AP04

The AP04 range of autopilots has been in service with numerous customers around the world since 2004. It has been successfully used in all types of aerial target and UAV platform. Two models are available as shown:

 

AP04 AP04M
 
The major difference between the two models is that the AP04 includes a built-in 900 MHz datalink, whilst the AP04M does not (it is designed to be connected to the Customer's external datalink).
 
The AP04 is suitable for all types of platform, including fixed and rotary wing UAVs. Other than servos and batteries (also an external datalink in the case of the AP04M), the AP04 is the only onboard system required to control a UAV and its payload.
 
The AP04 is a complete autopilot, meaning that no other flight control computer or sensors are required for it to function as a flight control system. It includes the following main elements which are represented in the block diagram below:
  • Aerospace grade, waterproof, anodized aluminium housing with IP67 MIL-STD connector.
  • Twin redundant Flight Control CPUs.
  • A complete set of sensors, including an Air Data System (ADS), precision GPS, 3-axis gyros, 3-axis magnetometers, 3-axis accelerometers. The sensor suite provides the heading, attitude and velocity information required by the Flight Control CPU in order to control the UAV in all flight modes and to execute the required flight plan.
  • 900 MHz datalink (AP04 only).

Autopilot Block Diagram

The AP04 is designed for fully automatic operation of the UAV, including auto take-off, flight plan execution and fully auto landing. For a full list of operation modes available, see KB article 'Basic AP Flight Modes'. AP04 can also adapt the aircraft for each stage of flight, e.g. deploying flaps during landing, locking nose wheel steering and deploying a parachute after a controlled deceleration of the engine.
 

Part No

For AP04 and AP04M part number info, please consult AP04 Airspeed Ranges

FLIGHT CONTROL

Fully automatic, multi-waypoint, 3D flight plan following

Axis

3 (roll, pitch, yaw)

Auto Throttle

Yes

Auto Take-off/Landing

Yes

PAYLOAD MANAGEMENT

Gyro-stabilization

Yes

Flare/Parachute

Auto or manual firing

COMMUNICATIONS (AP04 only; AP04M depends on datalink fitted)

Datalink Frequency Range

902-928 MHz

Baud Rate

115.2 Kb/s (full duplex)

Range

100 km

Method

Frequency Hopping Spread Spectrum (FHSS)

Simultaneous multi-UAV flight

Yes (up to 16 at any one time)

I/O

I/O Lines

16

PWM Rate

50Hz or 200Hz

PWM Signal

1 ms to 2 ms high, 1us steps

RS232 Ports Baud Rate

4.8k, 9.6k, 19.2k, 38.4k

REDUNDANCY & SAFETY

Dual Flight Control CPU

Yes

Online Sensor Diagnostics

Yes (Continous Built-In Test, CBIT)

Sensor Failure Tolerance

All single, several multiple

AIR DATA SYSTEM (ADS) see also AP04 Airspeed Ranges

Altimeter

0 to 20,000 feet

AHRS

Accelerometer

3 axis

Max Acceleration

10G (vertical)

Angular Rate Sensors

3 axis

Max Angular Rate

300º/s

Magnetometer

3 axis (possibility to connect external magnetometer, e.g. MG01)

Magnetometer Attitude Compensation

Yes

INTERFACES

E/O or IR PTZ

See KB article 'Introduction to Peripherals' for list of compatible camera brands

Engine Management/Control

EM02, JetCAT, AMT

GPS

Channels

12

Differential

Compatible, but not standard

ELECTRICAL

Supply (unregulated)

9V to 36V DC

Power Consumption

2.5W

MECHANICAL / ENVIRONMENTAL

Enclosure Material

Grade 6082 Aluminium Alloy

IP Rating

Designed to conform with IP63 (explanation here)

Size (mm, H x W x L, box less connectors, width less mounting lugs)

  • AP04: 59.7 x 68.0 x 74.5
  • AP04M: 45.0 x 68.0 x 74.5

Weight

  • AP04: 255g
  • AP04M: 173g

Humidity

Up to 90% RH, non-condensing

Temperature Range

-40ºC to +85ºC

System Connector

Amphenol MS3112E-16-26P

GPS Antenna Connector

50 Ohm SMA Female

Pressure Connectors Diameter

3.0mm

Radio Link Antenna Connector (AP04 only)

50 Ohm SMA Female

Shock Survival

500g 8ms ½ sine

Mounting Screws

4 x M4

ESD Compliant

IEC 61.000-4-2-level 4

 
AP04 Diagnostic Board

 

 
The AP04 Diagnostic Board is a quick and easy way to connect the AP04 to a PC and access the main connection capabilities of the AP04. The AP04 is easily configurable by using this board.

 

 
AP04 Installation Kit
 
The AP04 Installation Kit (INSKIT) includes the ancilleries required to install and connect it to the UAV's onboard avionics:
 
  • AP04:
    • 1/4 Telemetry Radio antenna for UAV.
    • SMA bulkhead connector.
    • SMA to SMA coax cable.
    • GPS antenna.
    • Amphenol 26-Pin MIL-STD connector
  • AP04M:
    • GPS antenna.
    • Amphenol 26-Pin MIL-STD connector.
 
TGTIO02
 
The Target In/Out 02 (TGTIO02) is a peripheral control board for target drones. It is an excellent solution for integrating all the peripheral functions of a target drone.
 

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