Sky-Drones SMARTAP PRO, SMARTAP MAX, SMARTAP GNSS, SMARTAP RTK, SMARTAP PDB User Manual
Flight Control System
User’s Guide
www.sky-drones.com
All rights reserved
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CONTENT
CONTENT
Introduction
Hardware
SmartAP PRO
SmartAP MAX
SmartAP GNSS
SmartAP RTK
SmartAP PDB
Software
Supported airframes
About
SmartAP PRO
Introduction
Set includes
Description
Capabilities
General
Sensors
Flight Modes
Size and Weight
Previous versions
SmartAP PRO 2
SmartAP PRO 1
SmartAP MAX
Introduction
Set includes
Description
Flight performance
General
Processor
Sensors
Flight Modes
Interfaces
Size and Weight
SmartAP GNSS
Specifications
Features
Package includes
Dimensions
SmartAP RTK
Specifications
Features
Package includes
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SmartAP PDB
Introduction
Features
SmartAP PRO
Mounting the board
Connections
External GNSS / MAG
SmartAP PRO 0.2 and later
SmartAP PRO 0.1 and earlier
GPS Receiver
RC Receiver
RSSI Monitoring
Motors ESC
Telemetry module
OSD Video
Electromagnetic sounder
Power supply
LED & Buzzer
Pressure sensor foam
Dimensions
SmartAP PRO v .2 pinout
SmartAP PRO v .1 pinout
SmartAP PRO v .0 pinout
SmartAP MAX
Mounting the System
Autopilot
GNSS / MAG
Connecting Peripherals
Metal case version
Plastic case version
RC Receiver
ESC / Motors PWM
GNSS / MAG
Telemetry Module
Power Module
Electromagnetic sounder
Camera trigger
Assembled System
SmartAP PDB
Pinout
Soldering
Powering the autopilot
SmartAP PRO
SmartAP MAX
Buzzer support
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Voltage and current sensors
Drivers installation
Getting the software
First run
Create account
World pane
App Menu
UAV Settings
Links Management
First connection
Firmware update
Custom firmware upload
Getting the log
General configuration
General
Airframe
System orientation
Landing Gear
Motors IDLE speed
Radio
Sensors
Accelerometer calibration
Gyroscope calibration
Magnetometer
GNSS Configuration
Battery
Tuning
Control
OSD
Camera
Parameters
Standard PID presets
MicroDrones MD4-1000 Quadcopter
T960 Hexacopter
F450 Quadcopter
3DR Hexacopter
Updating GNSS Module
Getting U-Center
RTK GNSS Configuration update
SmartAP PRO Onboard GNSS module update
Modes overview
Flight Modes overview
Mode Switch: 3 position switch (Main mode control):
Auto Switch: 2 position switch (Auto mode control):
RTH Switch: 2 position switch (RTH mode control):
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Before take off
The Flight
After landing
Transmitter commands
ARM
DISARM
Accelerometer calibration
Gyroscope calibration
Magnetometer calibration
Flying with SmartAP GCS
World Pane overview
Getting the video feed
Autonomous Flights
Waypoints flight
Guided flight
Flying with RTK GNSS
Locating the antenna
Connecting in SmartAP GCS
Starting Survey-In
Survey-In completed
RTK Modes
Geotag images
Processing the Logs
Support
Safety
Safety basics
Additional safety information
Support
Disclaimer
Revision history
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Introduction
Sky-Drones - the leading manufacturer of autopilots and flight control systems solutions which can be applied to a wide range of Drones (UAVs)
applications such as Surveying, Mapping, Inspection, Security, Safety and High-Quality Media production. The company has an outstanding
background and experience in Research and Development, Manufacturing and Delivering products and solutions for extremely rapidly growing
market in Drones / UAV segment.
Sky-Drones Docs - online documentation whic will help introducing the most basic ideas of assembling, configuring and flying a drone with
SmartAP Autopilot developed by Sky-Drones. This page gives an overview about the available flight controller hardware and software.
