AP50驾驶仪技术手册

AP50
Rev 040509
1.
2.
3.
AP50 _ 2004. 05
www.uavstar.com
J1
4
4
5
6
6
7
7
FP
FP
FP
FP
9
10
12
15
PID
18
PID
PID
PID
PID
18
19
20
21
24
25
26
27
29
PID
29
31
PID
PID
PID
PID
PID
PID
PID
33
38
40
42
44
46
47
50
50
51
51
52
MP
55
MP
MP
MP
55
56
57
59
62
63
63
64
65
66
66
67
70
71
71
71
AP50 _ 2004. 05
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AP50
z
z
z
z
z
z
z
z
z
z
z
z
z
GPS 45
6 120 15 GPS
GPS
PID
UAVRPV_RCRPV_RF PIC
24
6 8 4
6
A / D
AP50 MP
FP RC
19
1404825
45 GPS
5.3~8.0 VDC@ 120

-20 +70
4 G
100 G
250 /
1275 /
5100
AP50 _ 2004. 05
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GPS
FP
7 GxGy
FP
Setup Menu T
PPM PCM
5 V ( 30 )
CH 1 ()
CH 2 ()
CH 3 ()
CH 4 ()
CH 5 ()
7 CH 5
CH 5 ()
7
30
CH1
AP50 _ 2004. 05
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J1
J1
(6 VDC@120 )
10
11
12
13
14
15
16
17
18
19
20
S6
21
S7
22
S8
23
MP , RS-232
24
FP , RS-232
25
RS-232
26
RS-232
27
MP , RS-232
28
FP , RS-232
29
GCS , TTL
30
GCS , TTL
31
+5 , 50
32
33
()
34
()
35
C1TTL
36
C2TTL
37
C3TTL
38
()
39
A/D 1
40
A/D 2
40
1 2 6
5 4 5
5 P5 P4
P4
AP50 _ 2004. 05
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AP50 PICRC RPV_RC
RC RPV_RF
UAV
PIC
PIC
RPV_RC RC RC
RC RC
RPV RPV
MP MP
UAV RC UAV
RPV_RF GCS
GCS
RC UAV
RC UAV
AP50 _ 2004. 05
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GPS GPS 3D PIC

GPS
RC RC
RPV_RC UAV
FP MP RS-232 9
Windows
19.2 K 8 1
VT100
AP50 _ 2004. 05
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FP
FP RS-232
FP
Flight Processor AP50_040122

Step
PRY trims (C)
PRY gyros
0
64 71 65
034
Step
PRY trims (F)
0
128 128 128
1
128 133 135
Gyro Trim OK
Step
0
AS trim (C)
91
PRY gyros
034
011
AS
28
Step
AS trim (F)
AS
0
128
2
1
110
18
2
108
20
Airspeed Trim 20 OK
Final check OK
Ready - wait for PIC, Op or Fix ... OPERATOR
Final check OK
Good to go
Launch immediate
GPS GPS
AP50 3D
GPS
AP50 _ 2004. 05
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FP
FP
Main
---(P)arameters
(L)og data readout
(S)etup
(R)eport 1-4=servo, 5=pitch, 6=roll, 7=inst, 8=RC, 9=RPV, 10=all
(X) exit
P PID
L
ASCII
Microsoft Excel
S FP
R 1~10 X FP
AP50 _ 2004. 05
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FP
ST
DR
R
Ire
Rdt
S4
S5
S1
ST
DP
P
Ipe
Pdt
DS
S
Ise
Sdt
|R|
C
S2
Throt state
DA
Alt
Iate
Adt
S3
ST
DTR
TR
Itre
TRdt
S1
S4
ST
DS
S
Ise
DA
Iape
Adt
DP
ST
Brg
Ibe
Bdt
DR
AP50 _ 2004. 05
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10
8 RC
ST
Pdt
Rdt
Ydt
Gx
Gy
P
R
GS
Pitot
AS
Alt
RC / CIC
RC / Tx on / off
RC CH1CIC S1
RC CH2CIC S2
RC CH3CIC S3
RC CH4CIC S4
10
ST
RC / CIC
Brg
DR
P
DP
S
DAS
Alt
DA
ST
FP
MP
11 GPS
12
Gnd Spd
Alt
Brg
TR
Bad msg
qty
Pdt
Rdt
Ydt
TR
Spd
Roll
AP50 _ 2004. 05
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11
FP
FP S FP
Setups
-----(M)ixer, 1=EA, 2=FA, 3=ER
(R)everse servos
(T)rim Gx, Gy
(P)itot cal factor
(G)round / airspeed
(A)rm engine before takeoff
(S)tate
(I)nitialize all data
(X) exit
0
0 Rev
17 0
65
AIR speed
NOT enabled
1
M
V
1
2
4
--
--
-- V
AP50 _ 2004. 05
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12
R
RC

S6
S7
S8
1
2
4
8
16
32
64
128
4
9
GPS
= / ^2
^2
AP50 _ 2004. 05
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13
G
GPS GPS
z
z
250 /
250 / SE
5
A
PIC
S FP
FP
3
Loit Cruz Dash
I FP
AP50 _ 2004. 05
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14
FP
Setups
-----(M)ixer, 1=EA, 2=FA, 3=ER
(R)everse servos
(T)rim Gx, Gy
(P)itot cal factor
(G)round / airspeed
(A)rm engine before takeoff
(S)tate
(X) exit
0
0 Rev
17 0
65
AIR speed
NOT enabled
1
Mixer = 0
Reverse servos = 0 Rev
z
RC
RC
RC F/S
7CH 5
CH 5
PIC
UAV
UAV
RPV_RC
0.8 to 1.25 mS
1.25 to 1.75 mS
1.75 to 2.2 mS
CH 5
PIC RPV_RC RC
UAV
AP50 _ 2004. 05
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15
RC CH5
RC UAV
PIC RPV_RC UAV
RC
z
MP RS-232 0 0 0.
MP R8Enter X 8
ASCII
ASCII
RC 8 RCRPV_RC
UAV RC UAV
WP 1
WP 1
WP 1
WP 1
Fly
Fly
Fly
Fly
UAV
RC
RPVRC
UAV
Leg trk
Leg trk
Leg trk
Leg trk
180
180
180
180
RC ATV
RC
RC
1.25~1.75 ms UAV PIC
RC F/S
z
FP RS-232 Fix.
FP R8Enter X 8
CIC
TX off
S1
S2
-3
S3
50
S4
RC PIC
RC 8 CH1CH2CH3 CH4
PIC
TX on
CH1
100
CH2
100
CH3
100
CH4
100
RC
AP50 _ 2004. 05
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16
RC RC
FP (R)everse Servos
1
2
4
8
16
32
64
128
z

