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Autonomous Systems LabProf. Roland SiegwartBachelor-ThesisDesign of the ElectronicSystems for an AutonomousBlimpReport SensornodeSpring Term 2012Supervised by:Stefan LeuteneggerJanosch NikolicAuthors:Simon LaubeLukas Gasser

A.4 Schematics Mothernode . . . . . . . . . . . . . . . . . . . . . . . . . 38A.5 Layout Sensornode . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43A.6 Layout Mothernode . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

AbstractThis Report documents the essentials of Skyes electronic system. Our goal was towrite down all thoughts put into it from the sketch through to the solution runningon Skyes prototype today.At this point we want to thank the whole Skye-Team, especially Daniel Meier formanaging all administrative work in the electronic division.Special thanks also to Janosch Nikolic and Stefan Leutenegger for supporting us inthe solution-finding process and for having that much faith in our work.Zürich, May 2012v

SymbolsSymbolsI maxxxmaximum current of ”xx”Acronyms and AbbreviationsETHD-MAVTD-ITETASLZHdKDRZEidgenössische Technische HochschuleSwiss Federal Institut of TechnologyDepartement für Maschinenbau und VerfahrenstechnikDepartment of Mechanical and Process EngineeringDepartement für Informationstechnologie und ElektrotechnikDepartment of Information Technology and Electrical EngineeringAutonomous Systems LabZürcher Hochschule der KünsteZurich University of the ArtsDisney Research ZürichTechnical AcronymsGUI3DGPSLDOPPMPCBUARTCTLPICRXTXADCRCpxIMUGraphical User InterfaceThree DimensionalGlobal Positioning SystemLow-Dropout RegulatorPulse Pause ModulationPrinted Circuit BoardUniversal Asynchronous Receiver TransmitterControlMicrochip Microprocessor PIC24FJ256GB106Receive BufferTransmit BufferAnalog-Digital-ConverterRemote ControlPixhawk Internal Measurement Unitvii

Chapter 1Introduction1.1 Project SkyeProject Skye is a student project initiated and supported by the “AutonomousSystems Lab” (ASL) at the “Swiss Federal Institute of Technology” (ETH) andDisney Research Zürich (DRZ). Its goal is to develop a highly dynamic and innovativeblimp for various applications that require aerial image taking under difficultoutdoor conditions. Main tasks include flight activity up to wind speeds of11 kmh −1 . Flexible and agile flight characteristics should be maintained for a flightduration of at least 1 h. The system should also be able to carry enough payloadfor professional cameras and be safe enough to fly over a crowd.1.2 SpecificationsAs a result of the project goals (see A.1.1) the center of gravity has to be equal tothe center of buoyancy and the arrangement should be tensor neutral.This is the main reason for the tetrahedal arrangement of the actuation units requiringadditional intelligence (see 2.1, Sensornode) on each actuator. Since thecore-board does not provide as many UART connections as needed and to reducecable tangle on the hull, the communication between the core-board and the Sensornodeis realized in a differential - due to the quite large distances between thenodes - RS485 bussystem called Skye-bus (see 3.3). The Sensornode also containsa rather complex system of pressure sensing as well as battery-supervision andmeasurement of the motors power consumption.For linking the different components digitally and ensure power supply at the requestedvoltage levels of each component of the main electronic case another PCBis needed near the core-board. The Mothernode (see 2.2 performs those taskswith pure hardware.1

Chapter 1. Introduction 2SkyeBusSkyeBusMotherNode ActuationNode ActuationNodeFigure 1.1: Scheme of SkyeBus with ActuationNode alias Sensornode andMothernode

Chapter 2HardwareAs in section 1.2 explained two different PCBs are needed to achieve the requirements.The sensornode is part of the Skye actuation unit and placed a total offour times on the blimp, while the mothernode is located nearby the pxIMU 1 inthe main electronic case.2.1 Sensornode2.1.1 RequirementsThe sensornode realizes the interface between the pxIMU and the motors fulfillingthe following tasks:• Battery-supervision of the 14.7 V Li-Po accumulator 2• Power-Supply of all electrical components in the actuation unit and the blimps14.7 V -grid• Supervision of the power consumed by the thrust-motor 3 in particular and ofall other components together• UART communication with the pxIMU• Driving the motor-controllers– Thrust-controller 4 over differential TX (without Feedback)– Direction-controller 5 over RX/TX (including Feedback)• Collecting information about the pressure distribution on the hull• Providing serial connection to inside pressure and temperature sensor• On board LED for basic visual communication1 Core-board controlling a quadrocopter designed and developed by Pixhawk, ETH Zürich,https://pixhawk.ethz.ch/2 DesirePower V8 XP, 6200mAh3 AHM Brushless 23-104 Maxon EPOS2 2425 MT-30A3

Chapter 2. Hardware 4The battery-supervision module has to be able to disconnect single accumulatorunitsfrom the grid for low-voltage protection of each cell. If all batteries are dischargedto their critical level, the blimp has to be brought to ground smooth andsafely. Since the gravitational pull is greater than the buoyancy, shutting down allthrust-motors is specified to be a safe enough method. 6The thrust-motors maximum load is expected to be around 150 W (which leads toa maximum current of about 10 A). The cables and PCB must be dimensionedaccordingly. Since the thrust-motors are the main power hogs, a separate currentmeasurement is fundamental. For all other components it is enough to implementone current sensor. The thrust-motor can only be reached over a slip-ring, whichrequires a differential PPM communication because the slip ring might introducenoise. This link is only one-way, but this is satisfying, since we only need the motorcurrent as feedback and this is measured before the slip-ring.On the other hand communication for the direction-controller has to be both ways,because the Epos protocol is bidirectional and we also need to get the current drawand the current position.Inside the hull, there is a small pressure and temperature sensor to provide insidemeteorological data. This sensor is connected over a standard I2C bus.The outside pressure measurement system contains three differential and one absolutepressure sensor. The differential sensors have to be able to detect slightestchanges of wind speed which requires a high resolution of < 0.8 Pa. The main ideabehind the rather complex pressure sensing system is to get a good feedback ofthe blimps speed, flight direction and wind conditions, and so to use the pressureinformation for navigation in the air. 72.1.2 Concept and Components 8In this Section a selection of key-elements is explained in more detail. If deeperunderstanding is required, please consider either the schematics (Section A.3) orthe respective datasheet.Battery-Supervision Connecting individual batteries in parallel is not safe todo because when batteries with different charge levels are connected together, verylarge equalisation current start to flow which will possibly destroy the grid andbatteries. To prevent this from happening the LTC4412 9 (”Low Loss PowerPathController”) is implemented with an additional feedback diode in case of reversecurrent flow from the motors. The LTC4412 controls an external P-channel MOS-FET to create a near ideal diode function (20mV voltage drop) to efficiently sharethe load between the batteries.The LTC4412 has an control input to shut off the P-Fet. This control input is connectedto the (PIC) which then can take individual batteries off the grid. Becausethis control input is inverted we cannot completely shut off the system by software.It is so quite easy to see that if all batteries are disconnected and therefore the PIChas no power, this input will be low forcing the MOSFET in a conductive state.The connection to at least one battery is re-established. As a result, it is mandatoryto manually disconnect all batteries before leaving the blimp. A feature by designthat may be an option for improvement in future versions.6 [8] Skye Final Report7 [5] Bachelor’s thesis ETH Zürich of Lukas Mosimann D-MAVT8 For the entire list of components see A.29 [3] LTC4412

5 2.1. SensornodePower-Supply 10 The Battery supplies a voltage of 14.7 V . In Table 2.1 belowthe different voltage-levels and types of converter are listed.Voltage-LevelType Device Supplying6.0 V DCDC PTN78000W LDO, LED5.0 V LDO LP2985-50 pressure sensors3.3 V LDO LP2985-33 PIC, Bus and all othersTable 2.1: Voltage-Level on sensornodePressure sensing system To meet the quite ambitious requirements, one of themost accurate differential pressure sensor is implemented. The MPXV7002 11 has arange of ±0.3 psi. With its piezoresistive transducer it is state-of-the-art.The following calculation gives us a lower bound for the resolution of the ADC weneed to use to meet the design requirement:2 x > ∆p 400 kP a= = 500 k ⇔ x = 19, xɛZ (2.1)p res 0.8 P a∆p . = max. outside pressure differencep res = min. demanded resolutionThis calculation led us to the LTC2440 12 . The LTC2440 is a high speed 24-bitADC with only 5 µV offset. It uses proprietary delta-sigma architecture enablingvariable speed and resolution with no latency.The effective resolution of the LTC2440 is 21-bits, which leaves a 2-bit reserve dedicatedto additional noise and other unexpected variables.Modern delta sigma converters have switched capacitor front ends that repeatedlysample the input voltage over some time period. The sampling process producesa small current pulse at the input and reference terminals as the capacitors arecharged. The LTC2440 switches the input and reference to a 5pF sample capacitorat a frequency of f SW . When using the internal oscillator, f SW is 1.8MHz and theequivalent resistance is approximately 110 kΩ.Because of this, it is critical to properly drive the ADC. If driving such an ADC isnot done properly it is easy to lose a lot of precision.We used the LTC2440 datasheet as a basis for our implementation of the driver.We chose the MCP6V26 13 auto zeroed op amp for its very low offset voltage ofmaximum plus or minus 2µ V . As can be seen in the MCP6V26 datasheet the offsetvoltage has a discontinuity when the common-mode voltage crosses about VDD -1.2V. To avoid this discontinuity we decided to implement this driver in an invertingconfiguration.To synchronize the clocks of all ADCs the signal FO is used for avoiding interference.For supplying 9 MHz clock to FO, the LTC1799 is used with a pull-upresistance R set .10 [7] PTN78000W, [1] LP298511 [6] MPXV700212 [2] LTC244013 [4] MCP6V26

