asctec research catalogue

5/20/2018 AscTec RESEARCH Catalogue

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Ascending Technologies GmbH /// Konrad-Zuse-Bogen 4 /// 82152 Krailling /// Germany

T +49 (089) 89 55 60 79 0 /// F +49 (089) 89 55 60 79 19 /// [email protected] /// www.asctec.de

RESEARCH CATALOGUE

Gregor Hartl


2/122CONTENTS

CONTENTS

Key Features 3

Flight systems 7

Onboard PCs 10


3/123KEY FEATURES

ASCTEC AUTOPILOT

AscTec AutoPilot

The AscTec AutoPilot is a precise and mul-

tifunctional research tool mounted on all

AscTec UAVs. This flight control unit contains

all necessary sensors to function as an IMU,

it also has two onboard ARM7 microproces-

sors and various communication interfaces.

There are several strategies on how the

AscTec Auto Pilo t can be uti lize d for your

research projects. It can directly interpret

the R/C data sent by the pilot and the serial

data sent from the ground PC. For automatic

missions, you can program and upload your

own control algorithms directly onto the

High Level processor of the UAV.

If more processing power is required or

additional sensors, like cameras or laser

scanners need to be connected, an ad-

ditional onboard processor is installed. Its

high performance and fast communication

enable you to handle large amounts of data

onboard. An optional WLAN module can be

integrated to exchange this data between the

additional processor and a ground PC. All

gathered data can be used for your control

algorithms and the calculated commands

can then be sent to the AscTec AutoPilot.

Gyro X

Gyro Y

Gyro Z

PressureSensor

R/CReceiver

Compass

Motor Controller

GPSUART

XBee @ 1 kHzCable @ 1 kHz

User definedprograms in C via

AscTec SDK

High Levelprocessor

IMU Data

AttitudeCommands

WaypointCommands

Direct MotorCommands

SPI @1 kHz

Direct IndividualMotor Commands

SPI @ 5 Hz

I2C @ 1 kHzI2C @ 125 Hz

Ground PC/Onboard PC

AccelerometerX, Y, Z

UARTXBee @ 15 HzCable @ 100 Hz

Sensor DataFusion

Attitude Control

Position Control

Low Levelprocessor


4/124KEY FEATURES

ASCTEC AUTOPILOT

Low Level processor

The Low Level (LL) processor handles sensor

data processing, data fusion as well as our fast

and stable attitude control algorithm with an

update rate of 1000 Hz. It also processes the

position control algorithm, using the onboard

magnetometer and GPS module as additional

sensor inputs. All AscTec UAVs can be oper-

ated by the pilot via a remote control in three

different flight modes:

GPS Mode (attitude-, height- and position-

control activated)

Height Mode (attitude- and height-control

activated)

Manual Mode (attitude-cont rol activated)

All AscTec UAVs have an emergency mode

which is automatically activated if the data link

between the UAV and the R/C of the safety

pilot is lost (range > 1 km). You can choose

between several emergency options depend-

ing on your mission.

Sensor data can be retrieved from the

LL processor via a serial interface using a

predefined serial protocol. Furthermore, the

serial interface can be used to send attitude

commands (pitch angle, roll angle, yaw rate

and thrust) or even waypoint commands to

the vehicle depending on the flight mode.

Due to the size of the data structures, update

rates of up to 15 Hz can be accomplished via

a wireless serial link (XBee, range > 1 km).

Higher update rates of up to 100 Hz can be

achieved using a serial cable connection.

Available data packages

Raw IMU data, calculated IMU data, R/C

data and GPS data can be polled from the

AscTec AutoPilot.

High Level processor

The basic concept of the AscTec AutoPilot is

to offer easy programmability, and to provide a

safety net while testing your own control algo-

rithms. Therefore you can flash the High Level

(HL) processor with your own algorithm and

let it control the flight system. To recover from

critical flight situations during your test flights,

the pilot can always switch back to the well

proven control algorithms on the LL processor

as a safety backup.

The two microprocessors communicate with

an extremely fast rate of 1000 Hz, hence all

sensor data is available to the HL processor

as well. Control commands can be sent back

to the LL processor at the same frequency,

for example the: rotational speed commands

for each individual motor, pitch/roll/yaw/thrust

commands, attitude commands or waypoint

commands.

The HL processor offers UART, SPI and IC

interfaces as well as simple port I/Os to con-

nect your own devices like additional sensors,

servo motors or extension boards. Also custom

payloads, like wireless cameras, can be powered

by a 5 V or 12 V supply of the AscTec AutoPilot.