S6
S7
S8
RC RC
FP Mixer
1
2
3
RC
AP50 _ 2004. 05
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17
PID
PID
PID
PI + + -> +
PI + PID + +
PI + P + + +
PID + + ->
PID + /
PID + PID + +
PID
+
+
+ +
-> + +
-> + +
-> +
+-> + +
AP50 _ 2004. 05
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18
PID
P / 10 + 1 / I +
D / 10
P AESEPERETREHERgyro Pgyro
I Time
D AdtSdtTREdtHdt

dt
d / dt
P 0
D 0
I 1
P D 10
P D 100
30 /
4 /
1 /
+ / 100
+ / 100
50%
AP50 _ 2004. 05
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19
PID
+PI
+
1 / I
1 / I
+
++PID
++
PID
/ / /
/
PID
AP50 _ 2004. 05
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20
PID
PID
= / 10 100
RE / 10
PE / 10
SE / 10
AE / 10
SE / 10
TRE / 10
HE / 100
SE / 100
AE / 100
*/
*
*
+/-100
+/-100
+/-100
+/-100
+/-100
+/-100
+/-100
+/-100
+/-100
AP50 _ 2004. 05
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21
I
1 / I
= 1 / I dt
PE Time=10
10 *
10
10
10
10
18
1.8
10
3.6
6.4
24.4
2.44
10
4.9
5.1
29.5
2.95
10
5.9
4.1
33.6
3.36
10
6.7
3.3
36.9
3.69
10
7.4
2.6
39.5
3.95
10
7.9
2.1
41.6
4.16
10
8.3
1.7
43.3
4.33
10
10
8.7
1.3
44.6
4.46
11
10
9.0
1.0
45.6
4.56
12
10
9.2
0.8
46.4
4.64
13
10
9.3
0.7
47.1
4.71
14
10
9.4
0.6
47.7
4.77
60
50
40
30
20
10
0
1
10
11
12 13
14
AP50 _ 2004. 05
15 16
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22

1 / I
1 / I
Adt
= Adt / 10d /dt
d /dt
Adt=10 = 0.1d /dt

/
1
2
5
10
*
0.1
0.2
0.5
1.0
Adt=30 = 0.3d /dt

/
1
2
5
10
*
0.3
0.6
1.5
3.0
AP50 _ 2004. 05
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23
TR
DTR
PID
TRE
MP
DH
HE
PID
RE
DR
Hdg
PI
R
GPS
DH
DTR
DR
Hdg
TR
HE
TRE
RE
PI
PID
AP50 _ 2004. 05
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24
PID PID PI
PID
Spd
GPS
DS
SE
PID
MP
DA
AE
DP
PI
PID
PE
Alt
GPS
DS
DA
DP
Spd
Alt
SE
AE
PE
PID
PID
AP50
AP50 _ 2004. 05
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25
PI P
Alt
GPS
DA
AE

PI
MP
DS
SE
Spd
GPS
DA
DS
Alt
Spd
AE
SE
PI
Manv
P
Manv
AP50 _ 2004. 05
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26
AP50 PID PI
PID
PID
PI
Spd
GPS
MP
DS
SE
PID
DS
Spd
SE
PID
| Roll |
AP50 _ 2004. 05
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27
AP50
RPV
RPV
RC
RC
GPS
GPS
Pitch Loop
State Boundary
PID
SE Time Sdt
PID
AE Time Adt
Pmax Pmin
X
Gx
Const
PID
SE Time Sdt
Pgyro
PI
PE Time
Ygyro
Const
|Roll|
Y
Gy
Elevator Loop
RC
RC
Mixer=4
Mixer=1
Servo S2
Elevator
AP50 _ 2004. 05
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28

FP P
Parameters
(A)ilerons & Flaps
(E)levator
(T)hrottle
(R)udder
(P)itch
(B)ank
(S)tate boundaries
(X)exit
S
State boundaries
1
AS
1 Accl
20
2 Iclm
30
3 Loit
35
4 Cruz
45
5 Dash
65
6 Land
25
2
Alt
50
150
0
0
0
100
Accl Iclm Loit Cruz Dash Land

AS
Loit Cruz Dash

Accl Iclm Land
Accl
AS Alt AS 20km/h
Alt 50
AP50 _ 2004. 05
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29
Iclm
AS 30km/h
Alt 150
AS
LoitCruz Dash
AS AS 35km/h
45km/h
65km/h
Land
AS
Alt
UAV RPV_RC
Alt
30 130
RPV_RC UAV
100 PIC
FP MP 5 km/h
5
AP50 _ 2004. 05
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30
PID
Ailerons as function of Roll Error/10 and flaps as function of state

