STA34

 Advanced Multi-Function Programmable Autopilot
 Powerful and Adjustable Development Platform
 Graphic HMI for Logic and Control Design
 High-Precision Measurements Sensor
 Semi-Physical Embedded Simulation
 High-Speed Data Acquisition

Contents
1. FEATURES ...............................................................................................................................5
2. PURPOSE .................................................................................................................................6
3. PERFORMANCE ......................................................................................................................7
4. MAIN CONNECTOR’S PINS ....................................................................................................8
5. OPERATING PRINCIPLE .......................................................................................................10
5.1. Device Structure ...................................................................................................................10
5.2. Device Functioning ...............................................................................................................11
6. EXAMPLES OF SYSTEM USING ...........................................................................................13
7. MEASURANDS .......................................................................................................................15
7.1. Angles, Accelerations, Angular Velocities ............................................................................16
7.2. Altitude, Climb, Airspeed ......................................................................................................18
7.2.1. Pressures Measurement ...................................................................................................18
7.2.2. Altitude Null Adjustment …….............................................................................................20
7.2.3. Altitude Reset at Certain Point ..........................................................................................20
7.2.4. Null Point Parameters Setting ............................................................................................20
7.2.5. Null- and Airspeed Scale Adjustment ................................................................................21
7.2.6. Airspeed Resetting …….....................................................................................................21
7.2.7. Differential Altitude Measuring Method ..............................................................................21
7.2.8. Restrictions and Recommendations ..................................................................................22
7.3. Magnetic Field Measuring .....................................................................................................22
7.4. Frequency Measuring ...........................................................................................................22
7.4.1. Example of Rotation Rate Measuring ................................................................................23
7.5. Temperature Measurement ..................................................................................................24
7.6. External Voltage Measuring ..................................................................................................25
7.7. Parameters Measured by Built-In GPS-Receiver .................................................................25
8. ConTROL SYSTEM ...............................................................................................................27
8.1. Control System Operation Principle ......................................................................................27
8.2. Control System Units and Their Connection Rules ...............................................................27
8.3. Software for Control System Configurations and Autopilot System Operating …….………..28
8.4. Example of CSC Creating .....................................................................................................29
9. AUTOPILOT SYSTEM ............................................................................................................31
9.1. Autopilot Structure and Operation Principle ..........................................................................31
9.2. Autopilot and Control System Interaction .............................................................................32
9.3. Action of Critical Situations ...................................................................................................34
9.4. Example of Flight Program Creation .....................................................................................34
10. PARAMETERS SAVING .......................................................................................................36
11. INPUT AND OUTPUT PWM SIGNALS .................................................................................37
12. DATA INTERFACE ...............................................................................................................38
12.1. NMEA Protocol Description ................................................................................................38
12.2. ABIP Protocol Description ..................................................................................................38
12.3. RS-232 Interface ................................................................................................................39
12.4. RS-485 Interface ................................................................................................................39
13. LED INDICATORS ................................................................................................................40
14. ERRORS DETECTION .........................................................................................................41
15. USING EXTERNAL CUSTOMER DEVICES .........................................................................42
16. TECHNICAL CHARACTERISTICS …………........................................................................43
17. MECHANICAL CHARACTERISTICS ………….....................................................................44
18. ORDERING INFORMATION ……………...............................................................................45
19. ConTROL LOOP REALIZATION BLOCKS ........................................................................46
19.1. Discrete PID Controller........................................................................................................46
19.2. Summator ...........................................................................................................................49
19.3. PWM Signal Input ...............................................................................................................50
19.4. PWM Signal Output …………..............................................................................................51
19.5. Digital Input .........................................................................................................................52
19.6. Digital Output ………….......................................................................................................53
19.7. Measured Parameter ………………....................................................................................54
19.8. Constant .............................................................................................................................55
19.9. Nonlinear Transformation Block ...............................................................56
19.10. Logical Block …………......................................................................................................59
19.11. Navigation Parameters ………….......................................................................................60
19.12. Angles Difference ………………........................................................................................61
19.13. Comparison ......................................................................................................................62
19.14. Switch ...............................................................................................................................63
19.15. Product .............................................................................................................................64
19.16. Gain ..................................................................................................................................65
19.17. Autopilot Inputs .................................................................................................................66
19.18. Autopilot Outputs ………………........................................................................................67
19.19. Memory Cell .....................................................................................................................68
19.20. PID-Controller Tuning Block .............................................................................................69
19.21. Timer…………… ..............................................................................................................73
19.22. Array Value .......................................................................................................................74
19.23. Flight Navigation Block .....................................................................................................75
19.24. Preprogrammed Function Block .......................................................................................77
19.24.1. Ground Object Coordinates Block ..................................................................................77
19.24.2. Wind Parameters Block ..................................................................................................79
19.25. Transfer Function Block ....................................................................................................80
19.26. Variable Block………………………………................................................................…….81
19.27. Curve Block……………………………………………………………………...……………….82
20. EMBEDDED SCHEMES …………...………………………………………………………..…….83
21. TECHNICAL SUPPORT........................................................................................................85