LL HL

LL HL

Extremely fast update rates

of up to 1000 Hz

Easy programming and testing

of your own control algorithms

Well proven control algorithm

as safety backup

AscTec SDK, AscTec Simulink

Toolkit and ACI

Key Features

LL and HL processor


5/125KEY FEATURES

C-cod

e

AscTecSDK

ASCTEC SDK

AscTec HL SDK

To program the HL processor, we provide our

free software development kit (SDK).

The AscTec HL SDK 2.0 is a C-code framework

in an Eclipse environment with cross-compiler

and debugger. You can use the AscTec HL

SDK 2.0 to program your own algorithms,

sensor interfaces and communication proto-

cols in C-Code and upload your code to the

HL processor. In combination with our AscTec

JTAG you can debug your code online.

New in SDK 2.0

Several new code examples help the first time

user understand the idea and possibilities of

the AscTec SDK 2.0. Two additional control

modes were added, one lets you command

each single motor individually, and the other lets

you send waypoint commands directly from the

HL processor. For a better overview all readable

sensor data are saved in a single data struc-

ture. Together with an updated motor controller

firmware, the motor feedback is now available.

AscTec Communication Interface (ACI )

The AscTec Communication Interface (ACI)

is designed to offer an easy and fast com-

munication between a remote software and

the high level processor.

It lets you request variables, send commands

and set parameters on your AscTec UAV.

Individual motor commands

(each motor from 0-100 %)

Direct motor commands

(pitch/roll/yaw rates and thrust)

Attitude commands

(Manual-, Height- or GPS-Mode)

Waypoint commands

(position, height, heading, etc.)

Control commands

AscTec HL SDK 2.0


6/126KEY FEATURES

Simulink Tool Kit

C-code

Simu

link

C-cod

e

AscTecSDK

SIMULINK TOOLKIT

AscTec Simulink Toolkit

Matlab Simulink, the well-known system

modeling software, can now be used to

program the HL processor of our AscTec

UAVs. Therefore we offer the AscTec Simulink

Toolkit which works in cooperation with the

AscTec HL SDK 2.0. The toolki t i ncludes a

predefined onboard model to integrate your

own Simulink based control algorithms. This

model can be automatically translated into

C-code for the AscTec HL SDK 2.0. A simple

attitude control example is already imple-

mented to show you the possibilities offered

by the toolkit.

There are several predefined parameter-,

control- and debug blocks available which

can be integrated into your own control al-

gorithms. The Simulink toolkit offers a UART

communication model to monitor these debug

channels (with up to 50 Hz), as well as to

send individual control commands, both via

an XBee modem on the serial port of the HL

processor. Furthermore, you can easily update

your parameters or store them permanently

by running an M-file.

Individual motor commands

(each motor from 0-100 %)

Direct motor commands

(pitch/roll/yaw rates and thrust)

Attitude commands

(Manual-, Height- or GPS-Mode)

Control commands

AscTec Simulink Toolkit


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7ASCTEC FIREFLY

flighttime(min.

)

22

20

18

16

14

12

100 500400300200100 600

payload (g)

stiff propellers

CFK propellers

flex. propellers

THE ASCTEC FIREFLYSafety and Ease of handling

AscTec Firefly

The AscTec Firefly is the latest and most

advanced UAV in the AscTec fleet. It was

engineered for highest security and easy

handling, hence its perfect for your automatic

flight experiments.

Besides the small nonhazardous propellers

and low take-off weight, it comes with a pat-

ented redundant propulsion system, which

allows a controlled flight with only 5 rotors.

Selectable emergency modes allow difficult

flight missions.

The modular structure enables fast compo-

nent exchanges in case of a crash or modi-

fication during integration and testing. The

frame in frame concept was designed to

decouple the fixed connection of payload

and IMU from the vibration inducing motors.

This concept raises the quality of the sen-

sor and camera data and avoids dynamic

misalignments. Optional propeller types tune

the AscTec Firefly to either maximum security

or maximum performance.

LED fin indicating

system status

Min. take-off weight: 1000 g

Max. payload: 600 g

Small and safe 8 inch propellers

Redundant propulsion system

(controlled flight with only 5 motors)

Decoupled and vibration damped

unit of IMU and payload

Key Features

AscTec Firef ly

Many payload

options available

Canopy for placing

your sponsors logo


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8ASCTEC PELICAN

flighttime(min.)

35

30

25

20

15

10

50 600500400300200100 700

payload (g)

TP6000 batteryTP8000 battery

PP6100 battery

THE ASCTEC PELICANPower and Flexibility

AscTec Pelican

The well proven AscTec Pelican was designed

for maximum power combined with plenty of

room to use its complete capacity. The light

weight tower structure lets you mount diverse

payloads and easily access all electronics.