1
2
3
4
RE
Time
Rgyro
R->A
1 Accl
0
1
0
0
2 Iclm
0
1
0
3
3 Loit
0
1
0
3
4 Cruz
0
1
0
3
5 Dash
0
1
0
3
6 Land
0
1
0
3
5
Flaps
-100
50
0
0
0
100
RE
RE
Time
Time Time
Rgyro Rgyro
Rgyro
R->A RPV UAV
PIC R->A=10 1 : 1
A->R
Flaps
50%
z
Bank
Max
PI RE Time
AP50 _ 2004. 05
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31
PI
RE
10
20
30
40
0.5
1.0
1.5
2.0
2.5
3.0
3.5
4.0
4.5
5.0
10.0
15.0
20.0
10
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
10.0
20.0
30.0
40.0
20
2.0
4.0
6.0
8.0
10.0
12.0
14.0
16.0
18.0
20.0
40.0
60.0
80.0
30
3.0
6.0
9.0
12.0
15.0
18.0
21.0
24.0
27.0
30.0
60.0
90.0
100
40
4.0
8.0
12.0
16.0
20.0
24.0
28.0
32.0
36.0
40.0
80.0
100
100
50
5.0
10.0
15.0
20.0
25.0
30.0
35.0
40.0
45.0
50.0
100
100
100
60
6.0
12.0
18.0
24.0
30.0
36.0
42.0
48.0
54.0
60.0
100
100
100
70
7.0
14.0
21.0
28.0
35.0
42.0
49.0
56.0
63.0
70.0
100
100
100
80
8.0
16.0
24.0
32.0
40.0
48.0
56.0
64.0
72.0
80.0
100
100
100
90
9.0
18.0
27.0
36.0
45.0
54.0
63.0
72.0
81.0
90.0
100
100
100
PI
Time
10
20
30
40
0.5
1.0
1.5
2.0
2.5
3.0
3.5
4.0
4.5
5.0
10.0
15.0
20.0
0.33
0.67
1.0
1.33
1.67
2.0
2.33
2.67
3.0
3.3
6.67
10.0
13.33
0.25
0.5
0.75
1.0
1.25
1.5
1.75
2.0
2.25
2.5
5.0
7.5
10.0
0.2
0.4
0.6
0.8
1.0
1.2
1.4
1.6
1.8
2.0
4.0
6.0
8.0
0.17
0.33
0.5
0.67
0.83
1.0
1.17
1.33
1.5
1.67
3.33
5.0
6.67
0.14
0.29
0.43
0.57
0.71
0.86
1.0
1.14
1.29
1.43
2.86
4.29
5.71
0.13
0.25
0.38
0.5
0.63
0.75
0.88
1.0
1.13
1.25
2.5
3.75
5.0
0.11
0.22
0.33
0.44
0.56
0.67
0.78
0.89
1.0
1.11
2.22
3.33
4.44
10
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1.0
2.0
3.0
4.0
Max 20 RE 10Time 10
20+2=22 RE 20Time 10
40+2=42
AP50 _ 2004. 05
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32
PID
Elevator as function of Pitch Error/10 and Speed Error/10

1
2
3
4
5
PE
Time
P gyro
SE
Time
1 Accl
0
1
0
0
0
2 Iclm
0
1
0
0
100
3 Loit
0
1
0
5
100
4 Cruz
0
1
0
5
100
5 Dash 0
1
0
5
100
6 Land
0
1
0
5
100
6
S dt
0
10
10
10
10
10
7
|Roll|
0
0
0
0
0
0
8
Const
0
0
0
0
0
0
PE PE
Time(2)
Time Time
Pgyro Pgyro
Pgyro
SE
SE
Time(5)
Time Time
Sdt
15 kmp /
|Roll|
Roll Roll = 10 10
AP50 _ 2004. 05
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33
Const
PI
PID
PI PID
PID SETime5 S dt
PI PE Time2
AP50 _ 2004. 05
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34
PID
/
SE
10
15
20
30
40
50
0.4
1.0
1.6
2.0
3.0
4.0
6.0
8.0
10.0
1.0
2.5
4.0
5.0
7.5
10.0
15.0
20.0
25.0
1.6
4.0
6.4
8.0
12.0
16.0
24.0
32.0
40.0
10
2.0
5.0
8.0
10.0
15.0
20.0
30.0
40.0
50.0
15
3.0
7.5
12.0
15.0
22.5
30.0
45.0
60.0
75.0
20
4.0
10.0
16.0
20.0
30.0
40.0
60.0
80.0
100
25
5.0
12.5
20.0
25.0
37.5
50.0
75.0
100
100
PID
/
Time
10
15
20
30
40
50
0.4
1.0
1.6
2.0
3.0
4.0
6.0
8.0
10.0
10
0.2
0.5
0.8
1.0
1.5
2.0
3.0
4.0
5.0
15
0.13
0.33
0.53
0.67
1.0
1.33
2.0
2.67
3.33
20
0.1
0.25
0.4
0.5
0.75
1.0
1.5
2.0
2.5
25
0.08
0.2
0.32
0.4
0.6
0.8
1.2
1.6
2.0
30
0.07
0.17
0.27
0.33
0.5
0.67
1.0
1.33
1.67
35
0.06
0.14
0.23
0.29
0.43
0.57
0.86
1.14
1.43
40
0.05
0.13
0.2
0.25
0.38
0.5
0.75
1.0
1.25
50
0.04
0.1
0.16
0.2
0.3
0.4
0.6
0.8
1.0
60
0.03
0.08
0.13
0.17
0.25
0.33
0.5
0.67
0.83
70
0.03
0.07
0.11
0.14
0.21
0.29
0.43
0.57
0.71
80
0.03
0.06
0.1
0.13
0.19
0.25
0.38
0.5
0.63
90
0.02
0.06
0.09
0.11
0.17
0.22
0.33
0.44
0.56
100
0.02
0.05
0.08
0.1
0.15
0.2
0.3
0.4
0.5
10 / SE 5Time 40
5+0.25=5.25 SE 10Time 2010+0.5=10.5
AP50 _ 2004. 05
www.uavstar.com
35
PID
/
Sdt
10
15
20
0.5
1.0
1.5
2.0
2.5
3.0
4.0
5.0
7.5
10.0
10
1.0
2.0
3.0
4.0
5.0
6.0
8.0
10.0
15.0
20.0
15
1.5
3.0
4.5
6.0
7.5
9.0
12.0
15.0
22.5
30.0
20
2.0
4.0
6.0
8.0
10.0
12.0
16.0
20.0
30.0
40.0
25
1.5
5.0
7.5
10.0
12.5
15.0
20.0
25.0
37.5
50.0
30
3.0
6.0
9.0
12.0
15.0
18.0
24.0
30.0
45.0
60.0
Sdt 20 5 / 10
PI
PE
10
0.5
1.0
1.5
2.0
2.5
3.0
3.5
4.0
4.5
5.0
10
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
10.0
20
2.0
4.0
6.0
8.0
10.0
12.0
14.0
16.0
18.0
20.0
30
3.0
6.0
9.0
12.0
15.0
18.0
21.0
24.0
27.0
30.0
40
4.0
8.0
12.0
16.0
20.0
24.0
28.0
32.0
36.0
40.0
50
5.0
10.0
15.0
20.0
25.0
30.0
35.0
40.0
45.0
50.0
60
6.0
12.0
18.0
24.0
30.0
36.0
42.0
48.0
54.0
60.0
70
7.0
14.0
21.0
28.0
35.0
42.0
49.0
56.0
63.0
70.0
80
8.0
16.0
24.0
32.0
40.0
48.0
56.0
64.0
72.0
80.0
90
9.0
18.0
27.0
36.0
45.0
54.0
63.0
72.0
81.0
90.0
100
10.0
20.0
30.0
40.0
50.0
60.0
70.0
80.0
90.0
100
120
12.0
24.0
36.0
48.0
60.0
72.0
84.0
96.0
100
100
140
14.0
28.0
42.0
56.0
70.0
84.0
98.0
100
100
100
PI
Time
10
0.5
1.0
1.5
2.0
2.5
3.0
3.5
4.0
4.5
5.0
0.33
0.67
1.0
1.33
1.67
2.0
2.33
2.67
3.0
3.3
0.25
0.5
0.75
1.0
1.25
1.5
1.75
2.0
2.25
2.5
0.2
0.4
0.6
0.8
1.0
1.2
1.4
1.6
1.8
2.0
0.17
0.33
0.5
0.67
0.83
1.0
1.17
1.33
1.5
1.67
0.14
0.29
0.43
0.57
0.71
0.86
1.0
1.14
1.29
1.43
0.13
0.25
0.38
0.5
0.63
0.75
0.88
1.0
1.13
1.25
0.11
0.22
0.33
0.44
0.56
0.67
0.78
0.89
1.0
1.11
10
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1.0
AP50 _ 2004. 05
www.uavstar.com
36

