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Multipilot 2.0 - AP32 Building Log realtime update. The next gen cpu for your Arducopter.

Hello everyone,
a year and a half ago came Multipilot 1.0 an inertial platform for applications and semi-professional hobby. After the excellent results obtained from the marketing of these cards, and participation in development projects as open source and Aeroquad Arducopter and 'born www.virtualrobotix.com community.
Today our community is proud to present the evolution of our project: Multipilot 2.0 ST.

The characteristics of Multipilot 2.0 are:

  • Hardware:
    • ARM7  Cortex-M3 processor STM32F103VET6. 72 Mhz
    • Flash 512 Kbytes RAM 64 Kbytes
    • 16-bit Timer 4
    • SPI 2 (ADC Interface, MicroSD connection)
    • I ² C 2 (First I2C (sensor), Second I2C control until ESC 12)
    • USART 5 (GPS, DEBUG Console, XBee Pro Telemetry)
    • USB 1 (Upload Firmware, Debug Console, Power Board for Debug)
    • CAN 1 (Interconnection with Professional ESC 1 Mbit update rate)
    • 6 PWM Output Bit 16 (ESC / Servo Control)
    • 8 PWM Input 16 Bit (RC Input Channel, accept PPM SUM)
    • 8 Analog Input 12 Bit.
    • Professional 4 layers PCB.
    • DC: DC 30 V (6s Lipo): 5 volts and 3.3 volts
  • Sensor Board:
    • Diydrones OilPan . (High quality entry level board)
    • LN Professional Sensor Board: 3 Axis Accelerometer, 3 Axis Gyroscope, 3 Axis Magnetometer , 10 HZ Gps ,   High Quality Sensor for certify professional application.
  • IDE and Development tools:
    • Arduino IDE.
    • Arm GCC Toolchain.
    • Fully compatible with arduino wiring language.
  • Firmware:
    • On this platform will be available a lot of RC library developed by Virtualrobotix and Diydrones community.
    • Standard software will be an improved revision of Arducopter , Ardupilot , Multiwii , Aeroquad . The first revision of code will be Arducopter NG .
    • MultiFox Rev 4 special  Arm Edition.
  • Special Feature :
    • Multipilot 2.0 is fully compatible with ArduPilotMega DiyDrones Board.
    • OEM revision of Multipilot 2.0 available.

P.S.

Thanks to Sandro for His Beautifull Renders of Multipilot 2.0

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Multipilot32 Flying very well this is video of first fly . I'm using Arducopter 32 NG in stable mode.

I'm very happy of this early result. :)

Just one word: Awesome!

Thank you Sandro :)

First Picture of Multipilot32 .

I'm working on bootloader , I'm waiting same component for finish to make first sample :)

 

Oh... nice to see the board picture in real life! :)

Dear Friends,

after a week of testing I'm very happy to inform you that the board work fine:)

I'm doing some test of advanced IDE as CooCox and Ride7 and also check the upload with serial interface with a simple 3 wire serial port.

All work fine. In this week i start to build the first 10 prototype that will be send to our Dev Core Team around the world. Now on the board is possible to write code that use STM32 standard lib without any problem , is possible for example try to port on MP32 AutoQuad project,  now I'm start  to work to Arduino Wrapper that use standard ST library inside insteat to use custom library so will be more sample use powerfull function of micro as DMA.

The official support of Multipilot32 will be available worldwide on Virtualrobotix Forum with a specific thread.

Regards

Roberto Navoni

P.S.

The  official live presentation of board will be next week at 22:00 Rome Time Now I evaluating if doing a presentation for Europe , One for Asia and Other for USA at different time.

 

Congratulations Robero, love the see the live presentation.

I put on Ardupilot32 Repo last update of XDuino ... i'm working on skeleton of Arduino functionality wrapper : http://code.google.com/p/ardupilot32/source/browse/#svn%2Fbranches%...

 

Hello, Roberto!

After a quick look at the code... I'm wondering how to write that all in so short time.

