Work in progress
The OpenPilot Revolution Nano is a trimmed down version of the Revolution whit updated 10DoF sensor suite.
Aimed at smaller multirotors, helicopters, fixed wing and even ground based models, it retains the full functionality minus the integrated radio modem and some IO of it's bigger brother and is capable of autonomous GPS navigation.
Hardware Description
CPU
Nano is powered by a 32bit STM32F4 ARM Cortex-M4 microprocessor
Sensor Suite
Nano includes a full 10DoF sensor suite with:
- Invensense MPU9250 3 axis digital MEMS Gyro, Accelerometer and Magnetometer on a single chip
- Measurement Specialties MS5611 barometer
Dimensions
Connectivity
There are several input and output ports availible.
All input/output signal levels are 3,3V (5V tolerant)
All Vcc pins are can be used to power the controller and devices connected to it.
PWM Outputs 1-6
These are PWM outputs used to connect servo motors and ESCs. Outputs 5 and 6 can also be configured as analog inputs
Supported protocols:
- Standard PWM with configurable rate from 50Hz to 490Hz
- PWMSync (PWM synchronized to the gyro sampling rate)
- OneShot125
Pinout:
PWM Out 6 (Analog In ADC5) | PWM Out 5 (Analog In ADC6) | PWM Out 4 | PWM Out 3 | PWM Out 2 | PWM Out 1 |
Vcc | Vcc | Vcc | Vcc | Vcc | Vcc |
GND | GND | GND | GND | GND | GND |
FlexIO
Primarily used as the receiver port supporting PWM and PPM receivers but can also be used as up to 6 additional PWM outputs and analog inputs.
The connector used is an 8pin JST-HS.
Pinout:
Pin | Wire Color | PWM In | PPM In | PWM Out | Analog In | |
---|---|---|---|---|---|---|
1 | Black | GND | ||||
2 | Red | Vcc (4,8-15V DC) | ||||
3 | White | Channel 1 | ||||
4 | Blue | Channel 2 | PPM Sum | ADC 0 | ||
5 | Yellow | Channel 3 | ADC 1 | |||
6 | Green | Channel 4 | ADC 2 | |||
7 | Orange | Channel 5 | ADC 3 | |||
8 | Violet | Channel 6 | ADC 4 |
Main Port
This is a UART serial port with a programmable inverter on the Rx pin. It can be used to connect various serial devices such as GPS receiver, OSD, Telemetry (Bluetooth, OPLink, etc.), S.Bus receiver, DSM satellite receiver...
The conector used is a 4pin JST-HS.
Pinout:
Pin | Wire Color | Telemetry | GPS | OSD | DSM | S.Bus |
---|---|---|---|---|---|---|
1 | Black | GND | ||||
2 | Red | Vcc (4,8-15V DC) | ||||
3 | Blue | Tx | ||||
4 | Orange | Rx | DSM In | S.Bus In |
The Tx and Rx lines between the controller and device must be connected: Rx to Tx and Tx to Rx. If you connect Rx to Rx and Tx to Tx, serial communication will not work.
Flexi Port
This port can support both UART and I2C serial devices, such as external I2C sensors (external magnetometer), GPS, OSD, Telemetry, DSM receiver, SRXL receiver,...
The conector used is a 4pin JST-HS.
Pinout:
Pin | Wire Color | Telemetry | GPS | OSD | DSM | SRXL | I2C |
---|---|---|---|---|---|---|---|
1 | Black | GND | |||||
2 | Red | Vcc (4,8-15V DC) | |||||
3 | Blue | Tx | SCL | ||||
4 | Orange | Rx | DSM In | SRXL In | SDA |
The Tx and Rx lines between the controller and device must be connected: Rx to Tx and Tx to Rx. If you connect Rx to Rx and Tx to Tx, serial communication will not work.
USB Port
A standard Micro-B USB connector such as found on most modern cell phones used to connect to the PC.
The flight controller presents itself to the PC as a HID (Human Interface Device) and VCP (Virtual Comm Port) device.
The HID part comes configured for telemetry and is used to configure, update and debug your flight controller.
The VCP can be used for telemetry, debug console and CommBridge functionality which binds Main or Flexi port to be used as a comm port from your PC (useful for configuring your OSD without needing to rip it out of your airframe)
This connector will provide power to the processor and sensors but will not power any externally connected devices.
SWD Pads
Serial Wire Debug port can be used by developers to flash and debug firmware on the STM32F4 microcontroller using something like a STM32 Discovery board or ST-Link programmer.
There are serial clock (CK) and data (IO) lines as marked, power and ground can be connected elsewhere.
Normal users should never have to use these port.