Pmax 5 PE 20Time 10
10+0.5=10.5 PE 40Time 10
20+0.5=20.5
/
|Roll|
10
20
30
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1.0
2.0
3.0
0.2
0.4
0.6
0.8
1.0
1.2
1.4
1.6
1.8
2.0
4.0
6.0
0.3
0.6
0.9
1.2
1.5
1.8
2.1
2.4
2.7
3.0
6.0
9.0
0.4
0.8
1.2
1.6
2.0
2.4
2.8
3.2
3.6
4.0
8.0
12.0
0.5
1.0
1.5
2.0
2.5
3.0
3.5
4.0
4.5
5.0
10.0
15.0
0.6
1.2
1.8
2.4
3.0
3.6
4.2
4.8
5.4
6.0
12.0
18.0
0.7
1.4
2.1
2.8
3.5
4.2
4.9
5.6
6.3
7.0
14.0
21.0
0.8
1.6
2.4
3.2
4.0
4.8
5.6
6.4
7.2
8.0
16.0
24.0
0.9
1.8
2.7
3.6
4.5
5.4
6.3
7.2
8.1
9.0
18.0
27.0
10
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
10.0
20.0
30.0
20
2.0
4.0
6.0
8.0
10.0
12.0
14.0
16.0
18.0
20.0
40.0
60.0
Max 10|Roll| 3
3
Max 20|Roll| 5
10
AP50 _ 2004. 05
www.uavstar.com
37
PID
FP
z
z
z
z
z
FP / Setup Menu / State = 3

FP / Setup Menu / Ground / airspeed = AIR speed
FP / Parameters / State boundaries / Loit / AS = 0
FP / Parameters / State boundaries / Cruz / AS = 0
FP / Parameters / State boundaries / Dash / AS = 30
PID
1.
SE = 20
5 Dash
PE
0
Time
1
Pgyro
0
SE
20
Time
1
Sdt
0
|Roll|
0
Const
0
X FP R->2->Enter->X
Enter SE
2.
Time = 50
5 Dash
PE
0
Time
1
Pgyro
0
SE
0
Time
50
Sdt
0
|Roll|
0
Const
0
50%
Enter Time
3.
Sdt = 20
5 Dash
PE
0
Time
1
Pgyro
0
SE
0
Time
1
Sdt
20
|Roll|
0
Const
0
AP50 _ 2004. 05
www.uavstar.com
38
4.
Pgyro = 10
5 Dash
PE
0
Time
1
Pgyro
10
SE
0
Time
1
Sdt
0
|Roll|
0
Const
0
5.
|Roll| = 10
5 Dash
PE
0
Time
1
Pgyro
0
SE
0
Time
1
Sdt
0
|Roll|
10
Const
0
|Roll|
6.
Const = 20
5 Dash
PE
0
Time
1
Pgyro
0
SE
0
Time
1
Sdt
0
|Roll|
0
Const
20
20 20%
PID
AP50 _ 2004. 05
www.uavstar.com
39
PID
Const
PI P
Throttle as function of Altitude Error/10
1
2
3
AE
Time
SE
1 Accl
0
1
0
2 Iclm
0
1
0
3 Loit
2
50
0
4 Cruz
0
1
0
5 Dash
0
1
0
6 Land
0
1
0
4
Manv
0
0
0
0
0
0
5
Const
0
0
0
0
0
0
6
Max
100
100
100
100
100
-80
7
Min
100
100
-50
-50
-50
-80
AE AE
AE
Time
Time Time
SE SE
SE
Manv
Const
Min
Max
ConstMin Max
PI P
AP50 _ 2004. 05
www.uavstar.com
40
PI
AE
10
15
20
25
30
35
40
45
50
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
10.0
2.5
5.0
7.5
10.0
12.5
15.0
17.5
20.0
22.5
25.0
10
5.0
10.0
15.0
20.0
25.0
30.0
35.0
40.0
45.0
50.0
15
7.5
15.0
22.5
30.0
37.5
45.0
52.5
60.0
67.5
75.0
20
10.0
20.0
30.0
40.0
50.0
60.0
70.0
80.0
90.0
100
25
12.5
25.0
37.5
50.0
62.5
75.0
87.5
100
100
100
30
15.0
30.0
45.0
60.0
75.0
90.0
100
100
100
100
P
/
SE
10
15
20
30
40
50
0.4
1.0
1.6
2.0
3.0
4.0
6.0
8.0
10.0
1.0
2.5
4.0
5.0
7.5
10.0
15.0
20.0
25.0
1.6
4.0
6.4
8.0
12.0
16.0
24.0
32.0
40.0
10
2.0
5.0
8.0
10.0
15.0
20.0
30.0
40.0
50.0
15
3.0
7.5
12.0
15.0
22.5
30.0
45.0
60.0
75.0
20
4.0
10.0
16.0
20.0
30.0
40.0
60.0
80.0
100
25
5.0
12.5
20.0
25.0
37.5
50.0
75.0
100
100
PI
Time
10
15
20
30
40
50
0.4
1.0
1.6
2.0
3.0
4.0
6.0
8.0
10.0
10
0.2
0.5
0.8
1.0
1.5
2.0
3.0
4.0
5.0
15
0.13
0.33
0.53
0.67
1.0
1.33
2.0
2.67
3.33
20
0.1
0.25
0.4
0.5
0.75
1.0
1.5
2.0
2.5
25
0.08
0.2
0.32
0.4
0.6
0.8
1.2
1.6
2.0
30
0.07
0.17
0.27
0.33
0.5
0.67
1.0
1.33
1.67
35
0.06
0.14
0.23
0.29
0.43
0.57
0.86
1.14
1.43
40
0.05
0.13
0.2
0.25
0.38
0.5
0.75
1.0
1.25
50
0.04
0.1
0.16
0.2
0.3
0.4
0.6
0.8
1.0
60
0.03
0.08
0.13
0.17
0.25
0.33
0.5
0.67
0.83
70
0.03
0.07
0.11
0.14
0.21
0.29
0.43
0.57
0.71
80
0.03
0.06
0.1
0.13
0.19
0.25
0.38
0.5
0.63
90
0.02
0.06
0.09
0.11
0.17
0.22
0.33
0.44
0.56
100
0.02
0.05
0.08
0.1
0.15
0.2
0.3
0.4
0.5
AP50 _ 2004. 05
www.uavstar.com
41
PID
Rudder as a function of Turn Rate Error/10

