If arbiter decides to multiplex this signal and EXT_DETECT of Arbiter Connector is connected to GND, it will be transmitted to OUT_RS485_N on Main Connector with RS232 protocol

25

CANA_P_ARB_A

I/O

This pin is connected with CANA_ARB_P from Main Connector

26

CANA_N_ARB_A

I/O

This pin is connected with CANA_ARB_N from Main Connector

⚠️

27

1.2: VCC1
1.2:

POWER

1.2: Veronte 1 power supply (6.5 to 36 V)

1.8: ARBITER_ANALOG_8
1.8:

INPUT

1.8: Arbiter analog input (0-36V)

28

CANB_P_ARB_B

I/O

This pin is connected with CANB_ARB_P from Main Connector

29

CANB_N_ARB_B

I/O

This pin is connected with CANB_ARB_N from Main Connector

30

OUT_RS485_ARB_P

OUTPUT

A

Non-inverted output for arbiter A RS-485 bus

31

OUT_RS485_ARB_N

OUTPUT

A

Inverted output for arbiter A RS-485 bus

32

IN_RS485_ARB_N

INPUT

A

Inverted output for arbiter A RS-485 bus

33

IN_RS485_ARB_P

INPUT

A

Non-inverted input for arbiter A RS-485 bus

34

TX_OUT_P

OUTPUT

A

Arbiter A ARINC positive output

35

TX_OUT_N

OUTPUT

A

Arbiter A ARINC negative output

36

RIN1_ARINC_P

INPUT

A

Arbiter A ARINC positive input

37

RIN1_ARINC_N

INPUT

A

Arbiter A ARINC negative input

38

GND*

GROUND

Ground pin for buses

39

SCL_A_OUT_ARB

OUTPUT

A

Clock signal for arbiter A I2C bus

40

SDA_A_OUT_ARB

I/O

A

Data signal for arbiter A I2C bus

41

DSP_232_RX_B

INPUT

A

Arbiter A RS-232 input B

42

DSP_232_TX_B

OUTPUT

A

Arbiter A RS-232 output B

43

DSP_232_RX_A

INPUT

A

Arbiter A RS-232 input A

44

DSP_232_TX_A

OUTPUT

A

Arbiter A RS-232 output A

45

GND*

GROUND

Ground pin for analog signals

46

ARBITER_ANALOG_0

INPUT

A

Arbiter A analog input (0-36V)

47

ARBITER_ANALOG_1

INPUT

A

48

ARBITER_ANALOG_2

INPUT

A

49

ARBITER_ANALOG_3

INPUT

A

50

ARBITER_ANALOG_4

INPUT

A

51

ARBITER_ANALOG_5

INPUT

A

52

ARBITER_ANALOG_6

INPUT

A

53

FTC_VOTING_A

OUTPUT

A

This pin is an open drain output (0 - 48V), which is open or connected to GND depending on the FTS signals of the Autopilots 1x. This logic is implemented at the Voting Stage, explained in detail in the Flight Termination System section of this manual.

Use this pin for an emergency device; for example the ground of a relay that activates a parachute.

FTC_VOTING_A (pin 53) and FTC_VOTING_B (pin 18) do the same function, but they have dissimilarity.

54

GPIO_8_ARB

I/O

A

Arbiter A PWM / digital I/O signal (0-3.3V)

55

GPIO_9_ARB

I/O

A

56

WD_EXT

INPUT

A

Watchdog signal from external autopilot to arbiter A (0-3.3V)

57

EXT_DETECT

INPUT

A

Connect to GND if external autopilot is connected, otherwise keep open

58

GND*

GROUND

Ground signal for GPIO

59

GPIO_0_ARB

I/O

A

Arbiter A PWM / digital I/O signal (0-3.3V)

60

GPIO_1_ARB

I/O

A

61

GPIO_2_ARB

I/O

A

62

GPIO_3_ARB

I/O

A

63

GPIO_4_ARB

I/O

A

⚠️

64

1.2: ARB_GPIO5
1.2:

I/O

A

1.2: Arbiter´s PWM/Digital Output/Digital Input signal (0-3.3V)

1.8: SEL_AP
1.8:

OUTPUT

A

1.8: CAP signal indicating the AP selected

⚠️

65

1.2: ARB_GPIO6
1.2:

I/O

A

1.2: Arbiter´s PWM/Digital Output/Digital Input signal (0-3.3V)

1.8: FTS1_OUT
1.8:

OUTPUT

A

1.8: Deadman signal from comicro

⚠️

66

1.2: ARB_GPIO7
1.2:

I/O

A

1.2: Arbiter´s PWM/Digital Output/Digital Input signal (0-3.3V)

1.8: FTS2_OUT
1.8:

OUTPUT

A

1.8: System OK bit

67

GND*

GROUND

Management Board ground

68

VCC_ARBITER

POWER

Power supply for Management Board (6.5 to 36 V)

Warning

Common grounds are marked with *.