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ArduPilot features :
1,Built-in hardware failsafe that uses a separate circuit (multiplexer chip and ATTiny processor) to transfer control from the RC system to the autopilot and back again.
2,Altitude hold using throttle or elevator and GPS altitude data
3,Includes ability to reboot the main processor in mid-flight.
4,Multiple 3D waypoints (number only limited by memory; currently can support at least 200)
5,Comes with a 6-pin GPS connector for the 1hz EM406 GPS module. Faster 5hz GPS modules, such as the uBlox 5 series, are supported via an optional 3.3v daughterboard.
6,Has six spare analog inputs (with ADC on each) and six spare digital input/outputs to add additional sensors
7,Supports addition of wireless downlink module for telemetry.
8,Based on a 16MhZ Atmega328 processor. Total onboard processing power aprox 24 MIPS.
9,Very small: 30mm x 47mm
10,Can be powered by either the RC receiver or a separate battery
11,Has an efficient ASCII NMEA parser for compatibility with standard GPS modules at any baud speed.
12,Hardware-driven servo control (using the Arduino Servo Timer library), which means less processor overhead, tighter response and no jitters.
13,Four RC-in channels (plus the autopilot on/off channel) can be processed by the autopilot.
14,Status LEDs for power, failsafe (on/off) and GPS (satellite loc
ArduPilot Dimensions : 30mm x 47mm