RESEARCH Catalogue

Gregor Hartl
Ascending Technologies GmbH /// Konrad-Zuse-Bogen 4 /// 82152 Krailling /// Germany
T +49 (089) 89 55 60 79 0 /// F +49 (089) 89 55 60 79 19 /// team@asctec.de /// www.asctec.de

CONTENTS

Key Features
Flight systems
Onboard PCs

3
7
10

CONTENTS

AscTec AutoPilot
Ground PC/Onboard PC

Accelerometer
X, Y, Z

Gyro X

UART
XBee @ 15 Hz
Cable @ 100 Hz

Low Level
processor

Gyro Y
Gyro Z
Pressure
Sensor

Sensor Data
Fusion

SPI@5 Hz
IMU Data
Direct Individual
Motor Commands
Direct Motor
Commands

Attitude Control

UART
XBee @ 1 kHz
Cable @ 1 kHz

High Level
processor
User defined
programs in C via
AscTec SDK

Attitude
Commands
Waypoint
Commands

Compass
R/C
Receiver

GPS

Position Control

SPI @1 kHz

I2C @ 1 kHz
I2C @ 125 Hz

Motor Controller

AscTec AutoPilot
The AscTec AutoPilot is a precise and multifunctional research tool mounted on all
AscTec UAVs. This flight control unit contains
all necessary sensors to function as an IMU,
it also has two onboard ARM7 microprocessors and various communication interfaces.
There are several strategies on how the
AscTec AutoPilot can be utilized for your
research projects. It can directly interpret
the R/C data sent by the pilot and the serial
data sent from the ground PC. For automatic
missions, you can program and upload your
own control algorithms directly onto the
High Level processor of the UAV.
If more processing power is required or
additional sensors, like cameras or laser
scanners need to be connected, an additional onboard processor is installed. Its
high performance and fast communication
enable you to handle large amounts of data
onboard. An optional WLAN module can be
integrated to exchange this data between the
additional processor and a ground PC. All
gathered data can be used for your control
algorithms and the calculated commands
can then be sent to the AscTec AutoPilot.

KEY FEATURES

AscTec AutoPilot
sensor inputs. All AscTec UAVs can be oper- High Level processor
ated by the pilot via a remote control in three
different flight modes:
GPS Mode (attitude-, height- and positioncontrol activated)
Height Mode (attitude- and height-control
activated)
Manual Mode (attitude-control activated)

Low Level processor

Key Features

LL and HL processor
Extremely fast update rates
of up to 1000 Hz

LL

HL

Easy programming and testing

of your own control algorithms
Well proven control algorithm
as safety backup
AscTec SDK, AscTec Simulink
Toolkit and ACI

The Low Level (LL) processor handles sensor

data processing, data fusion as well as our fast
and stable attitude control algorithm with an
update rate of 1000 Hz. It also processes the
position control algorithm, using the onboard
magnetometer and GPS module as additional

LL

HL

All AscTec UAVs have an emergency mode

which is automatically activated if the data link
between the UAV and the R/C of the safety
pilot is lost (range > 1 km). You can choose
between several emergency options depending on your mission.
Sensor data can be retrieved from the
LL processor via a serial interface using a
predefined serial protocol. Furthermore, the
serial interface can be used to send attitude
commands (pitch angle, roll angle, yaw rate
and thrust) or even waypoint commands to
the vehicle depending on the flight mode.
Due to the size of the data structures, update
rates of up to 15 Hz can be accomplished via
a wireless serial link (XBee, range > 1km).
Higher update rates of up to 100 Hz can be
achieved using a serial cable connection.

The basic concept of the AscTec AutoPilot is

to offer easy programmability, and to provide a
safety net while testing your own control algorithms. Therefore you can flash the High Level
(HL) processor with your own algorithm and
let it control the flight system. To recover from
critical flight situations during your test flights,
the pilot can always switch back to the well
proven control algorithms on the LL processor
as a safety backup.
The two microprocessors communicate with
an extremely fast rate of 1000 Hz, hence all
sensor data is available to the HL processor
as well. Control commands can be sent back
to the LL processor at the same frequency,
for example the: rotational speed commands
for each individual motor, pitch/roll/yaw/thrust
commands, attitude commands or waypoint
commands.
Available data packages
The HL processor offers UART, SPI and IC
Raw IMU data, calculated IMU data, R/C interfaces as well as simple port I/Os to condata and GPS data can be polled from the nect your own devices like additional sensors,
AscTec AutoPilot.
servo motors or extension boards. Also custom
payloads, like wireless cameras, can be powered
by a 5 V or 12 V supply of the AscTec AutoPilot.
KEY FEATURES

AscTec SDK

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o
-c

AscT
ec S
DK

Control commands

AscTec HL SDK 2.0

Individual motor commands
(each motor from 0-100 %)
Direct motor commands
(pitch/roll/yaw rates and thrust)
Attitude commands
(Manual-, Height- or GPS-Mode)
Waypoint commands
(position, height, heading, etc.)