Chapter 2. Hardware 6⎧⎨ 100, DIV Pin = V+N = 10, DIV Pin = Open⎩1, DIV Pin = GNDR set = 107 Hz ∗10 4 10 11Ω = Ω = 11.1k Ω (2.2)N ∗ f osc 1 ∗ 9 ∗ 106 2.2 Mothernode2.2.1 RequirementsThe mothernode realizes the interface between the pxIMU, sensornode, the Xbeeand the High-Level-Board fulfilling the following tasks:• UART connections from pxIMU to1. Xbee-Module 142. high-level-board 153. Skye-Bus 16• PPM connections from pxIMU to RC-Receiver• Power Supply for1. Xbee-Module2. high-level-board3. RC-Receiver• Connection for external 14.7 V power source• On board LED for basic visual communicationThe main purpose of this board is to create a suitable interface between the pxIMUand the blimp.2.2.2 Concept and Components 17In Table 2.2 below the different voltage-levels and types of con-Power-Supply 18verter are listed.14 [10] Xbee-Module15 [8] Skye Final Report, Section Electronics16 see Section 3.317 For the entire list of components see A.218 [9] TEN40-1212N, [7] PTN78000W, [1] LP2985

7 2.3. ErrataVoltage-LevelType Device Supplying12.0 V DCDC TEN40-1212N High-Level-Board6.0 V DCDC PTN78000W LDO, LED5.0 V LDO LP2985-50 pxIMU, RC-Receiver3.3 V LDO LP2985-33 XbeeTable 2.2: Voltage-Level on mothernodeMeasurements indicated a massive power consumption by the high-level-board (upto 25 W ). This means that the DCDC-Converter delivering the needed 12 V hasto be able to handle a maximum current I max > 2 A, which the TEN40-1212N iscapable of.I max = 3.33 A ⇔ P max = I max ∗ U 12V = 40 W (2.3)The rest of the components are less power consuming and therefore not fartherexplained.2.3 ErrataIn the two Tables below all errors found are listed. All of them were fixed manuallylater on.Type Component DescriptionDimension R101Schematic U1The Resistance R set should be 11.1k Ω instead of9k ΩPin 57 of the PIC should be pull-up (3.3 V) andnot pull-down.Table 2.3: Errata-List of Sensornode v1.0Type Component DescriptionFootprint DC1Footprint XBEE1Dimension U2Mirrored Footprint used, wherefore the TEN40-1212N can only be attached to the bottom side ofthe PCBMirrored Footprint of NPPN101BFLD-RC (receptacle)The LP2985-33 must be replaced through a biggerLDO due to a unexpected high current I maxgrid =200mA >150mA =I maxLP 2985−33Table 2.4: Errata-List of Mothernode v1.0

Chapter 2. Hardware 8

Chapter 3FirmwareOn the sensornode sits a 16bit microcontroller from microchip, which generates thePPM signal for the thrust controller, communicates with the Epos-Motor-Controllerand the pxIMU, reads all the cell voltages and currents from the battery and evaluatesthe pressure sensors. This microcontroller is programmed with the microchipC30 compiler which is a gcc based C-compiler.3.1 Source StructureThe project skye is still in prototyping phase which means that hardware and softwarechanges are possible. To make the adoption of new hardware platforms easierthe source code is organized in four main categories:• Hardware Independent Code• Microcontroller Family Dependent Code• Microcontroller Specific Code• Board Specific CodeThe general idea behind the folder structure is to use the compilers include-pathsettings to include the correct files needed for a specific hardware platform.3.1.1 Hardware Independent CodeThe hardware independent code is located in the ’general’ folder. This code mainlydefines the API for the hardware dependent code.3.1.2 Microcontroller Family Dependent CodeHardware modules from the same microcontroller family are very similar to configurewhich makes it logical to locate the drivers in the family dependent code folder.Most drivers are written in two parts:Generic code and hardware access code.This is done because a module can have multiple identical instances on the microcontroller.This way the generic code does not need to be duplicated for eachinstance. One problem with PIC microntrollers is that configuration registers donot work properly when accessed through pointers. Because of this the moduleregisters are accessed through function-pointers.9

Chapter 3. Firmware 103.1.3 Microcontroller Specific CodeThe microcontroller specific code implements all interrupt vectors, IO access functions,start-up code and includes the correct processor header file.3.1.4 Board Specific CodeTo make modifications to the PCB easier to adapt to the code, the board specificcode defines pin mappings and inizialises the directions of the port pins. It has alsoconfiguration for the oscillator and some of the modules.3.2 RuntimeBecause the application needs to run multiple tasks at the same time, we designeda job based runtime. A job is basically a function-pointer and a user-data-pointerwhich is passed to the function. This can be used by the code to differentiate betweenmultiple instances of the same driver.Jobs can be posted to the job engine and will be executed in the order they areposted (FIFO).To keep things nice and simple, pre-emptive and cooperative multitasking were notimplemented.This has consequences for all jobs: They are not allowed to perform blocking operationswithout returning from the job function in regular intervals. This requirementmakes it necessary to implement everything with event driven state-machines.To make the system event driven, the application can assign an unique job to eachof the different interrupt sources.The nice thing about this architecture is that the user does not need to care aboutsynchronisation between high-level code and interrupt code.3.3 Skye-BusSkye-Bus was designed to meet the stringent requirements of the high performancecontrol system. As mentioned at the beginning of this report Skye-Bus connects allSensornodes to the pxIMU. Because not every Sensornode has a battery, considerablyhigh currents flow between the nodes and cause ground potential shifts. Toallow reliable communication despite these ground fluctuations, a differential bussystem was chosen. Another requirement is the high data-rate. The control systemadjusts motor direction and speed 50 times a second and needs to update all motorparameters each control loop iteration. In addition to this, the values from thecurrent, voltage and pressure sensors need to be read in reasonable intervals. Therequirements are:• Low latency• High throughput• Robustness• Simplicity

11 3.3. Skye-Bus3.3.1 FrameEach Frame consists of a buffer that is illustrated in Fig. 3.1.Figure 3.1: Skye-Bus frameThe header bytes and bus synchronization are briefly described below:Flags+ID The field of flags+id consists of the bits shown in Fig. 3.2. A briefdescription follows in Table 3.1.Figure 3.2: Flags + ID Byte StructureBit Name DescriptionSL Silent Bit 1 = receiver does not respond with an ACKANS Answer 1 = receiver sends Answer FrameIDx Node ID e.g. 0010 = Sensornode 2Table 3.1: Flags + ID Byte DescriptionChecksum The checksum CS is simply created as shown in Eq. 3.1 and has alength of 2 bytes.N∑CS = 0xAAAA + databyte i , N = {NɛN|1 ≤ N ≤ N max } (3.1)i=1Length Since not many bytes have to be sent on the bus per frame, the maximumlength L max of a frame is set to 16 Bytes. This has the advantage that if the lengthbyte is received incorrectly and indicates that the frame is longer than it really is,the receiver can detect this without locking itself up while waiting for the allegednumber of bytes. The maximum data bytes N max is therefore:N max = L max − H bytes = 11bytes (3.2)CommandThe Command Byte (cmd) includes the following commands:

Chapter 3. Firmware 12Name Byte DescriptionACK 0x00 Acknowledge, no data bytes sentNACK 0x01 Not Acknowledge, no data bytes sentANS 0x02 Answer-Frame consisting current Direction of EPOSTable 3.2: Command Byte DescriptionSynchronization Bus synchronisation is accomplished by sending zero bytes.This works because the receiver waits for the first non zero byte before interpretingheader data. As soon as the master detects that one of the slaves is out of sync, ittransmits L max zero bytes to make sure all receivers reach idle state. This is donewhen a timeout occurred.3.3.2 ProtocolThe communication protocol on the Skye-Bus between the Sensornode and thepxIMU is kept as simple as possible.Communication is always initiated by the master. The addressed slave respondswith an answer frame. The answer frame is either ACK or NACK for commandswhich set something or the requested data for commands which retrieve something.For things like thrust or position updates - which are not that important if theyget lost once in a while - there are silent frames. These do not require the slave tosend an answer and therefore eliminate the round-trip-delay introduced by waitingfor an answer.In the four figures below, all the communication and its most common errors arebriefly explainedIn Fig. 3.3 one can see the protocol as it should run normally without errors. AnAcknowledge (ACK) is being sent right after the receiver has read the incomingframe. The ACK or Answer-Frame is a regular frame consisting only of the fiveheader bytes and - quite straight forward - cmd set to ACK.Figure 3.3: Skye-Bus protocol without errorsIf now the receiver gets a frame with a structural error he responds with NACK(see Fig. 3.4). This may happen if somehow individual bits of a frame are modifiedon the bus, due to external influences such as fields of nearby power lines or evencosmic radiation.It is therefore quite important to protect the system from any external electricalinfluences.