1
2
TRE
Time
1 Accl
0
1
2 Iclm
10
30
3 Loit
10
30
4 Cruz
10
30
5 Dash
10
30
6 Land
10
30
3
TRE dt
0
20
20
20
20
20
4
A->R
0
0
0
0
0
0
TRE
TRE TRE
Time
Time Time
TREdt
TREdt TREdt
A->R RPV UAV

PIC
A->R =10 1 : 1
R->A
Bank
Max
PID
AP50 _ 2004. 05
www.uavstar.com
42
PID
/
TRE
10
15
20
25
30
0.4
1.0
1.6
2.0
3.0
4.0
5.0
6.0
1.0
2.5
4.0
5.0
7.5
10.0
12.5
15.0
10
2.0
5.0
8.0
10.0
15.0
20.0
25.0
30.0
15
3.0
7.5
12.0
15.0
22.5
30.0
37.5
45.0
20
4.0
10.0
16.0
20.0
30.0
40.0
50.0
60.0
25
5.0
12.5
20.0
25.0
37.5
50.0
62.5
75.0
30
6.0
15.0
24.0
30.0
45.0
60.0
75.0
90.0
PID
/
Time
10
15
20
25
30
0.4
1.0
1.6
2.0
3.0
4.0
5.0
6.0
10
0.2
0.5
0.8
1.0
1.5
2.0
2.5
3.0
15
0.13
0.33
0.53
0.67
1.0
1.33
1.67
2.0
20
0.1
0.25
0.4
0.5
0.75
1.0
1.25
1.5
25
0.08
0.2
0.32
0.4
0.6
0.8
1.0
1.2
30
0.07
0.17
0.27
0.33
0.5
0.67
0.83
1.0
35
0.06
0.14
0.23
0.29
0.43
0.57
0.71
0.86
40
0.05
0.13
0.2
0.25
0.38
0.5
0.63
0.75
50
0.04
0.1
0.16
0.2
0.3
0.4
0.5
0.6
60
0.03
0.08
0.13
0.17
0.25
0.33
0.42
0.5
70
0.03
0.07
0.11
0.14
0.21
0.29
0.36
0.43
80
0.03
0.06
0.1
0.13
0.19
0.25
0.31
0.38
90
0.02
0.06
0.09
0.11
0.17
0.22
0.28
0.33
100
0.02
0.05
0.08
0.1
0.15
0.2
0.25
0.3
PID
/
TRdt
10
15
20
0.5
1.0
1.5
2.0
2.5
3.0
4.0
5.0
7.5
10.0
10
1.0
2.0
3.0
4.0
5.0
6.0
8.0
10.0
15.0
20.0
15
1.5
3.0
4.5
6.0
7.5
9.0
12.0
15.0
22.5
30.0
20
2.0
4.0
6.0
8.0
10.0
12.0
16.0
20.0
30.0
40.0
25
1.5
5.0
7.5
10.0
12.5
15.0
20.0
25.0
37.5
50.0
30
3.0
6.0
9.0
12.0
15.0
18.0
24.0
30.0
45.0
60.0
AP50 _ 2004. 05
www.uavstar.com
43
PID
GPS
PID Max
Desired Roll or Desired Turn Rate as function of Heading Error/100