Seem that I need to add more oregano, rosemary e basil on my diet. :P

I'm curious too, about the folder "TVout".

TvOut is the library that i found for Arduino that using only two pwm output and produce a PAL / NTSC video output. it's very good for http://www.arduino.cc/playground/Main/TVout

I'm working to port it on Ardupilot32 .. so will be available PAL output on it:)

Is possible also to implement an osd .. there're some example on the net .. Now I have other priority but is possible that you can work on it for porting your osd to AP32 .. We have a lot of power to use for this functionality.

Regards

Roberto

I'm using specialized chip to deal with OSD (Max7456).

That helped me to keep it light and include camera control too and drive it all by a single 328p (not really horse power, maybe a little pony...? hehe).

Furthermore, creating a totally software based is probably out of my skills.

It seems to be more appropriated for you, master!

I could try it someday... when I finish the third line of mine, you will finish yours with 3D chars. ;)

This Evening I'm doing a great Result ChibiOS/RT work fine on Multipilot32 . I ask help to Giovanni for configuring Board.h in OS and customize a Multipilot Board for ChibiOS/RT.

Try to compile a sample code and doing standard OS validation thread ... all work fine :) Good Result :)

I Attach the Serial output :) Thanks Giovanni ...

 

þHELLO WORLD!!

*** ChibiOS/RT test suite
***
*** Kernel:       2.2.0
*** GCC Version:  4.4.1
*** Architecture: ARMv7-M
*** Core Variant: Cortex-M3
*** Platform:     STM32 Performance Line High Density
*** Test Board:   Multipilot32

----------------------------------------------------------------------------
--- Test Case 1.1 (Threads, enqueuing test #1)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 1.2 (Threads, enqueuing test #2)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 1.3 (Threads, priority change)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 1.4 (Threads, delays)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 2.1 (Semaphores, enqueuing)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 2.2 (Semaphores, timeout)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 2.3 (Semaphores, atomic signal-wait)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 2.4 (Binary Semaphores, functionality)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 3.1 (Mutexes, priority enqueuing test)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 3.2 (Mutexes, priority inheritance, simple case)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 3.3 (Mutexes, priority inheritance, complex case)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 3.4 (Mutexes, priority return)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 3.5 (Mutexes, status)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 3.6 (CondVar, signal test)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 3.7 (CondVar, broadcast test)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 3.8 (CondVar, boost test)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 4.1 (Messages, loop)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 5.1 (Mailboxes, queuing and timeouts)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 6.1 (Events, registration and dispatch)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 6.2 (Events, wait and broadcast)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 6.3 (Events, timeouts)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 7.1 (Heap, allocation and fragmentation test)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 8.1 (Memory Pools, queue/dequeue)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 9.1 (Dynamic APIs, threads creation from heap)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 9.2 (Dynamic APIs, threads creation from memory pool)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 9.3 (Dynamic APIs, registry and references)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 10.1 (Queues, input queues)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 10.2 (Queues, output queues)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.1 (Benchmark, messages #1)
--- Score : 266140 msgs/S, 532280 ctxswc/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.2 (Benchmark, messages #2)
--- Score : 215141 msgs/S, 430282 ctxswc/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.3 (Benchmark, messages #3)
--- Score : 215141 msgs/S, 430282 ctxswc/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.4 (Benchmark, context switch)
--- Score : 933224 ctxswc/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.5 (Benchmark, threads, full cycle)
--- Score : 159688 threads/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.6 (Benchmark, threads, create only)
--- Score : 235607 threads/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.7 (Benchmark, mass reschedule, 5 threads)
--- Score : 66657 reschedules/S, 399942 ctxswc/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.8 (Benchmark, round robin context switching)
--- Score : 502492 ctxswc/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.9 (Benchmark, I/O Queues throughput)
--- Score : 544424 bytes/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.10 (Benchmark, virtual timers set/reset)
--- Score : 744704 timers/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.11 (Benchmark, semaphores wait/signal)
--- Score : 887188 wait+signal/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.12 (Benchmark, mutexes lock/unlock)
--- Score : 653320 lock+unlock/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.13 (Benchmark, RAM footprint)
--- System: 360 bytes
--- Thread: 68 bytes
--- Timer : 20 bytes
--- Semaph: 12 bytes
--- EventS: 4 bytes
--- EventL: 12 bytes
--- Mutex : 16 bytes
--- CondV.: 8 bytes
--- Queue : 32 bytes
--- MailB.: 40 bytes
--- Result: SUCCESS
----------------------------------------------------------------------------