Hardware
At the moment, active and available versions of the hardware are SmartAP PRO and SmartAP MAX
SmartAP PRO
Industry leading Flight Control System with outstanding reliability, positioning precision and control accuracy for professional applications with
various peripherals already integrated onboard
SmartAP MAX
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As well as many other peripherals and electronics needed for autonomous unmanned aerial vehicles:
Flight Control System aimed at the wide range of purposes for consumer and professional applications with the compact main core and externally
connected peripherals
SmartAP GNSS
GPS/GLONASS receiver with integrated patch antenna, magnetometer and pressure sensor
SmartAP RTK
GPS/GLONASS RTK (Real-Time Kinematics) receiver for high-precision positioning
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Purchase the Hardware in official Sky-Drones Store
Software
SmartAP GCS (Ground Control Station) is the software application which allows you to plan and create autonomous missions for your SmartAP
Autopilot as well as control the UAV using intuitive high-level commands. SmartAP GCS also includes Configurator.
Download the Software and more
Supported airframes
Can't find yours? Let us know!
About
All further information can be asked using the Contact Form.
SmartAP PDB
Power Distribution Board for ESCs / Motors power supply and 5V / 12V generation
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SmartAP PRO
Introduction
SmartAP PRO Autopilot is the latest generation of professional flight control system for multirotor Unmanned Aerial Vehicles capable of fully
autonomous flight. It has a powerful microcontroller, multiple redundant 9-axis Inertial Measurement Unit (Gyroscopes, Accelerometers,
Magnetometer) with temperature stabilization, integrated telemetry module, external GNSS module with the latest with integrated magnetometer.
SmartAP supports any type of multirotor UAV with outstanding navigation and control precision.
Set includes
1. SmartAP PRO Flight Controller Main board
2. External GNSS / Magnetometer module
3. Ground telemetry module
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4. Onboard telemetry antenna
5. High-gain ground telemetry antenna
6. Power input cable
7. MicroSD card with SD card adapter
Description
Capabilities
Outstanding flight stability in all modes - manual (user control), position hold (semi-autonomous control) and auto (fully autonomous
navigation and control)
Temperature-stabilized IMU
Fully compatible with SmartAP GCS Ground Control Station for Configuration and Mission Planning
Integrated OSD (On-Screen Display for FPV)
Accurate GPS Position hold (up to 40cm with good GNSS reception quality)
Accurate Altitude hold (up to 10 cm), manual altitude override
Return to Home flight mode
Fully autonomous waypoints flight mode
Guided flight mode
Various failsafe events configuration and triggering
Operating temperature -40...+85C
General
Powerful microcontroller 32 bit 168 MHz STM32F4 ARM Cortex M4
Compact board size of 8x8 cm (3.15"x3.15"), weight 60g, 6 layers PCB design
Power supply from the main LiPO battery (3S - 14S) support, up to 60 Volts
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Power supply from BEC 5V support
12V, 5V, 3.3V generated onboard
Integrated GNSS receiver UBlox NEO M8N, GPS/GLONASS, up to 24 sats, 10 Hz), active antenna
Exnternal GNSS module support (primary configuration)
Integrated 500 mW telemetry module (primary configuration)
External telemetry module support
Integrated OSD module
Up to 24 PWM I/O support (5V out, high-power)
SBUS input support
FrSky S.Port output support
USB interface for configuration / firmware update
Various communication lines (UART/USART, RS232, I2C, SPI)
6-pin JTAG port for programming / debugging
MicroSD card driven by 4-bit SDIO interface for data-logging / parameters
Backup battery for real-time clock and GNSS receiver
Integrated main LiPo battery voltage monitoring
4 ADC inputs, battery voltage / current monitoring
Electromagnetic sounder
3-channels bright LED support (up to 300mA/ch)
RGB LED support
2-channel solid state relay
Sensors
IMU: InvenSense MPU-9150
Magnetometer: Honeywell HMC5983L
Pressure sensors: MS5611
Flight Modes
Stabilization
Altitude Hold
Position Hold
Return to Home
Autonomous Waypoints Flight
Guided
Follow me
Take off
Landing
Size and Weight
Length: 80mm
Width: 80mm
Height: 17mm
Weight: 39g
Previous versions
SmartAP PRO 2
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SmartAP PRO 1
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SmartAP MAX
Introduction
SmartAP MAX Autopilot is the latest generation flight control system for multirotor Unmanned Aerial Vehicles of various configurations and sizes
aimed at the wide range of applications. The main feature of the system is the capability of fully autonomous flight including take off, waypoints
flight, landing and much more. The core is based on powerful 32-bit microcontroller ST Microelectronics® STM32F4 and 9-axis Inertial
Measurement Unit. The latest UBlox® GPS module with integrated 3-axis magnetometer and pressure sensor can be connected externally for
autonomous flight capabilities as well as wireless telemetry module for system configuration, mission planning & control and in-flight monitoring
via specially designed SmartAP Ground Control Station and Configuration Tool. SmartAP MAX supports any type of multirotor UAV with
outstanding flight performance, reliability, navigation and control precision. Compact size and weight makes integration of the system fast and
easy, various I/O interfaces allow creating the applications for interaction with 3rd party electronics and payload.