13 3.3. Skye-BusFigure 3.4: Skye-Bus protocol error in frame formatIn case a frame gets lost and the sender does not receive any Answer-Frame (ACKor NACK), the same frame is being resent after a timeout t out = 20ms (see Fig. 3.5and 3.6).Figure 3.5: Skye-Bus protocol error on frame transmissionFigure 3.6: Skye-Bus protocol error on answer transmission

Chapter 3. Firmware 14

Chapter 4System Integration4.1 Actuation-UnitSkye carries four actuation units with rotatable thrust actors. The configurationis shown in Fig. 4.1. A more detailed description of the actuation unit and itscomponents is provided in the Skye-Final-Report 1 . The sensornode 2 is labelled asSkye-Bus-Motornode in Fig. 4.1 and attached via velcro-tape.AHM Brushless 23-10MT-30Aslipring: B-command K12A2-003quick-acting fuseSkyeBus MotorNodeMaxon EPOS2 24/2Maxon A-max 16Maxon Encoder MRFigure 4.1: CAD-drawing of Skye and its electonical components4.2 Electronic-PlatformAs mentioned in Section 1.2, the MotherNode is located on the Skye electronicplatform. In Fig. 4.2 one can see the arrangement of the components. A moredetailed description of the electronic platform and its components is provided inSkye-Final-Report.1 [8] Skye Final Report2 See Section 2.115

Chapter 4. System Integration 16~ 15 cmMV BlueFOX MLC200wCpxIMUProsilica GB 2450 CSpectra pico ITX LP-170ASamsung 830 SSDMotherNodeFigure 4.2: CAD-drawing of the Electronic-Platform4.3 CommunicationFig. 4.3 provides a good overview of the entire Skye communication system. It iseasily seen that the Skye-Bus and the Sensornode are essential to the systemsfunctionality. The communication itself is presented more detailed in Section 3.3.For any other part of the system in Fig. 4.3 please refer to Skye Final Report.

17 4.3. CommunicationFigure 4.3: Overview Skye-Communication-System

Chapter 4. System Integration 18

Chapter 5Indexes5.1 Bibliography[1] LP2985. company. Datasheet, 2011. http://www.ti.com/lit/ds/symlink/lp2985.pdf.[2] LTC2440. Linear technology. Datasheet. http://cds.linear.com/docs/Datasheet/2440fd.pdf.[3] LTC4412. Linear technology. Datasheet. http://cds.linear.com/docs/Datasheet/4412fa.pdf.[4] MCP6V26. Microchip. Datasheet, 2011. http://ww1.microchip.com/downloads/en/DeviceDoc/25007B.pdf.[5] Lukas Mosimann. tbd. Bachelor’s thesis ETH ZÃ 1 4rich, Spring Semester 2012.[6] MPXV7002. Freecscale semiconductor. Datasheet, 2009. http://www.freescale.com/files/sensors/doc/data_sheet/MPXV7002.pdf.[7] PTN78000W. Texas instruments. Datasheet, 2008. http://www.ti.com/lit/ds/symlink/ptn78000w.pdf.[8] Team Skye. Skye final report. Project Report D-MAVT ETH ZÃ 1 4rich, SpringSemester 2012.[9] TEN40-1212N. tbd. Datasheet, 2011. https://www.distrelec.ch/ishop/Datasheets/ten40n_eng_tds.pdf.[10] xbee. tbd. Datasheet, 2011. http://www.digi.com/pdf/ds_xbeepro868.pdf.19

Chapter 5. Indexes 205.2 List of Figures1.1 Scheme of SkyeBus . . . . . . . . . . . . . . . . . . . . . . . . . . . 23.1 Skye-Bus frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113.2 Flags + ID Byte Structure . . . . . . . . . . . . . . . . . . . . . . . . 113.3 Skye-Bus protocol without errors . . . . . . . . . . . . . . . . . . . 123.4 Skye-Bus protocol error in frame format . . . . . . . . . . . . . . . 133.5 Skye-Bus protocol error on frame transmission . . . . . . . . . . . . 133.6 Skye-Bus protocol error on answer transmission . . . . . . . . . . . 134.1 CAD-drawing of Skye and its electonical components . . . . . . . . 154.2 CAD-drawing of the Electronic-Platform . . . . . . . . . . . . . . . . 164.3 Overview Skye-Communication-System . . . . . . . . . . . . . . . . 17

21 5.3. List of Tables5.3 List of Tables2.1 Voltage-Levels on sensornode . . . . . . . . . . . . . . . . . . . . . . 52.2 Voltage-Levels on mothernode . . . . . . . . . . . . . . . . . . . . . . 72.3 Errata-List of Sensornode . . . . . . . . . . . . . . . . . . . . . . . . 72.4 Errata-List of Mothernode . . . . . . . . . . . . . . . . . . . . . . . . 73.1 Flags + ID Byte Description . . . . . . . . . . . . . . . . . . . . . . 113.2 Command Byte Description . . . . . . . . . . . . . . . . . . . . . . . 12

Chapter 5. Indexes 22

Appendix AAppendixA.1 SkyeA.1.1Project GoalsThe following list displays the project goals. They were defined in cooperation withASL and DRZ.• Long flight duration– So far not achieved combination of agility, flexibility, small size, windresistance and long flight duration– Minimum goal: 1 hour of flight time• Enough payload despite of small size– Ability of camera to take images of at least semi sphere below machine– Enough memory for 1 h HD recordings on board• Realization of a flying system• Safety– Step 1: Manual control– Step 2: Autonomous navigation– Be less dangerous than a quadrocopter– Be enough safe to fly over a crowd• Flexible flight characteristics– Agility– Flexibility– Narrow curve radius (approximately 2 m)– Good acceleration (approximately 2 ms −1 )– Vertical movements– Horizontal movements– Hovering in the air• Significantly better wind resistance values than existing systems23

Appendix A. Appendix 24– Regular flight operations up to wind speeds of 11 kmh −1• Flying in natural environments– Being able to navigate in difficult areas (e.g. forests, around trees etc.)– Specific goal: Circumnavigation of a treeA.2 ComponentsSensornode

Comment Description Designator Footprint LibRef QuantityLTC2440 24-Bit High Speed Differential ADC with Selectable Speed/Resolution ADC1, ADC2, ADC3, ADC4 SOP63P600X175-16N LTC2440 4100nCapacitorC18, C19, C20, C21, C22, C23,C24, C25, C30, C34, C35, C38,C42, C43, C46, C50, C51, C52,C59, C63, C64, C65, C66, C69 CAPC1608X95N C 302u2 Capacitor C2 CAPC1608X95N C 147u Capacitor C3, C4, C7, C8, C11 CAPC3216X18N C 51uCapacitorC33, C36, C39, C40, C41, C44,C47, C48, C49, C55, C57, C60,C61, C62 CAPC1608X95N C 2010n Capacitor C6, C10 CAPC1608X95N C 2100n 4 capacitor array C13 CKCA43 C4 110u Capacitor C26, C53, C56 CAPC1608X95N C 3150n Capacitor C29, C37, C45, C58 CAPC1608X95N C 41n Capacitor C54 CAPC1608X95N C 112p Capacitor C67, C68 CAPC1608X95N C 2BAT30W Single Small signal Schottky diode D1 SOT323 BAT30 1D Diode D2 DO-214AB D 1PTN78000W 1.5-A, WIDE-INPUT ADJUSTABLE SWITCHING REGULATOR DC1 PTN78000W PTN78000W 1ACS711Ferrite Bead FB1, FB2, FB3, FB4, FB5 RESC1608X55N FB 5Hall Effect Linear Current Sensor with Overcurrent Fault Output for

Comment Description Designator Footprint LibRef Quantity47k Resistor R6 RESC1608X55N R 110k 4 resistor array R7 YC164 R4 110k Resistor R8, R11, R22 RESC1608X55N R 3120R Resistor R10R12, R13, R15, R16, R18, R19,RESC1608X55N R 153kResistorR26, R27 RESC1608X55N R 8100R Resistor R14, R17, R20, R24, R28 RESC1608X55N R 59k Resistor R21 RESC1608X55N R 1100R 4 resistor array R29 YC164 R4 1150R Resistor R30, R31 RESC1608X55N R 25R Resistor R32 PWR4318 R 14k7 Resistor R33, R34 RESC1608X55N R 2LTC4412 Low Loss PowerPathTM Controller in ThinSOT U1 SOT23P290X100-6N LTC4412 1LP2985-XX 150-mA LOW-NOISE LOW-DROPOUT REGULATOR WITH SHUTDOWN U2, U3 SOT23P280X145-5N LP2985-XX 2MAX4066 Low-Cost, Low-Voltage, Quad, SPST, CMOS Analog Switches U4 QSOP16X173 MAX4066 13-v TO 5.5-v SINGLE-CHANNEL RS-232 LINE DRIVER/RECEIVER WITH 15-kVMAX3221ESD PROTECTION U5 TSOP65P640X120-16N MAX3221 1ADM3485 3.3 V Slew Rate Limited, Half- and Full-Duplex, RS-485/RS-422 Transceivers U6 SOIC127P600-8BN ADM3485 1ADM3491 3.3 V Slew Rate Limited, Half- and Full-Duplex, RS-485/RS-422 Transceivers U7 SOIC127P600-14N ADM3491 1PIC24FJ256GB106-I/PTGeneral Purpose 16-Bit Flash Microcontroller with USB On-The-Go, 256KB Flash,16KB SRAM, 64-Pin TQFP, Industrial Temperature U8 TQFP-PT64_NMCP6V26-E/SN 2 MHz Auto-Zeroed Op Amps U9, U10, U11, U14 MSOP-MS8_NPIC24FJ256GB106-I/PT 1MCP6V26-E/SN 4LTC1799 1kHz to 33MHz Resistor Set SOT-23 Oscillator U12 SOT23P290X100-5N LTC1799 1MCP6V26-MCP6V26-E/SN 2 MHz Auto-Zeroed Op Amps U13 MSOP-MS8_LE/SN 1

