User`s manual

AscTec Hummingbird with AutoPilot User’s Manual
4 On-Board serial interface
4.1 Physical interface
To communicate with the vehicle using the XBee link
or USB cable adapter please connect to the correct
virtual comport using the following connection set-
tings:
Baudrate: 57600
Flow control: ”Hardware” for XBee, ”None” for
USB cable adapter
Databits: 8, 1 startbit, 1 stopbit, no parity
Compass
connector
LL Serial 0
LL Serial 1/
R/C receiver
HL JTAG
HL Serial 0
HL Serial 1/
GPS
LL
HL
ADC
1
3
2
4
5
1: pressure sensor 3: yaw gyro
2: acceleration sensor 4: nick gyro
5: roll gyro
LL/HL Serial 0 (Pin 1..6):
TXD, RXD, CTS (Input), +3.3V, +6V, GND
Max. current: 300 mA!
LL
I/O
HL
I/O
HL Bootloader
Jumper
Buzzer
connector
4.2 Data protocol
4.2.1 Data output
Data structures
LL
STATUS: Status information of the low level
processor
IMU
RAWDATA: Sensor raw-values
IMU
CALCDATA: Calibrated sensor outputs and
data fusion results
CTRL
INTERNALOUT: Controller internals and
outputs before output mapping
CTRL
OUT: Controller outputs after output map-
ping
RC
Data: Data received by the R/C receiver
GPS
Data: GPS data
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