Set includes
1. SmartAP MAX Flight Controller
2. GPS / GLONASS satellite navigation module with integrated 3-axis magnetometer
3. Telemetry kit (air and ground module with antennas and connection cable)
4. DC-DC Power module and current / voltage sensor
5. MicroSD card with adapter
6. Electromagnetic sounder
Description
Flight performance
Extremely stable flight in stabilize (user control), position hold (semi-autonomous control) and autonomous (navigation and control) modes
Vibration dampened multiple redundant temperature stabilized IMU
Aluminum case for EMI protection
Native support of SmartAP Ground Control Station and Configuration Tool
Accurate GPS Position hold (up to 40cm), Accurate Altitude hold (up to 10 cm), manual
Fully autonomous waypoints flight
Return to home mode
Failsafe detection and event triggering
And many more…
General
Powerful microcontroller 32 bit 168 MHz STM32F4 ARM Cortex M4
Compatible with GPS/GLONASS receiver (UBlox NEO8, GPS/GLONASS, up to 24 sats, 10 Hz) active antenna
Integrate OSD (On-Screen Display)
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Up to 12 PWM I/O support (5V out)
USB interface for configuration / firmware update
Various communication lines (UART, I2C, SPI)
MicroSD, 4-bit SDIO interface for data-logging / parameters storage
Backup battery for RTC
2x ADC inputs for battery voltage / current monitoring
Electromagnetic sound audio indicator
3-channels LED support (up to 500mA / ch)
2-channels solid state relay
Processor
ST Microelectronics STM32F427VI
32 bit 168 MHz ARM Cortex M4
Hardware FPU
2 MB Flash
192 kB RAM
Sensors
Vibration dampened multiple redundant temperature stabilized IMU
2x 9-axis IMU InvenSense MPU-9250 (accelerometer, gyroscope, magnetometer)
2x Pressure sensor MS5611 (integrated and external)
1x 3-axis magnetometer HMC5883 (external)
1x UBlox M8N GPS Module (external)
Flight Modes
Stabilization
Altitude Hold
GPS Position Hold
Loiter
Return to Home
Autonomous Waypoints Flight
Guided / Follow me
Take off
Landing
Interfaces
12x PWM I/O
1x PPM / SBUS Input
1x SBUS Output
1x Power Input port
1x LED Output port
3x UART
2x I2C
1x SPI
2x CAN
1x Camera input
1x Camera output
1x USB Mini-B
Size and Weight
Length: 63mm
Width: 43mm
Height: 16mm
Weight: 21g
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SmartAP GNSS
Specifications
SmartAP GNSS is a compact GPS/GLONASS module with integrated active antenna, UBlox Neo-M8N chipset and 3-axis magnetometer
(compass). Fully compatible with SmartAP Autopilots.
Features
UBlox NEO M8N chipset based
Integrated SAW and LNA
25mm ceramic patch antenna
GPS / GLONASS support
Up to 24 satellites
18 / 10 Hz update rate (GPS / GPS + GLONASS)
Rechargeable 3V lithium backup battery
Ultra-Low noise 3.3V regulator
Power and fix indicator LEDs
Exposed RX, TX, 5V and GND pads
Integrated magnetometer - HMC5883L
Footprint for pressure sensor - MS5611-01BA03
UART port for GPS interface
Diameter 75 mm
Weight 18g
Fully compatible with SmartAP Autopilots
Package includes
GNSS Module
Connection cable
Dimensions
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SmartAP RTK
Specifications
This GNSS (GPS + GLONASS) module is base on RTK technology and was specially developed for SmartAP Autopilot and is intended to be
used in applications where precise positioning really matters. It's based on the latest and most precise UBlox Neo M8P chipset which provides
outstanding positioning accuracy. The set includes base station module with external active patch antenna, airborne module with integrated
patch antenna and set of cables.