27 A.2. ComponentsMothernode

100nComment Description Designator Footprint LibRef QuantityC1, C15, C16, C17,C18, C19, C20, C21,CapacitorC22, C23 CAPC1608X95N C 102u2 Capacitor C2, C3, C4, C5 CAPC1608X95N C 447u Capacitor C6, C7, C10, C13 CAPC3216X18N C 41u Capacitor C8, C11, C14 CAPC1608X95N C 310n Capacitor C9, C12 CAPC1608X95N C 2D Diode D1 DO-214AB D 1DC/DC Converter, 9-18 Vin, 12TEN40-1212NVout, 40 Watt DC1 TEN40-1212N TEN40-1212N 1PTN78000W1.5-A, WIDE-INPUT ADJUSTABLESWITCHING REGULATOR DC2 PTN78000W PTN78000W 16Way2R 6 Way 2 Row Connector J1 75867-X31 6Way2R 1CONN FFC 30POS .5MM SHLDFH41-30S-0.5SH(05) SMD J2 FH41-30S-05SH FH41-30S-0.5SH(05) 1Cree® PLCC6 3 in 1 SMD LED LED1, LED2 PLCC6 CLP6C-FKB 2120R Resistor R1 RESC1608X55N R 11R Resistor R2, R3 RESC1608X55N R 250R Resistor R4 RESC1608X55N R 1100R Resistor R5, R6 RESC1608X55N R 2150R Resistor R7 RESC1608X55N R 113k1 Resistor R8 RESC1608X55N R 110k Resistor R9 RESC1608X55N R 18k2 Resistor R10 RESC1608X55N R 11k2 Resistor R11 RESC1608X55N R 11k Resistor R12 RESC1608X55N R 1ADM3491LP2985-XX3.3 V Slew Rate Limited, Half- andFull-Duplex, RS-485/RS-422Transceivers U1 SOIC127P600-14N ADM3491 1150-mA LOW-NOISE LOW-DROPOUT REGULATOR WITHSHUTDOWN U2, U3 SOT23P280X145-5N LP2985-XX 2MAX32213-v TO 5.5-v SINGLE-CHANNELRS-232 LINE DRIVER/RECEIVERWITH 15-kV ESD PROTECTION U4 TSOP65P640X120-16N MAX3221 1XBee-PRO868 XBee-PRO_868 RF Modules XBEE1 XBEERECEIVER XBee-PRO868 1

29 A.3. Schematics SensornodeA.3 Schematics Sensornode

11223344DDCCBBAATitleNumberRevisionSizeA4Date: 04.04.2012 Sheet ofFile: C:\Users\..\main.SchDoc Drawn By:S1TX_ENVOLTAGESACCU_IACCU_I_FAULTVOLTAGES_ENACCU_STATUSACCU_ENS2S3THRUST_ITHRUST_I_FAULTSPIADC-CS[1..4]BUSY[1..4]I2Ccontrollercontroller.SchDocPWR+EPOSTHRUSTTHRUST_ITHRUST_I_FAULTactuatoractuator.SchDocVOLTAGESII_FAULTVOLTAGES_ENSTATUSENPWR+accuaccu.SchDocSPICS[1..4]BUSY[1..4]I2Csensorssensors.SchDocSTX_ENbusbus.SchDoc

12345678ABCPOSTATUSPOE\N\ENPOIIPOI0FAULTI_FAULTPOVOLTAGES0V0POVOLTAGES0V1POVOLTAGES0V2POVOLTAGES0V3POVOLTAGES0V4POVOLTAGES0ENVOLTAGES_ENSTATUSENII_FAULTVOLTAGES_ENaccu-voltagesV4V3V2V1V0V4V3V2V1V0COX301PIX101AKKU+IP-IP-COX302PIX201AKKU-We measure wiringvoltage drop with AC0.Voltage divider isunnecessary but mightimprove matchingbetween channels.NLAC0COD302 D2R32 COR309PID202PID201PIR3201PIR32025RCOX304S10DPIX401Q1 COQ301Q2 COQ302ACCU+ NLACCU0NLA0 A+PWR+ NLPWR0PWR+R1COR301PIIC104 PIIC103PIQ10D PIQ10S PIQ20S PIQ20DPOPWR0PIR102PIIC102 PIIC101PIQ10G 1MPIQ20GCOIC301 IC1+3V3PIR101ACS711PIR202+6VCOR302 R2DC1 CODC301 PTN78000W1MA+3V3VI VOPIU101COU301 U1PIIC105PIIC106PIIC107PIIC108PIDC102PIDC105PIR201NLSTATUSPIU104 STAT GATEPIU105C1 COC301NLE\N\ ENCTL SENSE100n IC2 COC302PIU103PIU106PIC102 PIC101PIR301PIC202PIC302PIC402NLICOR303PIDC103PIDC101PIDC104C3 COC303 C4 COC304LTC44121kCOX303PIC201 2u2PIR402PIC301 47uPIC401 47uI_FAULTR4PIU102NLI0FAULTPIR302PIX301COR30413k1PIR401GNDGNDAGNDGNDGNDGNDGND GND+6V+5VA+5V +6V+3V3U2 COU302COU303FB1 COFB301PIU201 VIN VOUTPIU205PIFB101PIFB102PIU301 VIN VOUTPIU305J2 COJ301AC0PIU203 EN BYPPIU204PIU303 EN BYPPIU304PIJ201 1AC1PIJ202 2AC23AC34LP2985-XXLP2985-XXAC4C5 COC305 5VC6 COC306 C7 COC307COC308 C8C9 COC309 3V3C10 COC310 C11 COC31151u10n47u47u1uPIJ203PIJ204PIC502PIC602PIC702PIC802PIC902PIC1002PIC1102PIJ205PIC501 PIU202PIC601 PIC701 PIC801PIC901 PIU302PIC1001 10nPIC1101 47u5WayFB2 COFB302PIFB201PIFB202GNDGND GND GNDAGNDGNDGND GND GNDNLAC4PID101D1PID103COD301 BAT30WNLAC1NLAC2NLAC3AC4PIR508COR5APIU4016COU4APIR507COR5BPIU4016COU4BPIR506COR5CPIU4016COU4CPIR505COR5DPIU4016COU4DPIC1202COC312 C1247k47k47k47kPIC1201 100nPIR501NO1 COM1NLV1PIR502NO2 COM2NLV2PIR503COM3 NO3NLV3PIR504PIU401PIU402PIU404PIU405PIU4010PIU409PIU4013 NO4 COM4PIU4012PIR602NLVOLTAGES0ENVOLTAGES_ENVOLTAGES_ENVOLTAGES_ENVOLTAGES_ENPIU4015COR306 R6IN1PIU406 IN2PIU407 IN3PIU4014 IN447kThe voltagePIR708COR7APIC1305PIR707C13D COC13DCOR7BPIC1306PIR706PIC1307PIR705PIR601C13C COC13CCOR7C C13B COC13Bdivider is splitNLV0up to provideMAX4066 10kPIC1304 100nMAX4066 10kPIC1303 100nMAX4066 10kPIC1302 100nMAX4066PIR802reverse voltageCOR308PIC1402R8 COC314 C14PIU408PIR701 PIU408PIR702 PIU408PIR703 PIU408PIR704protection on10kPIC1401 100nthe ACPIR801terminals.VINGNDFDMS6681ZFDMS6681ZV- V+GNDGNDFAULTOUTIP+IP+VCCV- V+SYS- SYS+GNDV- V+INHGNDADJV- V+NLV4PIR705 COR7DPIC130810kPIC1301C13A COC13A100nABCDAGND AGNDAGNDAGNDAGND AGNDAGNDAGND AGNDAGNDAGND AGNDAGNDAGND AGNDDTitleSizeNumberRevisionA3Date: 04.04.2012 Sheet ofFile: C:\Users\..\accu.SchDoc Drawn By:12345678