1. FEATURES

 Attitude measurement range: Roll ±180 º, Pitch ± 90º , Heading ±180 º
 Triaxial angular rate measurement till 150 º/s
 Accelerations measurement range: ±5 g
 Altitude measurement till -1000…11000 m
 Airspeed measurement till 300 km/h
 Internal GPS receiver 5 Hz
 Temperature measurement, accuracy ± 3ºC
 Processing frequency 50 Hz
 Temperature operation range from -25º till + 50º C
 RS-232 and RS-485 interfaces
 7 Pulse-Width Modulation channels (PWM) (5 V) for servo drives control
 6 channels of PWM signals capture (5 V) for signal input from the external control unit
 Possibility of external devices connection via RS-485 interface
 Configurable control circuits with PID controllers
 Till 4 flight programs
 Different ways of flight program fulfillment (sequence, interrupt, conditional jumps)
 NMEA, ABIP data protocols
 User friendly PC software for simple configuration
 Power Supply 6V
 Power consumption 350 mA
 In waterproof case dimensions 115 x 65 x 40 mm
 Weight 150g

2. PURPOSE

STA34 UAV Flight Control System is integrated with four major functions - Automatic Control, Data Acquisition, Control Law Design and Semi-Physical Simulation. It can be used as an automatic control device and applied in Fixed-wing Aircraft, Helicopter, VTOL, Car, Boats, Robot and PTZ and Moving Vehicle.
A built-in micro-mechanical inertial block of gauges measures object angular velocities and triaxial angle of attitude. STA34 includes a flexible Control System, which allows user to configure different control loops based on PID control. The System is configured by specific software, which allows constructing of control loops. It is made by junction of basic blocks (inputs, outputs, PID controllers, adders and so on). The software allows also configuring the elements transfer constants.

3. PERFORMANCE

Parameter	Value	Unit
Roll angle measurement range	± 180	°
Pitch angle measurement range	± 90	°
Heading angle measurement range	± 180	°
Roll and pitch angular resolution	0.1	°
Heading angle angular resolution	0.3	°
Triaxial angular rate measurement range	± 150	°/s
Atmosphere pressure measurement range	15…115	KPa
Differential pressure measurement range	0…4	KPа
Altitude measurement range	-1000…11000	m
Airspeed measurement range	0..300	km/h
Temperature measurement range	- 20…+70	°С
Static pressure accuracy measurement (from 0 till 80ºC)	± 0.1	KPa
Differential pressure accuracy measurement (from 10 till 60ºC)	± 0.004	KPa
Altitude accuracy measurement	± 10	m
Airspeed accuracy measurement (from 10 till 60ºC)	± 10	km/h
Temperature accuracy measurement	± 3	°С
Atmosphere pressure measurement resolution	0.0033	KPa
Differential pressure measurement resolution	0.0008	KPa
Altitude measurement resolution	0.3	m
Airspeed measurement resolution	2	km/h
Climb measurement resolution	0.25	m/s
Processing frequency	73	Hz
Temperature operation range	- 25…+50	°С
Operating voltage	5.5…6	V
Currency	350	mA
RS-232 and RS-485 interfaces baud rate	4800…115200	baud
Dimensions (on case) ( L x W x H )	125 х 65 х 40	mm
Dimensions (without case) ( L x W x H )	104 х 57 х 13	mm
Weight in case / without case	150 / 25	g

STA34 TECHNICAL MANUAL.pdf