Real Time Kinematic (RTK) satellite navigation is a technique used to enhance the precision of position data derived from satellite-based
positioning systems (global navigation satellite systems, GNSS). It uses measurements of the phase of the signal's carrier wave, rather than
the information content of the signal, and relies on a single reference station or interpolated virtual station to provide real-time corrections,
providing up to centimetre-level accuracy.
Features
Centimeter‑level GNSS positioning
Integrated Real Time Kinematics (RTK)
Smallest, lightest, and energy‑efficient RTK module
Complete and versatile solution due to base and rover variants
World‑leading GNSS positioning technology
UBlox NEO M8P chipset based
25mm ceramic patch antenna
GPS / GLONASS support
Up to 24 satellites
18 / 10 Hz update rate (GPS / GPS + GLONASS)
Rechargeable 3V lithium backup battery
Ultra-Low noise 3.3V regulator
Power and fix indicator LEDs
Exposed RX, TX, 5V and GND pads
Integrated magnetometer on airborne module - HMC5883L
UART port for GPS interface
USB for base station module
Airborne module cable length 30 cm
Base station module length 3 m
Fully compatible with SmartAP Autopilots
Package includes
Base station module
Active patch antenna for base station module
Airborne module with integrated patch antenna
Connection cable
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SmartAP PDB
Introduction
SmartAP PDB (Power Distribution Board) is a special board which allows transferring the power from the battery to ESCs / Motors and generate
power supply for the flight controller and other peripherals with different voltage levels. Also, PDB provides the functionality for battery voltage /
current measurements. SmartAP PDB makes high-power lines connections easier and much more reliable.
Features
Size: 65x65 mm, four 3mm mounting holes
Input voltage up to 60 Volts (14S)
Capability to handle extremenly high currents (peak current up to 400A)
Power input from the main battery, possibility to connect up to 4 independent batteries
12 pairs of pads (6 on top, 6 on bottom) for powering up to 12 motors (all possible airframe configurations supported)
Integrated voltage and current sensors
Integrated DC-DC converter from 10-60 V input (up to 14S battery) to 5V output to power peripherals
Integrated DC-DC converter from 10-60 V input (up to 14S battery) to 12V output to power peripherals
5V and 12V power output terminals (standard 2.54mm/0.1" connectors)
Integrated loud electromagnetic sounder (buzzer)
Power output for the flight controller (both 5V and battery VIN)
Fully compatible with all SmartAP Autopilots
For further information, please, refer to the Installation section.
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SmartAP PRO
WARNING!
1. Do not power on the board without gps and wireless telemetry modules’ antennas connected!
2. Do not disconnect antennas when the board is powered on!
Mounting the board
Mount your board on your copter airframe. It's highly recommended to mount the board as close to the geometrical center of the copter as
possible. Mounting should be done with four 3 mm nylon screws. Add rubber spacers to reduce motors’ vibration noise.
Note the "FWD" arrow to install the board properly (`FWD` = Forward).
Connections
Connect the general peripherals as shown on the diagram below:
External GNSS / MAG
If you’re using external GNSS / Magnetometer module board then the connection should be as following:
SmartAP PRO 0.2 and later
GNSS / Magnetometer cable goes to dedicated GNSS / MAG port having 6 wires ( GND , SDA , SCL , RX , TX , 5V ).
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SmartAP PRO 0.1 and earlier
GPS Cable (4 wires: GND , 5V , RX , TX ) goes to GPS port and magnetometer cable (I2C: SCL , SDA ) goes to Magnetometer port as
shown on the picture above.
Make sure to place GPS module as far as possible from:
Main body of the airframe
RF emitting devices such as transmitters
High-current cables (ESC / motors power supply)
GPS Receiver
Connect GPS antenna to GPS antenna port. This is only for the versions which have integrated GNSS module.