AscTec HL SDK
To program the HL processor, we provide our
free software development kit (SDK).
The AscTec HL SDK 2.0 is a C-code framework
in an Eclipse environment with cross-compiler
and debugger. You can use the AscTec HL
SDK 2.0 to program your own algorithms,
sensor interfaces and communication protocols in C-Code and upload your code to the
HL processor. In combination with our AscTec
JTAG you can debug your code online.

New in SDK 2.0

Several new code examples help the first time
user understand the idea and possibilities of
the AscTec SDK 2.0. Two additional control
modes were added, one lets you command
each single motor individually, and the other lets
you send waypoint commands directly from the
HL processor. For a better overview all readable
sensor data are saved in a single data structure. Together with an updated motor controller
firmware, the motor feedback is now available.

AscTec Communication Interface (ACI)

The AscTec Communication Interface (ACI)
is designed to offer an easy and fast communication between a remote software and
the high level processor.
It lets you request variables, send commands
and set parameters on your AscTec UAV.

KEY FEATURES

SIMULINK TOOLKIT
Simulink

Simulink Tool Kit

C-code

od

-c

AscT
ec S
DK

Control commands

AscTec Simulink Toolkit

Individual motor commands
(each motor from 0-100 %)
Direct motor commands
(pitch/roll/yaw rates and thrust)
Attitude commands
(Manual-, Height- or GPS-Mode)

AscTec Simulink Toolkit

Matlab Simulink, the well-known system
modeling software, can now be used to
program the HL processor of our AscTec
UAVs. Therefore we offer the AscTec Simulink
Toolkit which works in cooperation with the
AscTec HL SDK 2.0. The toolkit includes a
predefined onboard model to integrate your
own Simulink based control algorithms. This
model can be automatically translated into
C-code for the AscTec HL SDK 2.0. A simple

attitude control example is already imple- send individual control commands, both via
mented to show you the possibilities offered an XBee modem on the serial port of the HL
processor. Furthermore, you can easily update
by the toolkit.
your parameters or store them permanently
There are several predefined parameter-, by running an M-file.
control- and debug blocks available which
can be integrated into your own control algorithms. The Simulink toolkit offers a UART
communication model to monitor these debug
channels (with up to 50 Hz), as well as to
KEY FEATURES

The asctec firefly

Safety and Ease of handling

Canopy for placing

your sponsors logo

Key Features

LED fin indicating

system status

AscTec Firefly
Min. take-off weight: 1000 g
Max. payload: 600 g

Small and safe 8 inch propellers

Redundant propulsion system

(controlled flight with only 5 motors)
Decoupled and vibration damped
unit of IMU and payload
Many payload
options available

22

The modular structure enables fast component exchanges in case of a crash or modification during integration and testing. The
frame in frame concept was designed to
decouple the fixed connection of payload
and IMU from the vibration inducing motors.
This concept raises the quality of the sensor and camera data and avoids dynamic
misalignments. Optional propeller types tune
the AscTec Firefly to either maximum security
or maximum performance.

stiff propellers

20

flight time (min.)

AscTec Firefly
The AscTec Firefly is the latest and most
advanced UAV in the AscTec fleet. It was
engineered for highest security and easy
handling, hence its perfect for your automatic
flight experiments.
Besides the small nonhazardous propellers
and low take-off weight, it comes with a patented redundant propulsion system, which
allows a controlled flight with only 5 rotors.
Selectable emergency modes allow difficult
flight missions.

CFK propellers

18
16
flex. propellers
14
12
10

100

200

300

400

500

600

payload (g)

ASCTEC FIREFLY

The asctec pelican

Power and Flexibility
Can be equipped with
cameras and LIDARS

Key Features

AscTec Pelican
Min. take-off weight: 1000 g
Max. payload: 650 g

Efficient 10 inch propellers

Payload mount options below

and above propellers
Modular & flexible tower design
with easy access to all electronics

High power propulsion

system

Plenty of room for

payload

35

Furthermore you can easily integrate your own

individual sensors and process the gathered
data directly onboard of the flight vehicle.
All in all this flight system is the most flexible
and powerful of the AscTec fleet.
Decide to go for our bestseller!

