The DAP120 (6-DOF full attitude solution)       

Picture shows the AP integration into the MX-SIGHT airfame


Following the product line of reliability, robustness and customization this autopilot is fully developed by UAV SERVICES & SYSTEMS.

The DAP120 is optimized for the MX- and X-SIGHT airframes.


PROPERTIES

The DAP120 autopilot provides absolute roll/pitch/yaw angles up to 300°/sec at max. 5g inertial acceleration with very robust firmware implementation. The maximum range is 5km to 20km with standard 2.1dBm dipol antennas.
An external GPS module is integrated into the front hatch of the airframe.
Attitude precision at level flight is approx ±3° for all rotational axis. Altitude hold is ±10m worst case. Although the PID gains are tightly coupled to the frame no oscillation up to 200km/h groundspeed becomes evident. Power is 6-9V at 150mA to 600mA dependend on desired range.

For Vehicle Control 4 different states can be choosen by the GS:
1/ Full manual mode -only necessary for bench/servo testing
2/ AP assisted mode -very well tested for painless take-off and landing
    In this mode the control sticks are proportional to bank and
    pitch angles. It includes heading hold functionality. A altitude
    hold can be applied optionally for RPV flying.
    Additional differential PID terms act as dampeners against gust
    of winds.
3/ Waypoint/autonomous mode with more than 100 waypoints
4/ Return Home / autonomous landing mode in case of uplink loss
    This mode can be also engaged/disengaged by remote control.

For each waypoint the following properties can be applied:
1/ loitering
2/ engine-cut
3/ change in altitude: rapid, or smooth with altitude target next waypoint
4/ Payload action: one time pulse or adjustable PWM timing pattern

For payload control the AP provides the following integrated functionality:
1/ payload stabilization by PWM servo signals in roll/pitch/yaw axis
3/ payload stabilization by RS232 at 9600baud in roll/pitch/yaw axis
2/ payload trigger by servo signal / TTL output / RS232


TYPICAL FLIGHT PERFORMANCE

Below listed plot shows a typical flight with a duration of 15min 47sec in autonomous mode. Ground speed is approx. 65-85km/h. You can find the flight track in the Groundstation section of this website (2 waypoints in a distance of 750m).

This autopilot is only offered in a full system context.