RC Receiver
After mounting the board you need to connect cables from RC Receiver to SmartAP PPM / SBUS Input.
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You can also connect FrSky S.Port from FrSky receiver and get real-time telemetry on your FrSky transmitter (e.g. Taranis) screen. Simply
connect S.Port wire from receiver to Tel pin next to SBus input.
Channels assignments should normally be as following:
Input channel 1 – Roll
Input channel 2 – Pitch
Input channel 3 – Throttle
Input channel 4 – Yaw
Input channel 5 – Mode selection
Input channel 6 – RTH Mode
Input channel 7 – Auto Mode
Modes can be remapped in Configurator software later.
RSSI Monitoring
If you want the flight controller to read the information about RSSI (Received Signal Strength Indicator) from RC receiver - simply connect the
RSSI output and GND from your RC receiver to PWM I/0 #13 of the flight controller. RSSI information will appear in the GCS and also on OSD
screen.
Motors ESC
Connect ESC inputs to SmartAP PWM outputs 1-12. The first motor is always front or front-right, it’s spinning direction is CCW.
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Be sure NOT to mix up polarity!
GND line (black) is near edge, +5V line (red) in the middle, Signal line (yellow) is upper row.
Telemetry module
Connect telemetry antenna to telemetry antenna port. If you would like to use external telemetry module - connect GND , 5V , RX , TX pins
of the Telemetry port to external telemetry module. Later, you will need to disable onboard telemetry module SmartAP GCS Configurator
software.
OSD Video
SmartAP has integrated OSD (On-Screen display) module. It means that you can connect your camera output to the autopilot (instead of direct
connection to the video transmitter) and then connect the Video Output of the flight controller to the video transmitter. In this case, the autopilot will
overlay the flight information (mode, altitude, speed, battery status and etc.) on the screen. Connect the video camera to Video IN port of the
autopilot ( GND , 12V , VIN ). Connect the video transmitter to Video OUT port of the autopilot ( GND , 12V , VOUT ).
SmartAP OSD supports both PAL / NTSC video standards with automatic detection and configuration.
Check the voltage ratings for your video camera and video transmitter! SmartAP outputs 12V and normally Camera and Video TX require 12V
power supply, however, some of the cameras / transmitters need 5V or any other specific voltage leve. Check this carefully and provide the
required voltage level. Otherwise, it can damage your Camera / Video TX!
Electromagnetic sounder
Connect Electromagnetic sounder to BUZ port of SmartAP.
Power supply
Connect power supply cable from main power distribution board of the UAV:
SmartAP PRO 0.1 and earlier: 10-36 V, 3S – 8S
SmartAP PRO 0.2 and later: 10-60 V, 3S – 14S
LED & Buzzer
Buzzer: 12V, 0.2A (included in the kit) LED 1-4: 12V, 0.2A per each channel (enough to power LED strip of 25cm length)
Pressure sensor foam
Pressure sensor is highly sensitive to the air pressure noise generated by the props and sunlight. It’s highly recommended to add foam coverage
on pressure sensor to decrease the noise effect and improve measurements which will result in better altitude hold precision. Example is shown
on the picture below:
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Dimensions
Dimensions of the board are 80x80 mm. Mounting holes diameter is 3 mm, distance between the center of the mounting hole and board edges is
4.5 mm.
SmartAP PRO v .2 pinout
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SmartAP PRO v .1 pinout
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SmartAP PRO v .0 pinout
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SmartAP MAX
Mounting the System
Autopilot
The bottom side of the autopilot has special double-sided foam tape. Remove the protection layer of the anti-vibration tape and mount the
autopilot any direction you want, the actual direction can be selected during configuration procedures later. It’s recommended to mount the
autopilot as close to the center of gravity as possible.
"FRONT" arrow indicates the original flight direction. Can be changed in the settings later.
GNSS / MAG
GNSS Module provides positioning information to the system and is sensitive to EMI noise. Make sure to place GNSS module as far as possible
from:
Main body of the airframe
RF emitting devices, such as video transmitters
High-current cables (ESC / motors power supply)
It’s recommended to use GPS mast for that. Connect the cable and put the GPS on a mast.
Connecting Peripherals
Metal case version
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