1
2
3
HE
Time
H dt
1 Accl
0
1
0
2 Iclm
20
500
20
3 Loit
20
500
20
4 Cruz
20
500
20
5 Dash
20
500
20
6 Land
20
500
20
4
Max
0
10
10
10
10
10
HE
HE
Time Time
Time
Hdt
Max 30
30 30
AP50 _ 2004. 05
www.uavstar.com
44
PID
HE
10
20
30
40
50
60
80
90
180
0.25
0.5
1.0
1.5
2.0
2.5
3.0
4.0
4.5
9.0
10
0.5
1.0
2.0
3.0
4.0
5.0
6.0
8.0
9.0
18.0
15
0.75
1.5
3.0
4.5
6.0
7.5
9.0
12.0
13.5
27.0
20
1.0
2.0
4.0
6.0
8.0
10.0
12.0
16.0
18.0
36.0
25
1.25
2.5
5.0
7.5
10.0
12.5
15.0
20.0
22.5
45.0
30
1.5
3.0
6.0
9.0
12.0
15.0
18.0
24.0
27.0
54.0
PID
Time
10
15
20
25
30
100
0.05
0.1
0.15
0.2
0.25
0.3
150
0.03
0.07
0.1
0.13
0.17
0.2
200
0.03
0.05
0.08
0.1
0.13
0.15
250
0.02
0.04
0.06
0.08
0.10
0.12
300
0.02
0.03
0.05
0.07
0.08
0.1
350
0.01
0.03
0.04
0.06
0.07
0.09
400
0.01
0.03
0.04
0.05
0.06
0.08
500
0.01
0.02
0.03
0.04
0.05
0.06
PID
/
Hdt
10
15
20
0.5
1.0
1.5
2.0
2.5
3.0
4.0
5.0
7.5
10.0
10
1.0
2.0
3.0
4.0
5.0
6.0
8.0
10.0
15.0
20.0
15
1.5
3.0
4.5
6.0
7.5
9.0
12.0
15.0
22.5
30.0
20
2.0
4.0
6.0
8.0
10.0
12.0
16.0
20.0
30.0
40.0
25
1.5
5.0
7.5
10.0
12.5
15.0
20.0
25.0
37.5
50.0
30
3.0
6.0
9.0
12.0
15.0
18.0
24.0
30.0
45.0
60.0
AP50 _ 2004. 05
www.uavstar.com
45
PID
1
FP / Parameters / Rudder / Dash / TRE = 10
FP / Parameters / Rudder / Dash / Time = 1
FP / Parameters / Rudder / Dash / TREdt = 0
FP / Parameters / Bank / Dash / HE = 20
FP / Parameters / Bank / Dash / Time = 1
FP / Parameters / Bank / Dash / H dt = 0
FP / Parameters / Bank / Dash / Max = 20
MP X FP R4Enter X
ST 1
DTR 0
TR 0
Itre
TRdt 0
S1
S4
RPV
TREHE Max
RPV MP
X MP
2
FP / Parameters / Ailerons / Dash / RE = 10

FP / Parameters / Ailerons / Dash / Time = 1
FP / Parameters / Bank / Dash / HE = 20
FP / Parameters / Bank / Dash / Time = 1
FP / Parameters / Bank / Dash / H dt = 0
FP / Parameters / Bank / Dash / Max = 20
PID
MP X FP R1Enter X
ST 1
DR 0
R0
Ire
Rdt 0
S4
S5
S1
RPV
REHE Max
AP50 _ 2004. 05
www.uavstar.com
46
PID
PID PID
PID GPS
PID
PID GPS
PID
Desired Pitch as function of Speed Error/100 and Altitude Error/100

1
2
3
4
5
6
7
SE
Time
S dt
AE
Time
A dt
Const
1 Accl
0
1
0
0
1
0
0
2 Iclm
0
1
0
0
1
0
0
3 Loit
0
1
0
0
1
0
0
4 Cruz 0
1
0
0
1
0
0
5 Dash 0
1
0
0
1
0
0
6 Land 0
1
0
0
1
0
0
8
P max
0
8
3
3
3
5
9
P min
0
8
3
3
3
5
SE SE
Time2 Time
Sdt Sdt
AE AE
Time5 Time
Adt Adt
Const
Pmax
Pmin
z
PID PID
ConstPmax Pmin
AP50 _ 2004. 05
www.uavstar.com
47
PID
/
SE
10
15
20
25
30
35
40
45
50
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1.0
0.25
0.5
0.75
1.0
1.25
1.5
1.75
2.0
2.25
2.5
0.4
0.8
1.2
1.6
2.0
2.4
2.8
3.2
3.6
4.0
10
0.5
1.0
1.5
2.0
2.5
3.0
3.5
4.0
4.5
5.0
15
0.75
1.5
2.25
3.0
3.75
4.5
5.25
6.0
6.75
7.5
20
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
10.0
30
1.5
3.0
4.5
6.0
7.5
9.0
10.5
12.0
13.5
15.0
40
2.0
4.0
6.0
8.0
10.0
12.0
14.0
16.0
18.0
20.0
50
2.5
5.0
7.5
10.0
12.5
15.0
17.5
20.0
22.5
25.0
PID
/
Time
10
15
20
30
40
50
0.4
1.0
1.6
2.0
3.0
4.0
6.0
8.0
10.0
10
0.2
0.5
0.8
1.0
1.5
2.0
3.0
4.0
5.0
15
0.13
0.33
0.53
0.67
1.0
1.33
2.0
2.67
3.33
20
0.1
0.25
0.4
0.5
0.75
1.0
1.5
2.0
2.5
25
0.08
0.2
0.32
0.4
0.6
0.8
1.2
1.6
2.0
30
0.07
0.17
0.27
0.33
0.5
0.67
1.0
1.33
1.67
35
0.06
0.14
0.23
0.29
0.43
0.57
0.86
1.14
1.43
40
0.05
0.13
0.2
0.25
0.38
0.5
0.75
1.0
1.25
50
0.04
0.1
0.16
0.2
0.3
0.4
0.6
0.8
1.0
60
0.03
0.08
0.13
0.17
0.25
0.33
0.5
0.67
0.83
80
0.03
0.06
0.1
0.13
0.19
0.25
0.38
0.5
0.63
100
0.02
0.05
0.08
0.1
0.15
0.2
0.3
0.4
0.5
PID
/
Sdt
10
20
30
0.04
0.1
0.16
0.2
0.4
0.6
0.1
0.25
0.4
0.5
1.0
1.5
10
0.2
0.5
0.8
1.0
2.0
3.0
15
0.3
0.75
1.2
1.5
3.0
4.5
20
0.4
1.0
1.6
2.0
4.0
6.0
25
0.5
1.25
2.0
2.5
5.0
7.5
30
0.6
1.5
2.4
3.0
6.0
9.0
AP50 _ 2004. 05
www.uavstar.com
48
PID
AE
10
15
20
25
30
35
40
45
50
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1.0
0.25
0.5
0.75
1.0
1.25
1.5
1.75
2.0
2.25
2.5
0.4
0.8
1.2
1.6
2.0
2.4
2.8
3.2
3.6
4.0
10
0.5
1.0
1.5
2.0
2.5
3.0
3.5
4.0
4.5
5.0
15
0.75
1.5
2.25
3.0
3.75
4.5
5.25
6.0
6.75
7.5
20
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
10.0
PID
Time
10
15
20
30
40
50
0.4
1.0
1.6
2.0
3.0
4.0
6.0
8.0
10.0
10
0.2
0.5
0.8
1.0
1.5
2.0
3.0
4.0
5.0
15
0.13
0.33
0.53
0.67
1.0
1.33
2.0
2.67
3.33
20
0.1
0.25
0.4
0.5
0.75
1.0
1.5
2.0
2.5
25
0.08
0.2
0.32
0.4
0.6
0.8
1.2
1.6
2.0
30
0.07
0.17
0.27
0.33
0.5
0.67
1.0
1.33
1.67
35
0.06
0.14
0.23
0.29
0.43
0.57
0.86
1.14
1.43
40
0.05
0.13
0.2
0.25
0.38
0.5
0.75
1.0
1.25
50
0.04
0.1
0.16
0.2
0.3
0.4
0.6
0.8
1.0
PID
/
Adt
10
20
30
0.04
0.1
0.16
0.2
0.4
0.6
0.1
0.25
0.4
0.5
1.0
1.5
10
0.2
0.5
0.8
1.0
2.0
3.0
15
0.3
0.75
1.2
1.5
3.0
4.5
20
0.4
1.0
1.6
2.0
4.0
6.0
25
0.5
1.25
2.0
2.5
5.0
7.5
30
0.6
1.5
2.4
3.0
6.0
9.0
1
2 0
3 0
4 AE Min
AP50 _ 2004. 05
www.uavstar.com
49

