4x Redundant Autopilot

Mission configuration - Reference Patch

4x Redundant Autopilot

Introducction

4xVeronte Autopilot is a triple redundant version of the Veronte Autopilot. It includes three complete Veronte Autopilot modules together with a dissimilar arbiter for detecting system failures and selecting the module in charge of the control. The autopilot selected as the master will be the one controlling the actuators and communicating with the payloads.

Each Veronte autopilot contains all the electronics and sensors in order to properly execute all the functions needed to control the UAV. Veronte executes in real time all the guidance, navigation and control algorithms for the carrying airframe, acting on the control surfaces and propulsion system and processing the signals from different sensors: accelerometers, gyroscopes, magnetometer, static pressure, dynamic pressure, GNSS and external sensors.

All three modules are managed by a dissimilar microprocessor. This arbiter includes voting algorithms for managing the module in charge of vehicle control. This microprocessor compares data from all modules in real time and processes it for discarding any autopilot module showing an undesired performance.

Setup

CAN bus

4xVeronte Autopilot includes three complete Veronte Autopilot modules that have to be configured independtly in order to work porperly. 4xVeronte Autopilot is compatible with all configuration files from Veronte Autopilot. The communication channel between Veronte Autopilots modules and arbitrer is done by using CAN bus so in order to start arbitring, Veronte Autopilots modules have to send the following information.

Configuration

Value

Baudrate

1 Mbps

Endianess

Little endian

Each Veronte shall send using its CAN-TX ID and in little endian format.

Variable value message:

Byte0

0

Telemetry message

Byte1

variable id

Variable id sent (0 to 127)

Byte2-5

variable value

Variable value as Float (32 bits)

Status message:

Byte0

0

Telemetry message

Byte1

0xFF

Status flag

Byte3

bit0

1:Ready, 0:Not ready

bit7-1

Reserved

By default the arbiter will send the following CAN messages.

Variable value message:

Byte0

0

Telemetry message

Byte1

N, Autopilot id

Autopilot [0, 3]

Byte2-5

value

Autopilot score as Float(32 bits)

Status message:

Byte0

0

Telemetry message

Byte1

0xFF

Status flag

Byte3

bit6-0

Selected autopilot

bit7

Arbitrating 0:false, 1:true

Byte4

bit0

AP0 Alive

bit1

AP1 Alive

bit2

AP2 Alive

bit3

AP3 Alive (external)

bit4

AP0 Ready

bit5

AP1 Ready

bit6

AP2 Ready

bit7

AP3 Ready (external)

Byte5

bit0

system ok

bit1

start

bit2

pdi

bit3

memory alloc

bit4

cana bus on

bit5

canb bus on

bit6

Reserved

bit7

Reserved

Byte6

bit0

system ok

bit1

Vcc A

bit2

Vcc B

bit3

Vcc arb

bit4

Vcc1

bit5

Vcc2

bit6

Vcc3

bit7

Reserved

Control

One modification has to be implemented in order to have smooth transition between Veronte Autopilots modules. This modification involves sending the control outputs of Veronte Autopilots modules to the rest of autopilots so it is considered in the transition. The user can refer to the configuration examples for this implementation.