11223344DDCCBBAATitleNumberRevisionSizeA4Date: 04.04.2012 Sheet ofFile: C:\Users\..\actuator.SchDoc Drawn By:PWR+EPOSTHRUSTTHRUST_ITHRUST_I_FAULTIP+IP+IP-IP-GNDFAULTOUTVCCIC2ACS711PWR+AGNDA+3V3C17100nR91kT_IT_I_FAULTT_I_FAULTT_IDINFOFFFONROUTRINENINVALIDDOUTVCCGNDV+V-C1+C1-C2-C2+U5MAX3221GNDC19100nC18100nC15100nC20100nC16100n+3V3RXTXserialEPOS_TXEPOS_RXEPOS_TXEPOS_RXRXTXserialTHRUST_TXTHRUST_RXRO1RE2DE3DI4B7A6GND5VDD8U6ADM3485C21100nGND+3V3+3V3 GND+3V3THRUST_TXTHRUST_TX+THRUST_TX-EPOS_TX_RS232EPOS_RX_RS232MOT-MOT+GND1234J44WayTHRUST_TX+THRUST_TX-EPOS_TX_RS232EPOS_RX_RS232PIC1501PIC1502COC401PIC1601PIC1602COC402PIC1701PIC1702COC403PIC1801PIC1802COC404PIC1901PIC1902COC405PIC2001PIC2002COC406PIC2101PIC2102COC407PIIC201PIIC202PIIC203PIIC204PIIC205 PIIC206 PIIC207 PIIC208COIC401PIJ401PIJ402PIJ403PIJ404COJ401PIR901PIR902COR401PIU501PIU502PIU503PIU504PIU505PIU506PIU507PIU508PIU509PIU5010PIU5011PIU5012PIU5013PIU5014PIU5015PIU5016COU401PIU601PIU602PIU603PIU604PIU605PIU606PIU607PIU608COU402PIX501COX401PIX601COX402PIC1502PIC2101PIU5012PIU5015PIU5016PIU602PIU603PIU608PIC1701PIIC208PIR901PIC1702PIIC205PIU509NLEPOS0RXPOEPOSPIJ404PIU508 NLEPOS0RX0RS232PIU5011NLEPOS0TXPOEPOSPIJ403PIU5013 NLEPOS0TX0RS232PIC1501PIC1801PIC1901PIC2102PIU501PIU5014PIU605PIX501PIU601PIU5010PIIC201PIIC202PIX601PIC2002PIU505PIC2001PIU506PIC1902PIU507PIC1802PIU503PIC1602PIU502PIC1601PIU504PIIC203PIIC204NLPWR0POPWR0PIIC207NLT0IPOTHRUST0IPIIC206NLT0I0FAULTPIR902POTHRUST0I0FAULTNLTHRUST0RXPOTHRUSTPIU604NLTHRUST0TXPOTHRUSTPIJ401PIU606 NLTHRUST0TX0PIJ402PIU607 NLTHRUST0TX0POEPOSPOEPOS0RXPOEPOS0TXPOPWR0POTHRUSTPOTHRUST0RXPOTHRUST0TXPOTHRUST0IPOTHRUST0I0FAULT

11223344DDCCBBAATitleNumberRevisionSizeA4Date: 04.04.2012 Sheet ofFile: C:\Users\..\bus.SchDoc Drawn By:SBUSGNDbus-connectorbus-connector.SchDoc+3V3RO2RE3DE4DI5Y9Z10B11A12GND6GND7VDD13VDD14U7ADM3491RXTXbusD+D-differentialD+D-differentialGNDGNDR10120RRX+RX-TX+TX-RX+RX-+3V3 +3V3GNDC22100nTX_ENRXTXserialTX_ENTXRXTXTX_ENRXGNDBus terminationresistor. Onlypopulate on lastboard in chain.PIC2201PIC2202COC501PIR1001PIR1002COR501PIU702PIU703PIU704PIU705PIU706PIU707PIU709PIU7010PIU7011PIU7012PIU7013PIU7014COU501PIC2202PIU7013PIU7014PIC2201PIU703PIU706PIU707PIU702NLRXPOSPIR1002PIU7012NLRX0PIR1001PIU7011NLRX0PIU705NLTXPOSPIU709NLTX0PIU7010NLTX0PIU704NLTX0ENPOTX0ENPOSPOS0RXPOS0TXPOTX0EN

12345678ABC+6VLED current is set to approx 20mA.The green and blue LEDs need up to 4Vforward voltage, so the LEDs are connected tothe +6V rail to prevent switching noise fromentering the critical circuits.This is compatible with the 5V tolerant I/Opins in open drain mode.COLED1R G BPILED103PILED104PILED102PILED105PILED101CLP6C-FKB-CM1Q1H1BB7R3R3COLED2R G BPILED203PILED202PILED106PILED204PILED205PILED201PILED206CLP6C-FKB-CM1Q1H1BB7R3R3COR29APIR2901PIR2908100RCOR29BPIR2902PIR2907100RCOR3 R30PIR3001PIR3002150RCOR29CPIR2903PIR2906100RCOR29DPIR2904PIR2905100RCOR4 R31PIR3101PIR3102150RNLBLUE1NLGREEN1NLRED1NLBLUE2NLGREEN2NLRED2Inputs from the ADCneed to be 5V tolerant!(MISO, BUSYx)+3V3J3 COJ2ADC is 3V3 tolerantNLPGCPIJ301 1 2PIJ302PIJ303 3 4PIJ304 MCLRNLPGDADC-CS[1..4]NLADC0C\S\010040PIJ305 5 6PIJ306POADC0C\S\1POADC0C\S\2POADC0C\S\3POADC0C\S\4POADC0C\S\010040ADC-CS[1..4]6Way2RspiMISOMISOGNDMOSIMOSIPOSPI0MISOPOSPI0MOSIPOSPI0SCKSCKSCK+3V3 +3V3BUSY[1..4]NLBUSY010040POBUSY1 POBUSY2 POBUSY3 POBUSY4POBUSY010040BUSY[1..4]PIR1102 COR1 R1110k+3V3 +3V3 +3V3 A+3V3PIR1101 U8 COU1VOLTAGES_ENVOLTAGES_ENMCLR716MCLRPGED1/RP0/PMA6/VREF+/AN0/CN2/RB0ACCU_I_FAULT5715 ACCU_Iaccu-voltagesENVREGPGEC1/RP1/VREF-/AN1/CN3/RB1i AnalogPIC2302 PIC2402 PIC2502NLACCU0I NLACCU0I0FAULT POVOLTAGES0ENNLM\C\L\R\PIU807PIU8016PIU8057PIU801514 THRUST_I_FAULTV4VMIO/RP13/C2INB/AN2/CN4/RB2C23 COC1 COC2 C24 COC3 C25V45613 THRUST_IV3100n 100nVCAP/VDDCOREVPIO/C2INA/AN3/CN5/RB3100ni AnalogV3PIC2301 PIC2401 PIC2501NLTHRUST0I NLTHRUST0I0FAULT PIU8014PIU8056PIU8013 PIU80343412VBUSPGED3/RP28/USBOEN/C1INB/AN4/CN6/RB4PIU8012PGDV2V2POVOLTAGES0V0POVOLTAGES0V1POVOLTAGES0V2POVOLTAGES0V3POVOLTAGES0V43511 PGCV1PIU8035 VUSBPGEC3/RP18/VBUSON/C1INA/AN5/CN7/RB5PIU8011V117 ACCU_STATUSV0PGEC2/AN6/RP6/CN24/RB6NLACCU0STATUS PIU8017 V01018 ACCU_ENVDDPGED2/RCV/RP7/AN7/CN25/RB7NLACCU0E\N\ PIU8010PIU8018GND GND GND2621PIU8026 VDDRP8/AN8/CN26/RB8i AnalogCOFB13822FB3PIU8038 VDDPMA7/RP9/AN9/CN27/RB9i Analog1923serial+3V3AVDDTMS/PMA13/AN10/CVREF/CN28/RB10NLV2 NLV3 NLV4 PIU8021PIU8022 PIFB301PIFB302PIU8019PIU8023 i Analog24BUS_TXTDO/AN11/PMA12/CN29/RB11PIU8024 i AnalogTXPIC2601PIC2702NLV1 927 VOLTAGES_ENBUS_RXPIU809C26 C27VSSTCK/PMA11/AN12/CTED2/CN30/RB12COC4 COC5RX252810u 1uVSSTDI/PMA10/AN13/CTED1/CN31/RB13i AnalogPIC2602PIC2701NLV0 NLVOLTAGES0EN POS10RX POS10TXPIU8027PIU8025PIU80284129 THRUST_TXTX_ENVSSCTPLS/RP14/PMA1/AN14/CN32/RB14TX_EN2030 EPOS_TXPIU8020 AVSSRP29/PMA0/AN15/REFO/CN12/RB15PIU8030 NLEPOS0TX NLTHRUST0TX PIU8041PIU8029 POTX0EN39serialOSCI/CLKI/CN23/RC12PIU803947 ADC-CS4GNDEPOS_TXSOSCI/C3IND/CN1/RC13TXGND AGND GND48 ADC-CS3EPOS_RXRPI37/SOSCO/C3INC/TICK/CN0/RC14NLADC0C\S\3 NLADC0C\S\4 PIU8047 POS20RX POS20TXPIU8048 RX40OSCO/CLKO/CN22/RC15PIU8040PIQ302 Q3 COQ1serial46 RED1Q-2ShieldTHRUST_TXRP11/DMH/CN49/INT0/RD0PIU8046PIQ303PIQ301TXPOS30RX POS30TX49 RED2RP24/VCPCON/CN50/RD1PIU8049RX50 BLUE1DPH/RP23/CN51/RD2PIQ304PIU805051 GREEN1C67 C68RP22/PMBE/CN52/RD3COC6COC7PIU8051PIC6702PIC680252 BLUE2i2cPMWR/RP25/CN13/RD4PIU805253 GREEN2PIC6701 12pPIC6801 12pSDAPMRD/RP20/CN14/RD5PIU8053SDAPOI2C0SCLPOI2C0SDA54SCLC3INB/CN15/RD6PIU8054SCL55C3INA/CN16/RD7PIU805542RP2/DMLN/RTCC/CN53/RD8PIU8042NLADC0C\S\2NLMOSI ADC-CS2 5843GND GND GNDVBUSST/VCMPST1/CN68/RF0 RP4/DPLN/SDA1/CN54/RD9NLBUSY2 PIU8058PIU8043NLBUSY35944VCMPST2/CN69/RF1RP3/SCL1/PMCS2/CN55/RD10PIU8044NLEPOS0RX EPOS_RX 3345ACCU_ENPIU8033 RP16/USBID/CN71/RF3RP12/PMCS1/CN56/RD11PIU8045 NLMISO NLSCK PIU8059NLSDAPOACCU0E\N\ACCU_EN31PIU8031 PMA9/RP10/SDA2/CN17/RF4NLSCL3260ACCU_STATUSPIU8032 PMA8/RP17/SCL2/CN18/RF5PMD0/CN58/RE0NLBUSY4 PIU8060 ACCU_STATUS61PMD1/CN59/RE1PIU80613762 ADC-CS1PIU8037 D+/RG2PMD2/CN60/RE2NLADC0C\S\1 NLBUSY1 POACCU0STATUSPIU80623663PIU8036 D-/RG3PMD3/CN61/RE3PIU8063NLBUS0TX BUS_TX 464ACCU_IPIU804 PMA5/RP21/C1IND/CN8/RG6PMD4/CN62/RE4PIU8064POACCU0IACCU_INLBUS0RX BUS_RX 51 TX_EN NLTX0ENPIU805 RP26/PMA4/C1INC/CN9/RG7PMD5/CN63/RE5PIU80162ACCU_I_FAULTPIU806 PMA3/RP19/C2IND/CN10/RG8PMD6/SCL3/CN64/RE6PIU802POACCU0I0FAULTACCU_I_FAULT83PIU808 RP27/PMA2/C2INC/CN11/RG9PMD7/SDA3/CN65/RE7PIU803THRUST_ITHRUST_IPIC24FJ256GB106-I/PTPOTHRUST0ITHRUST_I_FAULTPOTHRUST0I0FAULTTHRUST_I_FAULTABCDDTitleSizeNumberRevisionA3Date: 04.04.2012 Sheet ofFile: C:\Users\..\controller.SchDoc Drawn By:12345678