Final result: SUCCESS

*** ChibiOS/RT test suite
***
*** Kernel:       2.2.0
*** GCC Version:  4.4.1
*** Architecture: ARMv7-M
*** Core Variant: Cortex-M3
*** Platform:     STM32 Performance Line High Density
*** Test Board:   Multipilot32

----------------------------------------------------------------------------
--- Test Case 1.1 (Threads, enqueuing test #1)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 1.2 (Threads, enqueuing test #2)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 1.3 (Threads, priority change)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 1.4 (Threads, delays)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 2.1 (Semaphores, enqueuing)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 2.2 (Semaphores, timeout)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 2.3 (Semaphores, atomic signal-wait)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 2.4 (Binary Semaphores, functionality)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 3.1 (Mutexes, priority enqueuing test)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 3.2 (Mutexes, priority inheritance, simple case)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 3.3 (Mutexes, priority inheritance, complex case)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 3.4 (Mutexes, priority return)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 3.5 (Mutexes, status)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 3.6 (CondVar, signal test)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 3.7 (CondVar, broadcast test)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 3.8 (CondVar, boost test)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 4.1 (Messages, loop)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 5.1 (Mailboxes, queuing and timeouts)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 6.1 (Events, registration and dispatch)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 6.2 (Events, wait and broadcast)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 6.3 (Events, timeouts)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 7.1 (Heap, allocation and fragmentation test)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 8.1 (Memory Pools, queue/dequeue)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 9.1 (Dynamic APIs, threads creation from heap)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 9.2 (Dynamic APIs, threads creation from memory pool)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 9.3 (Dynamic APIs, registry and references)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 10.1 (Queues, input queues)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 10.2 (Queues, output queues)
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.1 (Benchmark, messages #1)
--- Score : 266140 msgs/S, 532280 ctxswc/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.2 (Benchmark, messages #2)
--- Score : 215141 msgs/S, 430282 ctxswc/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.3 (Benchmark, messages #3)
--- Score : 215141 msgs/S, 430282 ctxswc/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.4 (Benchmark, context switch)
--- Score : 933224 ctxswc/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.5 (Benchmark, threads, full cycle)
--- Score : 159688 threads/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.6 (Benchmark, threads, create only)
--- Score : 235607 threads/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.7 (Benchmark, mass reschedule, 5 threads)
--- Score : 66657 reschedules/S, 399942 ctxswc/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.8 (Benchmark, round robin context switching)
--- Score : 502496 ctxswc/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.9 (Benchmark, I/O Queues throughput)
--- Score : 544424 bytes/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.10 (Benchmark, virtual timers set/reset)
--- Score : 744704 timers/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.11 (Benchmark, semaphores wait/signal)
--- Score : 887188 wait+signal/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.12 (Benchmark, mutexes lock/unlock)
--- Score : 653320 lock+unlock/S
--- Result: SUCCESS
----------------------------------------------------------------------------
--- Test Case 11.13 (Benchmark, RAM footprint)
--- System: 360 bytes
--- Thread: 68 bytes
--- Timer : 20 bytes
--- Semaph: 12 bytes
--- EventS: 4 bytes
--- EventL: 12 bytes
--- Mutex : 16 bytes
--- CondV.: 8 bytes
--- Queue : 32 bytes
--- MailB.: 40 bytes
--- Result: SUCCESS
----------------------------------------------------------------------------

Final result: SUCCESS
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