PP6100 battery

30

flight time (min.)

AscTec Pelican
The well proven AscTec Pelican was designed
for maximum power combined with plenty of
room to use its complete capacity. The light
weight tower structure lets you mount diverse
payloads and easily access all electronics.
Therefore we offer high performance onboard
processors, fix or actively stabilized camera
options and precise laser scanners. You can
choose between several preset configurations,
which prepare your flight system for e.g. SLAM
or stereo vision applications.

25

TP8000 battery
TP6000 battery

20
15
10
5

100

200

300

400

500

600

700

payload (g)

ASCTEC PELICAN

The asctec Hummingbird

Simplicity and Agility

Key Features

AscTec Hummingbird
Min. take-off weight: 500 g
Max. payload: 200 g
Safe, flexible 8 inch
propellers

Precise and agile for indoor usage

Protective aluminum
frame
GPS for outdoor navigation

Easy to repair

Light weight and

robust structure

AscTec Hummingbird
The AscTec Hummingbird is our most mature
UAV designed for aggressive and fast flight
maneuvers. The robust frame and the flexible propellers tolerate harder landings and
the simple structure makes it easy to repair.
Hence this flight vehicle is the perfect tool for
your research in flight control and dynamic
maneuvers.
Our customers use this labflyer for all kind
of applications. In combination with external
indoor tracking systems they use it to push

their control algorithms to a maximum speed

and precision.
By using several AscTec Hummingbirds at the
same time, swarm behavior and cooperation
is explored. Even art projects have discovered
this AscTec Hummingbird, letting it act in a
dance choreography or let a swarm of UAVs
simulate a virtual fireworks, as it can perform
agile maneuvers for up to 20 minutes.
Gregor Hartl
ASCTEC HUMMINGBIRD

The asctec MASTERMIND

Maximium power and flexibility
Ethernet

Key Features

AscTec Mastermind
UARTs

Up to Intel Core i7 processor

Interfaces: FireWire, GigE,

USB2.0, USB3.0

High power CPU options

mSATA, SATA, microSD, CFast

Status display

VGA monitor output

Additional power connector

AscTec Mastermind
The AscTec Mastermind gives you tremendous
computation power at a reasonable size and
weight. It has been designed according to our
customers need for much more computation power. At the beginning of any research
project, regarding flying or non-flying robots,
you often need to try out as many sensors
as possible. Moreover you do not want to
spend your time optimizing your algorithms
before the proof of concept. Therefore the
AscTec Mastermind offers a huge variety of

standard interfaces. Simultaneously receive

the data of FireWire-, GigE-, USB 2.0-,
USB3.0-devices, store it on mSATA-, SATA-,
microSD-, CFast-cards, process all information
with the high performance of an Intel Core i7
processor, and share your results via a serial
or WiFi connection.
With the AscTec Mastermind you can start
right away, without being concerned that
there could be a limit given by the board. More
features like the additional power connector,

the VGA-slot, the status display and the preinstalled Ubuntu Linux with all necessary drivers
for your AscTec accessories make this board
the first choice for your research application.

ASCTEC MASTERMIND 10

The asctec ATOMBOARD

Minimum size and weight

Key Features

AscTec Atomboard
Gross weight: 90 g
Intel Atom 1.6 GHz processor
Interfaces: 6 x USB 2.0,
2 x UART
High computing power
Low power consumption

1 x Mini PCI Express slot

1 x Micro SD card slot

LVDS graphics port

x86-technology

AscTec Atomboard
The AscTec Atomboard was designed as the
worldwide smallest breakout board carrying
an Intel Atom processor. It integrates the high
performance of an x86-technology computer
into your research platform. The small weight
guarantees the outstanding flight performance
of your AscTec UAV and the reliability and
power was proven in quite a few university
competitions. The preinstalled Ubuntu Linux
is ready set up and lets you work onboard
of the flight system as on your PC.

By communicating with the AscTec Autopilot,

IMU data can be included into your algorithms
and high level commands can be sent to
the flight system. The CoreExpress carrier
board, which comes with a great number
of USB 2.0 ports, lets you simultaneously
connect several devices and process their
data stream during your flight missions. In
combination with our lightweight accessories
and your know-how it enables the UAV to
perform automatic flight missions, like

SLAM or cooperating in a swarm of UAVs.

The AscTec Atomboard is the perfect choice
if you look for an x86-technology computer
packed into a minimum form factor.

ASCTEC ATOMBOARD 11

RESEARCH

May 2013 version 1.1