11223344DDCCBBAATitleNumberRevisionSizeA4Date: 04.04.2012 Sheet ofFile: C:\Users\..\sensors.SchDoc Drawn By:2.5V-P5V-PGND-Prepeat(BUSY)repeat(CS)foSPIrepeat(diffp,1,4)diff-pressureBUSYCS73246U13MCP6V26-E/SNR24100RR251kR231kC551uC541nR2210kAGNDAGNDC5610uA+5VFB5FB4C5310uA+5VAGNDC52100n5V-P5V-PGND-PGND-PAGNDBUSY[1..4]CS[1..4]SPIBUSY[1..4]CS[1..4]GND VCCSETDIVOUTU12LTC1799GND+3V3GNDR219k+3V3foI2CC66100nA+5VAGNDC65100nGND+3V31234J54WaySCLSDAi2cSDASCLR344k7R334k7GNDSDASCL+3V3C69100nGND +3V39MHzPIC5201PIC5202COC101PIC5301PIC5302COC102PIC5401PIC5402COC103PIC5501PIC5502COC104PIC5601PIC5602COC105PIC6501PIC6502COC114PIC6601PIC6602COC115PIC6901PIC6902COC116PIFB401PIFB402 COFB101PIFB501PIFB502 COFB102PIJ501PIJ502PIJ503PIJ504COJ101PIR2101PIR2102 COR101PIR2201PIR2202COR102PIR2301PIR2302 COR103 PIR2401 PIR2402COR104PIR2501PIR2502 COR105 PIR3301 PIR3302COR109PIR3401PIR3402COR110PIU1201PIU1202PIU1203PIU1204PIU1205COU101PIU1302PIU1303PIU1304PIU1306PIU1307COU102PIC6502PIC6902PIJ501PIR2102PIR3302PIR3402PIU1201PIC5302PIFB401PIR2302NL5V0PPIC6602PIFB402PIU1307PIC5501PIC5601PIC6601PIFB501PIU1304PIU1205NLfoPIC6501PIC6901PIJ504PIU1202PIU1204PIC5301PIFB502PIR2501NLGND0PPOSPIPOSPIPOSPIPIR2101PIU1203PIC5502PIR2301PIR2502PIU1303PIC5401PIR2401PIU1306PIC5202PIC5602PIR2202PIR2402PIC5201PIC5402PIR2201PIU1302PIJ502PIR3401NLSCLPOI2CPIJ503PIR3301NLSDAPOI2CNLBUSYNLBUSY010040POBUSY010040NLBUSYNLBUSY010040POBUSY010040NLBUSYNLBUSY010040POBUSY010040NLBUSYNLBUSY010040POBUSY010040NLC\S\NLC\S\010040POC\S\010040NLC\S\NLC\S\010040POC\S\010040NLC\S\NLC\S\010040POC\S\010040NLC\S\NLC\S\010040POC\S\010040POBUSY1POBUSY2POBUSY3POBUSY4POBUSY010040POC\S\1POC\S\2POC\S\3POC\S\4POC\S\010040POI2CPOI2C0SCLPOI2C0SDAPOSPIPOSPI0MISOPOSPI0MOSIPOSPI0SCK

1234AABBdifferentialRX+busD+COJ1RXRX-1 2RX-PIJ101PIJ102 D-PIJ103 3TX+4PIJ104 PIJ105 5 6PIJ106differentialPOBUS0RX0D0POBUS0TX0D06Way2RTX-D-TX+TXD+POGNDRX+ NLRX0TX- NLTX0CCDTitleDSizeNumberRevisionA4Date: 04.04.2012 Sheet ofFile: C:\Users\..\bus-connector.SchDoc Drawn By:1234

1234AASCKMOSIMISOspiSCKMOSIMISOPOSPI0diffp1POSPI0MISO0diffp1POSPI0MOSI0diffp1POSPI0SCK0diffp1A+5VA+5VBPO5V0P0diffp15V-PPO205V0P0diffp12.5V-PNL5V0P 5V-P2.5V-PPIC3002PIC3001VSC30 COC108100nPIP102GNDPIP103COP101VOUTPIP104MPXV7002Sensor has maximumdriving capability of0.1mAR13 COR107PIR1301PIR130253kFilter with 20Hz cutoff. Choosecapacitor C107 with high gradedielectric material. First order filteris sufficient since delta-sigmaconverters have a highoversampling ratio with digitalfiltering built in.PIR1201PIR1202PIC2902PIC2901R12 COR106COC107C2953k 150n2PIU9023PIU90374PIU907PIU904COU103 U96PIU906NL205V0P 2.5V-PR14 COR108100RMCP6V26-E/SNR108 avoids oscillations ofU103 due to capacitiveloading. C109 is from appnote of ADC101PIR1401PIR1402PIC3102PIC3101AGNDPIC3202PIC3201C31 COC1091uC32 COC1101uPIC2802PIC2801AGNDC28 COC1061uWe use fo to synchronizethe clocks of all ADCs.This avoids interference.Supply 9MHz clock to foPIADC102PIADC103PIADC104PIADC105PIADC106PIADC101PIADC108COADC101VCCREF+REF-IN+IN-GNDGNDLTC2440BUSYfoEXTPIADC1010CSSCKSDISDOGNDGNDPIADC1015PIADC1014PIADC1011PIADC1013PIADC107PIADC1012PIADC109PIADC1016NLBUSYNLfoCS NLC\S\NLSCKNLMOSINLMISOPOBUSY0diffp1POfoPOFO0diffp1POC\S\0diffp1CSBCPOGND0P0diffp1GND-PNLGND0P GND-PC33 COC111U103 is configured as an invertingPIC3301 1uamplifier to avoid crossing thecommon-mode overtake voltage sincethis is a rail to rail op amp.AGND AGND AGND AGNDC34 COC112C35 COC113A+5V PIC3401PIC3402 AGND A+5VPIC3501PIC3502 AGND100nAGNDPIC3302100nCDTitleDSizeNumberRevisionA4Date: 04.04.2012 Sheet ofFile: C:\Users\..\diff-pressure.SchDoc Drawn By:1234

