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Lisa-S 2.8g autopilot for GPS-based flight of MAVs

Author: Remes, B.D.W. · Esden-Tempski, P. · Van Tienen, F. · Smeur, E. · De Wagter, C. · De Croon, G.C.H.E.
Type:Conference paper
Publisher/Organization: Delft University of Technology
Source:IMAV 2014: International Micro Air Vehicle Conference and Competition 2014, Delft, The Netherlands, August 12-15, 2014
Keywords: IMAV2014 · MAV · Micro Air Vehicle · autopilot · open hardware · open source · light-weight · GPS · autonomous
Rights: (c) 2014 Remes, B.D.W.; Esden-Tempski, P.; Van Tienen, F.; Smeur, E.; De Wagter, C.; De Croon, G.C.H.E.


Recent advances in sensor miniaturization have enabled the development of a miniaturized fully functional autopilot. In this article, the open hardware and open software Paparazzi-UAV Lisa-S micro autopilot is presented, weighing only 2.8 grams and measuring 2 by 2 centimeters. It incorporates 2-way telemetry with a ground station, a Spektrum DMS2/DSMX remote control, an IMU (Inertial Measurement Unit), a Magnetometer, a GPS module and a 32-bit 72 MHz processor for stabilization and navigation. As an illustration, the Lisa-S has been mounted on various miniature multi-rotors. Mounting it on a Ladybird quadrotor leads to a 8.5 by 8.5 cm system weighing 27 grams (excluding battery). Flight results are shown of the Ladybird performing autonomous GPSbased navigation missions outdoors.

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