AP50
z
z
z
z
z
SE 5
z
z
AP50 _ 2004. 05
www.uavstar.com
50
AP50 _ 2004. 05
www.uavstar.com
51

+
z
PID SE Time S dt
PI AE Time+ P SE
SE
+ +
z
PID SE Time Sdt

PI PE Time
PI AE Time+ P SE
AP50 _ 2004. 05
www.uavstar.com
52
+ +
z
PID AE Time Adt

PI PE Time
Min = Const = Max
AE
+ +
z
PID AE Time Adt

PI PE Time
P SE
SE
Const
AP50 _ 2004. 05
www.uavstar.com
53
+ +
z
Const = P max = P min =

PI PE Time
PI AE Time+ P SE
Const
+ +
z
PID SE Time Sdt+ PID AE Time Adt

PI PE Time
PI AE Time+ P SE
Pmax Pmin
Pmax Pmin
Const
AP50 _ 2004. 05
www.uavstar.com
54
MP
MP RS-232
MP
Mission Processor AP50_031110 13
Initializing data
Testing GPS .OK
Power ok Main 6360 mV Aux 0 mV
Zeroing Altimeter
Trim
Alt
1
188
63
2
190
47 OK
Waiting for fix 0 0
MP
MP GPS
Main
---(M)ission menu
(S)etup menu
(L)og readout
(R)eport, 1=Sats, 2=Fix, 3=Alt/spd, 4=Nav, 5=Event, 6=Stat, 7=GCS, 8=Mode 0
(X) exit
M
S MP
L
ASCII
Microsoft Excel
R 1~8 X MP
AP50 _ 2004. 05
www.uavstar.com
55
WP(n-1)
WP(n)
LOP
Heading
Track
Bearing
CTE

WP(n-1) WP(n)

Track Heading

AP50 _ 2004. 05
45
30
80
-50
150
www.uavstar.com
56
MP
1 GPS
2D / 3D ACCQ Sats
Viz
COLD
lat
lon
OK / OC / UC
Epwr
Xpwr
GPS GPS Gnd
GPS GPS Alt
Baro alt
Fix
WP
WP
km/hGnd spd
AGL
Gnd alt
Dist
WP
Dist
LOP
Hdg
Alpha
trk
Brg
Str
CTE
/ TR
WP
km/hLeg spd
Leg alt
leg trk
WP rad
H Pattn
Timer
Events
Sats ACCQ
MP MP stat 0=OK
FP Fail stat0=OK
GCSFC
Epwr
Xpwr
Idle
AP50 _ 2004. 05
www.uavstar.com
57
GCS GCS GCS

Spd
Alt
Trk
Mode cmd
Cksum
WP
UAV / RC / RPV_ RC / RPV_ RF
Fly
Leg trk
99 RS-232
GPS
GPS
100
AP50 _ 2004. 05
www.uavstar.com
58
MP
Setup Menu
--------(L)og data
(P)wr low at
(A)uxbatt pwr low at
(C)TE PID terms
(B)arometric altimeter cal
(D)escent control
(G)PS / Baro altimeter
(R)F link is
(X) exit
16414
5400 mV, is 6190 mV
-100 mV, is 0 mV
2 1 0 10
40
100 m land state 30 m turn upwind
GPS
NOT enabled
1
2
4
8
16
32
64
128
256
512
1024
2048
4096
8192
16384
-32768
MP
WP
Mode
Speed
GPS /10 GPS Altitude
/10 Barometric Altitude
Track
/10 Distance
Bearing
Heading
Line Of Position
A/D 1
A/D 2
CTE
Distance home
Track home
MP 4096 /
1 5 MP
0-5 8 A/D
1+4+8 =13
AP50 _ 2004. 05
www.uavstar.com
59