Appendix A. Appendix 38A.4 Schematics Mothernode

11223344DDCCBBAATitleNumberRevisionSizeA4Date: 04.04.2012 Sheet ofFile: C:\Users\..\bus.SchDoc Drawn By:BUS_S+3V3RO2RE3DE4DI5Y9Z10B11A12GND6GND7VDD13VDD14U1ADM3491RXTXbusD+D-differentialD+D-differentialGNDGNDR1120RRX+RX-TX+TX-RX+RX-+3V3 +3V3GNDC1100nRXTXserialTX_BUSRX_BUSBUS_DIFF+3V3RX_BUSTX_BUSBus terminationresistor. Onlypopulate on lastboard in chain.PIC101PIC102COC1PIR101PIR102COR1PIU102PIU103PIU104PIU105PIU106PIU107PIU109PIU1010PIU1011PIU1012PIU1013PIU1014COU1PIC102PIU104PIU1013PIU1014PIC101PIU103PIU106PIU107PIR102PIU1012NLRX0POBUS0DIFFPIR101PIU1011NLRX0POBUS0DIFFPIU102NLRX0BUSPOBUS0SPIU109NLTX0POBUS0DIFFPIU1010NLTX0POBUS0DIFFPIU105NLTX0BUSPOBUS0SPOBUS0DIFFPOBUS0DIFF0RXPOBUS0DIFF0RX0D0POBUS0DIFF0TXPOBUS0DIFF0TX0D0POBUS0SPOBUS0S0RXPOBUS0S0TX

11223344DDCCBBAATitleNumberRevisionSizeA4Date: 04.04.2012 Sheet ofFile: C:\Users\..\main.SchDoc Drawn By:BUS_SBUS_DIFFbusbus.SchDocXBEEHL_OHL_IXBEE_CTS_INVxbeexbee.SchDocPWR+ +12V+5Vpowerpower.SchDocRXTXbusD+D-differentialD+D-differentialRXTXserialRX_BUSTX_BUSRXTXserialRX_XBEETX_XBEE1 23 45 6J16Way2RNODE_TX-NODE_RX+NODE_RX-NODE_TX+NODE_RX-NODE_TX-NODE_RX+NODE_TX++5V+12VPWR+RXTXrs232RX_HL_232TX_HL_232RXTXserialRX_HLTX_HLSYS+GNDSYS-12V+GND12V-PWR+NET-GNDNET+C22u2R G BLED1+3V3R450RRGB_IMUR31RR21RS10DD1R108k2R111k2NET_STATXBEE_CTS_INV112233445566778899101011111212131314141515161617171818191920202121222223232424252526262727282829293030J2FH41-30S-0.5SH(05)RX_BUSRX_XBEERX_HLRGB_IMUNET_STATTX_BUSTX_XBEETX_HL+5V +5VGNDGNDXBEE_CTS_INVPPM_RC_INGNDC23100nRX_HL_232TX_HL_232+5V+5VPPM_RC_INPPM_RC_INGNDGNDR121kCaution:Compared to sensornode rx- andtx-pairs are switched, since thisis the IMU connector.Connector forexternal 14V7 DCPower-Source.PIC201PIC202COC2PIC2301PIC2302COC23PID101PID102COD1PIJ101PIJ102PIJ103PIJ104PIJ105PIJ106COJ1PIJ201PIJ202PIJ203PIJ204PIJ205PIJ206PIJ207PIJ208PIJ209PIJ2010PIJ2011PIJ2012PIJ2013PIJ2014PIJ2015PIJ2016PIJ2017PIJ2018PIJ2019PIJ2020PIJ2021PIJ2022PIJ2023PIJ2024PIJ2025PIJ2026PIJ2027PIJ2028PIJ2029PIJ2030COJ2PILED101PILED102PILED103PILED104PILED105PILED106COLED1PIR201PIR202COR2PIR301PIR302COR3PIR401PIR402COR4PIR1001PIR1002COR10PIR1101PIR1102COR11PIR1201PIR1202COR12PIX101COX1PIX201COX2PIX301COX3PIX401COX4PIX501COX5PIX601COX6PIX701COX7PIX801COX8PIX901COX9PIX1001COX10PIX1101COX11PILED101PILED102PILED103PIJ201PIJ202PIX901 NL05VPIX201NL012VPIC201PIC2301PIJ203PIJ204PIJ2027PIR1101PIX301PIX401PIX601PIX1101PIR1201PIX1001PILED106PIR401PILED105PIR301PILED104PIR201PIJ2029PIJ2028PIJ2026PIJ2025PIJ2020PIJ2018PIJ2017PIJ2014PIJ2013PIJ2012PIJ2011PIJ2010PIJ209PIJ206PIJ205PIJ106PIJ105PIC202PID101PIR1002PIX501PIC2302PIJ2030PIR1001PIR1102NLNET0STATPIJ101NLNODE0RX0PIJ102 NLNODE0RX0PIJ104 NLNODE0TX0PIJ103NLNODE0TX0PIJ2023PIR1202 NLPPM0RC0INPID102PIX101NLPWR0PIJ2024PIR202PIR302PIR402NLRGB0IMUPIJ208NLRX0BUSPIJ2016NLRX0HLPIX701 NLRX0HL0232 PIJ2022 NLRX0XBEEPIJ207NLTX0BUSPIJ2015NLTX0HLPIX801 NLTX0HL0232PIJ2021NLTX0XBEEPIJ2019NLXBEE0CTS0INV

11223344DDCCBBAATitleNumberRevisionSizeA4Date: 04.04.2012 Sheet ofFile: C:\Users\..\power.SchDoc Drawn By:VI+1VI-2ON/OFF3VO+4VO-5Trim6DC1TEN40-1212NGNDPWR+ +12V3V3VINVOUTENBYPGNDU2LP2985-XXGNDC910nGNDC1047uGNDC81uGND+3V35VVINVOUTENBYPGNDU3LP2985-XXGNDC1210nGNDC1347uGNDC111uGND+6V+6VVIVOINHGNDADJDC2PTN78000WGNDR813k1C52u2C647uC747uGNDGNDGND+6VPWR+GNDC32u2C42u2PWR++5V+12VR G BLED2GNDR7150R+6VR6100RR5100RPIC301PIC302COC3PIC401PIC402COC4PIC501PIC502COC5PIC601PIC602COC6PIC701PIC702COC7PIC801PIC802COC8PIC901PIC902COC9PIC1001PIC1002COC10PIC1101PIC1102COC11PIC1201PIC1202COC12PIC1301PIC1302COC13PIDC101PIDC102PIDC103PIDC104PIDC105PIDC106CODC1PIDC201PIDC202PIDC203PIDC204PIDC205CODC2PILED201PILED202PILED203PILED204PILED205PILED206COLED2PIR501PIR502COR5PIR601PIR602COR6PIR701PIR702COR7PIR801PIR802 COR8PIU201PIU202PIU203PIU204PIU205COU2PIU301PIU302PIU303PIU304PIU305COU3PIC1002PIU205PIC602 PIC702 PIC802 PIC1102PIDC205PILED201PILED202PILED203PIU201PIU203PIU301PIU303PIC402PIDC104NL012VPO012VPIC301PIC401PIC501 PIC601 PIC701 PIC801 PIC901 PIC1001 PIC1101 PIC1201 PIC1301PIDC102PIDC105PIDC201PIR502PIR602PIR702PIR801PIU202PIU302PILED206PIR701PILED205PIR601PILED204PIR501PIDC204PIR802PIDC203PIDC106PIDC103PIC1302PIU305PO05VPIC1202PIU304PIC902PIU204PIC302PIC502PIDC101PIDC202NLPWR0POPWR0PO05VPO012VPOPWR0

1234AA+3V3COXBEE1+3V3BPIR902PIR901PIC1402PIC1502PIC1602COC14 C14 COC15 C15PIC1401 1uPIC1501 100nPIC1601PIXBEE101 1VCCXBEE_RXNLXBEE0RX 2PIXBEE102R9DOUTXBEE_TXNLXBEE0TX 3PIXBEE10310kDIN4PIXBEE104 DIO125PIXBEE105 RESETPIXBEE106 6PWM0 / RSSI / DIO107PIXBEE107COC16 C16PWM / DIO11100n9PIXBEE109 DTR / SLEEP_RQ/ DIO810PIXBEE1010 GNDXBee-PRO868GND GND GND GNDAD0 / DIO0AD1 / DIO1AD2 / DIO2AD3 / DIO3RTS / DIO6Associate / DIO5/AD5VREFON / SLEEPCTS / DIO7AD4/DIO4PIXBEE1020 2019PIXBEE101918PIXBEE101817PIXBEE101716PIXBEE1016PIXBEE1015 1514PIXBEE101413PIXBEE101312PIXBEE101211PIXBEE1011XBEE_CTS_INVNLXBEE0CTS0INVPIC1702PIC1701GNDC17 COC17100nXBEE_RXXBEE_TXserialRXTXXBEE_CTS_INVPOXBEE0CTS0INVXBEE_CTS_INVPOXBEE0RXPOXBEE0TXBCOU4+3V3VCCPIU4015CPOHL0I0RXPOHL0I0TX HL_Irs232RXTXHL_RX_RS232HL_TX_RS232NLHL0TX0RS232HL_TX_RS232NLHL0RX0RS232HL_RX_RS232COC19 C19100nPIC1902PIC1901COC22 C22100nPIC2202PIC2201PIR902COR9PIU401PIU4013PIU408DOUTRINPIU402 C1+PIU405 C2+PIU404PIU406C1-C2-MAX3221DINFOFFPIU4016FONPIU4012INVALIDROUTENV+V-PIU4011PIU4010PIU409PIU401PIU403PIU407GNDPIU4014C20 COC20100nPIC2002PIC2001NLHL0TX HL_TXNLHL0RX HL_RXPIC2102PIC2101COC21 C21100nPIC1802PIC1801C18 COC18100nHL_RXHL_TXserialRXTXPOHL0O0RXPOHL0O0TXHL_OCGNDDTitleDSizeNumberRevisionA4Date: 04.04.2012 Sheet ofFile: C:\Users\..\xbee.SchDoc Drawn By:1234

