Jordi and I are preparing the final production version of the ArduPilot board, which involves the usual debugging and last-minute feature adding. The problems we've found are largely in power and noise management--we've needed to isolate the servos from the processor parts, so high current draws don't introduce voltage dips. You'll notice a couple extra diodes and capacitors on the board to handle that.
As for features, here's what's new:
- All four RC-in channels (plus the autopilot on/off channel) can now be read by the CPU. This allows the autopilot to read the initial throttle and rudder position when you switch to autonomous mode, so it can maintain speed and heading. The other two channels can be used for whatever you want, such as triggering a camera sequence or dropping an object. (Remember that the aileron and elevator channels are seperately controlled by the FMA Co-Pilot)
- There are now status LEDs for the failsafe (on/off) and the GPS (satellite lock).
- There is now a trim pot on the board so you can adjust the autopilot on/off position to suit your particular RC system.
the schematic, in Eagle 5 format.
I'm not including the PCB file yet because we're working with our commercial manufacturing/retail partner on that, and I don't want to reveal those details until we're ready to release. But rest assured that we'll make both the schematic and PCB files available here when the final product is available.
For those who don't have Eagle, here are the schematics in png form (they're shown as two pages, but it's pretty easy to see which wires connect across the pages):