[Paparazzi-devel] new board

[nisma]

Controller board with 
 3xgyro(6adc,
optional)/3d-accelerometer(3adc)/2xpressure(2adc)/voltage(2adc)
using the dsPIC30F5011.
The developement SW is available for free (C compiler) and the micro
features one 12 bit adc. Using a range of 3.3V, this allows a dynamic
range of 200 or 100 degr/sec for the gyroscope using respective 300 or 150
deg/sec gyros.

The analog 3.3V and 5V is regulated with OP´s scaling the 2.5V reference
by a factor of two and routing the voltage trought a transistor in order to
get a 4.8V output and clamping the resulting voltage with 2 diodes
to 3.4V (si diodes). For the gyros, the 7v input voltage is doubled
externally, stabilized and applied to the gyros directly. 
This allows to place the gyro to sleep
between the readings allowing a reduced power consumation.

The main idea is to have a coprocessor, that handles all the communication
interface (gps, mmc, servo, sensors) and is connected as slave to a
spi interface (max 5MHZ clock rate). 
The main MCU (arm, avr, ... ) is connected trought spi and query every
(preprocessed) sensor data, makes some routing decision and command
the coprocessor.

>From the controller point of view, the idea is to use the gyro/accelerometer
as reference (100 HZ) and to reset it every (0.25HZ)
with a new gps coordinate. Further, the gps acceleration is used to
exactly divide the gravity and acceleration for the accelerometers
improvering at the same time the gyro performance.

When using dgps, the algorithm position estimation algorithm should
additionally recalibrate automatically the gyros in the same way the
gps recalibrate it´s internal clock for temperature compensations.


If someone will join in order to influence the specifications,
 please write a mail. As you can see, this design is not suited for
using the cheap thermopiles (5Euro/piece). Instead it´s should be a 
platform for a pure gyro stabilized airplain.


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