Astro runs Auterion Enterprise PX4 and is MavSDK compatible. This means a serial connection can be used to get messages like GPS position and velocity from the autopilot, send commands like desired position or speed. More info at DroneCode.org, including example code.
You can include MavSDK in your mobile or onboard apps. You can make remote controllers that communicate via MavLINK. You can make sensors that pump their data back and forth to Astro with MavLINK. You can make an app that runs on PC, and the PC connects to the herelink hotspot, allowing full access to the drone telemetry on the laptop.
Astro is PX4 and MavSDK compatible. This means a serial connection can be used to get messages from the autopilot like GPS position and velocity, or send commands to the autopilot like position and speed. Learn more here: https://www.dronecode.org.
Astro has an onboard computer. This means your code can run in a Docker and connect via ethernet/serial to a payload, the autopilot, and the internet via LTE modem. Learn more here: https://docs.auterion.com/developers/getting-started/application-development
Coming soon! Let us know what kind of examples would be interesting.
Configured as ethernet adapter.
Functionality:
connection to payload
mass storage (e.g. flash drive)
firmware updates
It is not possible to power Astro via this port. For example, to update firmware or download logs, power Astro with a battery.
Connector type: JST-ZPD 26-pin
This connector can be accessed directly or to pass connections to the Smart Dovetail connector.
The mating connector to build a payload cable is ZPDR-26V-S.
Connector: JST GH 6-pin
Connector: JST GH 6-pin
Connector: headers, 0.1 inch spacing
PWM outputs are active when the aircraft is powered on.
In AMC, select the output pins by navigating to Menu > Vehicle Setup > Parameters. Possible outputs are:
For each output, select an input source channel (i.e. Herelink hardware button you will push to trigger a change in PWM).
PWM output values (e.g. 1100 us) are controlled by these parameters (read more in the PX4 Parameter Reference).
Connector: JST GH 4-pin
Console is a special serial (UART) port that is useful for troubleshooting applications running on the IMX8 processor inside Astro.
Connector: JST GH 6-pin
Connector: JST GH 6-pin
Not active or user configurable. This button is included for future expansion.
Connector: XT-30
Battery Voltage: 18 - 25.2 VDC
Continuous current: 5.5 A (overcurrent protection set at 6 A)
The XT-30 connector is direct access to the raw battery output, with overcurrent protection cutoff at roughly 5 Amps from the entire IO board. If you have no gimbal attached, you can pull all 5A from the XT-30, but if you have approximately 1A from a gimbal, you'd only be able to use 4A.
In order for the XT30 to behave as expected, the Herelink needs to be powered on and in communication with Astro.
Astro has an onboard computer. This means your code can run in a Docker and connect via ethernet/serial to a payload, the autopilot, and via LTE modem to the internet. Learn more in the , including .
This section will be expanded to include specifications and example code.
These features are still in development so check back!
Smart Dovetail is a payload quick release with mechanical connection and electrical connections for power and data. It's an open standard that implements the .
This model contains the entire smart dovetail assembly. You are welcome an encouraged to use this model to Integrate Smart Dovetail into your payload! This also serves as the reference design for the Pixhawk Payload Bus Quick Release.
Smart Dovetail Plate uses KEL DY11-040L to connect with the Aircraft side. Integrate this connector into your payload (e.g. for mass production).
VBAT is on the IO Panel bus, which includes the XT30, and is protected at 5 A.
Max current per pin is 2 A.
Smart Dovetail Receiver (vehicle side)
Smart Dovetail Plate (payload side)
Fasteners, SHCS M3 x 8, qty 4
Payload Ribbon Cables, 13 conductor, 28 AWG, qty 4
Smart Dovetail Plate (payload side)
Payload Ribbon Cables, 13 conductor, 28 AWG, qty 2
No hotswap protection. Do not mate or demate Smart Dovetail while the aircraft is powered.
If the payload has even modest capacitance or other inrush current the connector contacts on both aircraft and payload side will be eroded.
| Revision | Description | Date |
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Pinout is defined in the standard doc. See page 5 for pinout table and pin identification diagram.
Smart Dovetail Plate offers a connector for payloads. The pinout nominally matches the .
The mating connector needed to build a payload cable is .
The Astro Smart Dovetail Kit, which includes both the vehicle and payload side of the dovetail, can be found in the .
Payload connectors, , qty 2
The Universal Dovetail Kit, which includes only the payload side of the dovetail, is also available in the .
Payload connectors, , qty 1
Not all ZPD pins are implemented. Power, ethernet, serial, and usb are present. Please let us know if unimplemented pins are blocking you: .
Hard-mounting to Astro chassis requires standoffs ( included in the kit). The requirement is due to interference between the cable bundle and Herelink Air Unit.
The is designed to be adaptable. By default, it comes preconfigured to work best with the , and it ships with 4 x 30A durometer isolators. Our engineering team decided this is the best configuration based on real-world testing.
Isolator plates allow up to 8 isolators. Different durometers to the Astro , which include 30A, 40A, and 50A options.
Here is a of a typical flight with a 1.5kg payload as an example of aircraft vibration.
IO board label
Parameter name
1
RC_MAP_AUX1
2
RC_MAP_AUX2
3
RC_MAP_AUX3
4
RC_MAP_FLAPS
Herelink
Channel
Wheel
5
Button D
10
Parameter
Function
PWM_AUX_DIS1
PWM output when autopilot is not armed. When set to -1 the value for PWM_AUX_DISARMED will be used. a similar parameter is availabel for each channel
PWM_AUX_MIN1
Minimum PWM pulse for this output. When set to -1 the value for PWM_AUX_MIN will be used.
PWM_AUX_MAX1
Maximum PWM pulse for this output. When set to -1 the value for PWM_AUX_MAX will be used.
PWM_AUX_REV1
Invert direction.
PWM_AUX_FAIL1
PWM output if autopilot is in failsafe mode. When set to -1 the value is set automatically depending if the actuator is a motor (900us) or a servo (1500us)
Alpha | Initial design release | 11/12/2021 |
Beta | Complete model released | 3/24/2022 |
Production | Available in store | 6/17/2022 |