Therefore we offer high performance onboard

processors, fix or actively stabilized camera

options and precise laser scanners. You can

choose between several preset configurations,

which prepare your flight system for e.g. SLAM

or stereo vision applications.

Furthermore you can easily integrate your own

individual sensors and process the gathered

data directly onboard of the flight vehicle.

All in all this flight system is the most flexible

and powerful of the AscTec fleet.

Decide to go for our bestseller!

Plenty of room for

payload

High power propulsionsystem

Can be equipped with

cameras and LIDARS


Max. payload: 650 g

Efficient 10 inch propellers

Payload mount options below

and above propellers

Modular & flexible tower design

with easy access to all electronics

Key Features

AscTec Pel ican


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9ASCTEC HUMMINGBIRD

THE ASCTEC HUMMINGBIRDSimplicity and Agility

their control algorithms to a maximum speed

and precision.

By using several AscTec Hummingbirds at the

same time, swarm behavior and cooperation

is explored. Even art projects have discovered

this AscTec Hummingbird, letting it act in a

dance choreography or let a swarm of UAVs

simulate a virtual fireworks, as it can perform

agile maneuvers for up to 20 minutes.

AscTec Hummingb ird

The AscTec Hummingbird is our most mature

UAV designed for aggressive and fast flight

maneuvers. The robust frame and the flex-

ible propellers tolerate harder landings and

the simple structure makes it easy to repair.

Hence this flight vehicle is the perfect tool for

your research in flight control and dynamic

maneuvers.

Our customers use this labflyer for all kind

of applications. In combination with external

indoor tracking systems they use it to push Gregor Hartl

Protective aluminum

frame

Safe, flexible 8 inch

propellers


Max. payload: 200 g

Precise and agile for indoor usage

GPS for outdoor navigation

Easy to repair

Key Features

AscTec Hummingbird

Light weight and

robust structure


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10ASCTEC MASTERMIND

THE ASCTEC MASTERMIND

AscTec Mastermind

The AscTec Mastermind gives you tremendous

computation power at a reasonable size and

weight. It has been designed according to our

customers need for much more computa-

tion power. At the beginning of any research

project, regarding flying or non-flying robots,

you often need to try out as many sensors

as possible. Moreover you do not want to

spend your time optimizing your algorithms

before the proof of concept. Therefore the

AscTec Mastermind offers a huge variety of

standard interfaces. Simultaneously receive

the data of FireWire-, GigE-, USB 2.0-,

USB 3.0-devices, store it on mSATA-, SATA-,

microSD-, CFast-cards, process all information

with the high performance of an Intel Core i7

processor, and share your results via a serial

or WiFi connection.

With the AscTec Mastermind you can start

right away, without being concerned that

there could be a limit given by the board. More

features like the additional power connector,

the VGA-slot, the status display and the prein-

stalled Ubuntu Linux with all necessary drivers

for your AscTec accessories make this board

the first choice for your research application.

Maximium power and flexibility

UARTs

Ethernet

Up to Intel Core i7 processor

Interfaces: FireWire, GigE,

USB 2.0, USB 3.0

mSATA, SATA, microSD, CFast

VGA monitor output

Key Features

AscTec Mastermind

Status display

Additional power connector

High power CPU options


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11ASCTEC ATOMBOARD

THE ASCTEC ATOMBOARD

AscTec Atomboard

The AscTec Atomboard was designed as the

worldwide smallest breakout board carrying

an Intel Atom processor. It integrates the high

performance of an x86-technology computer

into your research platform. The small weight

guarantees the outstanding flight performance

of your AscTec UAV and the reliability and

power was proven in quite a few university

competitions. The preinstalled Ubuntu Linux

is ready set up and lets you work onboard

of the flight system as on your PC.

By communicating with the AscTec Autopilot,

IMU data can be included into your algorithms

and high level commands can be sent to

the flight system. The CoreExpress carrier

board, which comes with a great number

of USB 2.0 ports, lets you simultaneously

connect several devices and process their

data stream during your flight missions. In

combination with our lightweight accessories

and your know-how it enables the UAV to

perform automatic flight missions, like

SLAM or cooperating in a swarm of UAVs.

The AscTec Atomboard is the perfect choice

if you look for an x86-technology computer

packed into a minimum form factor.

Minimum size and weight

Gross weight: 90 g

Intel Atom 1.6 GHz processor

Interfaces: 6 x USB 2.0,

2 x UART

1 x Mini PCI Express slot

1 x Micro SD card slot

LVDS graphics port

Key Features

AscTec Atomboard

x86-technology

High computing power

Low power consumption


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RESEARCH

May 2013 version 1.1

asctec research catalogue

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