8k
Windows / /
MP L /
Microsoft Excel
FP
FP
State
Speed
DS
/10 Altitude
/10 DA
Pitch
DP
Roll
DR
Bearing
TR
GPS GPS_TR
S1
S2
S3
S4
MP FP GPS 5 km/h
8 A/D J1 39 40
0 5
P
10
A
20
AP50 _ 2004. 05
www.uavstar.com
60
C
PID 10
LOP 15
Steering as function of CTE/10 and bearing/10
1 5 CTE
2 1 Time
3 0 CTdt
4 3 Bearing
100 5 CTE=0Time=1
CTdt=0Bearing=10 PID Bearing
PID LOP
B
GPS
= GPS / x
D
100
30 130
RPV_RC UAV
100 PIC
9999
G
GPS
AP50 _ 2004. 05
www.uavstar.com
61
R TTL
TTL 2.4 ~19.2 K R
I MP
Mission
------(S)peed, leg
(A)ltitude, leg
(R)adius, WP
(E)vents, WP
(T)ime, HP
(P)attern, HP
(H)olding pattern description
(W)P lat/lon entry
(I)ndex WP reset
0
(D)eparture is
NOT enabled
(X) exit
AP50
AP50 _ 2004. 05
www.uavstar.com
62
Set Speeds
1
2
:
:
23
24
50
50
:
:
50
50
Enter index? (X to exit)
1 ~ 24
5 /200 kmp1275 kmp
A
Set Altitudes
1
2
:
:
23
24
200
200
:
:
200
200
1 ~ 24
20 5000
AP50 _ 2004. 05
www.uavstar.com
63
Set WP radius
1
2
:
:
23
24
62
62
:
:
62
62
1 ~ 24
31 7905 7874
AP50 _ 2004. 05
www.uavstar.com
64
LOP
E
Set Events
WP
0
1
:
:
23
24
1
S6
0
0
:
:
0
0
2
S7
0
0
:
:
0
0
3
S8
0
0
:
:
0
0
4
C1
0
0
:
:
0
0
5
C2
0
0
:
:
0
0
6
C3
0
0
:
:
0
0
7
Land
0
0
:
:
0
0
8
RCoff
0
0
:
:
0
0
9
Cam1
0
0
:
:
0
0
10
Cam2
0
0
:
:
0
0
Mask
0
0
:
:
0
0

1 ~ 24 1 ~ 10
S6S7 S8 C1C2 C3TTL /
RCoffCam
10Mask
0 0
AP50 _ 2004. 05
www.uavstar.com
65
Hold Times
WP 1
WP 2
:
:
WP 23
WP 24
2 Min
2 Min
:
:
2 Min
2 Min
1 ~ 24 255 0
Departure is
NOT enabled
Set Pattern
1
2
:
:
23
24
0
1
:
:
3
5
1 ~ 24
6 0 ~ 5
AP50 _ 2004. 05
www.uavstar.com
66
H
Which HP? Enter index? (X to exit)
Holding Pattern 0
Displacements from WP, meters
0
0 N
1
0 N
2
0 N
3
0 N
4
0 N
5
0 N
6
0 N
7
0 N
0
0
0
0
0
0
0
0
W
W
W
W
W
W
W
W

8 HP 0 ~7 8 30
WP
HP
HP
HP
HP
AP50 _ 2004. 05
www.uavstar.com
67

HP 0~7 N
W S E 31 32767
32656 HP 0 ~7
1000 8
4

0
1
2
3
4
5
6
7
0
1000
0
-1000
0
1000
0
-1000
N
N
N
N
N
N
N
N
1000
0
-1000
0
1000
0
-1000
0
W
W
W
W
W
W
W
W
HP1
1000
0
HP 0
0
1000
WP
HP 2
0
-1000
HP 3
-1000
0
AP50 _ 2004. 05
www.uavstar.com
68
8 4

0
1
2
3
4
5
6
7
300
1200
1200
300
300
1200
1200
300
N
N
N
N
N
N
N
N
1000
200
-200
-1000
1000
200
-200
-1000
W
W
W
W
W
W
W
W
AP50 _ 2004. 05
www.uavstar.com
69
W
(L)at/lon or (H)dg/dist?
Set lat/lon WP
0
1
2
23
24
0 Deg,
0 Deg,
0 Deg,
0 Deg,
0 Deg,
0 Min 0.000000 Sec S

0 Min 0.000000 Sec S
0 Min 0.000000 Sec S
0 Min 0.000000 Sec S

0 Min 0.000000 Sec S
0 Deg,
0 Deg,
0 Deg,
0 Deg,
0 Deg,
0 Min 0.000000 Sec E

0 Min 0.000000 Sec E
0 Min 0.000000 Sec E
0 Min 0.000000 Sec E

0 Min 0.000000 Sec E
0 deg
0 deg
0 deg
0 deg
0 deg
0m
0m
0m
0m
0m
Enter waypoint number, X to exit

Departure is Enabled
0~24 25
0 Deg, 0 Min 0.000000 Sec S __S N
0 Deg, 0 Min 0.000000 Sec E __E W
0 deg
0 m
W
hddd * mm . ss.ssssss *
N SW E
L
+
WP24
AP50 _ 2004. 05
www.uavstar.com
70
24
Departure is NOT enabled
GPS
Enabled 0 5
X
AP50 TTL
AP50 Ground Pilot
6 8 303
010-82352282
http://www.uavstar.com
zhgpan@vip.sina.com
AP50 _ 2004. 05
www.uavstar.com
71

AP50驾驶仪技术手册

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AP50

5.3~8.0 VDC@ 120

GPS GPS 3D PIC

Flight Processor AP50_040122

Adt=10 = 0.1d /dt

Adt=30 = 0.3d /dt

Accl Iclm Loit Cruz Dash Land

Loit Cruz Dash

Ailerons as function of Roll Error/10 and flaps as function of state

Elevator as function of Pitch Error/10 and Speed Error/10

FP / Setup Menu / State = 3

Rudder as a function of Turn Rate Error/10

A->R RPV UAV

Desired Roll or Desired Turn Rate as function of Heading Error/100

FP / Parameters / Ailerons / Dash / RE = 10

Desired Pitch as function of Speed Error/100 and Altitude Error/100

PID SE Time Sdt

PID AE Time Adt

PID AE Time Adt

Const = P max = P min =

PID SE Time Sdt+ PID AE Time Adt

GCS GCS GCS

Enter index? (X to exit)

5 /200 kmp1275 kmp

Enter index? (X to exit)

Enter index? (X to exit)

Enter index? (X to exit)

Enter index? (X to exit)

Enter index? (X to exit)

Enter index? (X to exit)

Displacements from WP, meters

Displacements from WP, meters

0 Min 0.000000 Sec S

0 Min 0.000000 Sec S

0 Min 0.000000 Sec E

0 Min 0.000000 Sec E

Enter waypoint number, X to exit

Departure is NOT enabled

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