43 A.5. Layout SensornodeA.5 Layout Sensornode

3TX-3GND54M\C\L\R\1RX+4TX+5PGD1+3V35+6V4NetDC1_4661GND32PGC4EPOS_RX_RS2323EPOS_TX_RS2322THRUST_TX-3SDA4GND1+3V32RX-2PWR+4AC33AC22AC12SCL1THRUST_TX+1AC05AC41GND2NetC29_11NetP1_41NetC29_11A+5V2RX+2AGND1GND2PWR+1M\C\L\R\4AGND2NetC37_112NetC37_11NetP2_41A+3V32RED21NetC37_22NetADC2_52AGND4NetLED2_52NetLED1_53NetLED2_45GREEN26BLUE27GREEN12NetADC2_52GND-P1A+3V31NetLED1_62RED12AGND1A+5V2AGND47ADC-C\S\448ADC-C\S\3SNetQ1_SSNetQ1_S42MOSI362NetC45_2SNetQ1_SSNetQ1_S1GND1NetC45_22NetADC3_52NetC68_21AGND1AGND2NetADC3_52GND-P15+3V314GND12+3V311EPOS_TX9EPOS_RX1GND1A+5V1GND1GND3NetC12_22NetC12_21AGND1AC44AGND3AGND1AGND1NetC58_12NetC58_27V38V45V11AGND1AGND1V02V02A+5V1AGND2NetC55_22A+5V15V-P1NetC52_12NetC55_21NetC52_122.5V-P_diffp12NetDC1_42AGND2NetC29_11GND-P1GND2+6V2GND1RX-2+3V31GND32.5V-P_diffp17T_I1A+3V31NetLED2_65AGND6T_I_FAULT2T_I_FAULT1NetLED1_44NetLED2_43+6V8BLUE16NetLED1_622.5V-P_diffp11+6V25V-P7ACCU_I1A+3V3645AGND6ACCU_I_FAULT2ACCU_I_FAULT6 7M\C\L\R\2+3V358ADC-C\S\259BUSY312PGD53GREEN217ACCU_STATUS18ACCU_E\N\SNetQ1_SGNetQ1_G23V21AGND1A+5V1NetADC3_525V-PGNetQ1_GSNetQ1_S1AGND1AGND22.5V-P_diffp125V-P16+3V313EPOS_TX_RS232101NetC16_12NetC20_222AGND2AGND2NetC58_11GND-P6AC33NetR5_31A+5V2GND1NetADC4_525V-P8AC11NetR5_16V21AGND1AGND2V02AC02AGND1GND2A+5V2+3V31AGND3NetC55_24AGND1AGND12GND-P22.5V-P_diffp11GND-P22.5V-P_diffp11AGND2NetIC2_14PWR+3PWR+1TX_EN2PWR+1NetC26_14A+3A+2A+3V329THRUST_TX2NetC67_26NetC54_15 854AGND7A+5V82NetC29_112NetC29_21NetC29_22NetADC1_53GND-P5+3V34NetC10_21AGND2NetADC1_57MOSI62.5V-P_diffp14GND-P35V-P2A+5V1AGND2GND-P1AGND14+3V313+3V311RX-9TX+82+3V310AGND11ADC-C\S\11NetC37_113SCK14FO15BUSY116AGND3GND-P651AGND7A+5V82NetC37_21AGNDDA+DA+14T_I_FAULT8361BUSY156 55NetC26_149RED250BLUE110AGND11ADC-C\S\213SCK14FO15BUSY216AGND62NetQ1_S1NetQ1_G1ACCU+2GND5NetQ1_G6A+3ACCU_E\N\4ACCU_STATUS25GND 2+3V330EPOS_TX31SDA1GND2+3V34GND41GND54AGND7A+5V82NetC45_111NetC45_12NetC45_11NetP3_4DACCU+DACCU+3+3V32+3V32+3V37MOSI62.5V-P_diffp14GND-P35V-P2A+5V1AGND2AGND16NetC12_215VOLTAGES_EN14VOLTAGES_EN13NetR5_412V41110NetR5_39V36V35V42GND6THRUST_TX+ 8V15FO1+3V37THRUST_TX-4GND2NetC19_22NetC18_22NetC16_23NetC18_24NetC6_25NetC20_26NetC20_12+6V8EPOS_RX_RS2324AGND2NetC58_112NetC58_11NetP4_43GND-P61NetR5_12V134NetR5_25V26VOLTAGES_EN7VOLTAGES_EN8AGND1AGND2AGND 1AGND4AGND1+3V32+3V33NetR21_11GND5+5V1+5V2+5V52NetADC4_57A+5V81NetC58_22GND-P2NetADC4_52NetC52_11NetC55_21GND-P10AGND11ADC-C\S\413SCK14FO15BUSY416AGND1A+5V2AGND66NetC29_232.5V-P_diffp11A+5V1NetADC1_525V-P125V-P1GND1GND2NetC10_22+6V 3+6V1+6V1AGND22.5V-P_diffp18AGND5NetADC1_51AGND25V-P2+3V31GND10TX-12RX+2AGND9AGND12MISO2NetC37_11GND-P125V-P878A+3V38A+3V35NetLED2_56NetLED2_62+6V1+6V4NetLED1_45NetLED1_51AGND6NetC37_21A+5V3+6V2+6V1AGND1NetADC2_525V-PDA+DA+5BUS_RX9GND 10+3V311PGC 13T_I 15ACCU_I16ACCU_I_FAULT1GND52BLUE25457GND60BUSY462ADC-C\S\19AGND12MISO8720AGND21V422V324V126+3V327VOLTAGES_EN28V02A+3V32+3V31ACCU_STATUS1NetC68_21GND33EPOS_RX3435+3V33738+3V339NetC68_240NetC67_243BUSY244SCK45MISO6NetC45_232.5V-P_diffp12AGND2NetC45_11GND-PDACCU+DACCU+4THRUST_TX1GND18AGND5NetADC3_52NetC16_25AC44NetR5_45GND7V22+3V31GND4NetC16_18+3V32NetC6_21GND32.5V-P_diffp17NetC19_21NetC20_13+6V125V-P877AC22NetR5_23AGND1AGND1NetR21_12GND1GND22.5V-P_diffp16NetC58_21+6V1GND1GND25V-P1SDA2+3V31NetC54_122.5V-P_diffp11SCL2+3V325V-P1NetC54_125V-P2NetC52_19AGND12MISO874NetP1_44NetP2_451NetIC2_11PWR+4BUS_TX51GREEN11+3V32GND532SCL4NetP4_457A+5V51GND1ACCU+122BUS_RX4TX_EN6GND7GND7MOSI62.5V-P_diffp14GND-P35V-P2A+5V1AGND19A+3V310AGND11ADC-C\S\313SCK14FO15BUSY316AGND3GND-P2A+5V7MOSI62.5V-P_diffp14GND-P35V-P2A+5V1AGND1GND2+6V635BUS_TX3GND8AGND5NetADC2_52ACCU+1NetD2_12GND9AGND12MISO125V-P8AGND5NetADC4_51AGND3NetC67_21NetD2_12A+46RED1DA+DACCU+4NetP3_41PWR+1NetIC2_11GND1GNDPAADC109PAADC1010PAADC1011PAADC1012PAADC1013PAADC1014PAADC1015PAADC1016PAADC108PAADC107PAADC106PAADC105PAADC104PAADC103PAADC102PAADC101COADC1PAADC209PAADC2010PAADC2011PAADC2012PAADC2013PAADC2014PAADC2015PAADC2016PAADC208PAADC207PAADC206PAADC205PAADC204PAADC203PAADC202PAADC201COADC2PAADC309PAADC3010PAADC3011PAADC3012PAADC3013PAADC3014PAADC3015PAADC3016PAADC308PAADC307PAADC306PAADC305PAADC304PAADC303PAADC302PAADC301COADC3PAADC409PAADC4010PAADC4011PAADC4012PAADC4013PAADC4014PAADC4015PAADC4016PAADC408PAADC407PAADC406PAADC405PAADC404PAADC403PAADC402PAADC401COADC4PAC101PAC102COC1PAC202PAC201COC2PAC302PAC301COC3PAC402PAC401COC4PAC501PAC502COC5PAC601PAC602COC6PAC702PAC701COC7PAC802PAC801COC8PAC901PAC902COC9PAC1001PAC1002COC10PAC1102PAC1101 COC11 PAC1202PAC1201COC12PAC1301PAC1302PAC1303PAC1304PAC1305PAC1306PAC1307PAC1308COC13PAC1402PAC1401COC14PAC1501PAC1502COC15PAC1601PAC1602COC16PAC1701PAC1702COC17PAC1801PAC1802COC18PAC1901PAC1902COC19PAC2001PAC2002COC20PAC2101PAC2102COC21PAC2201PAC2202COC22PAC2301 PAC2302COC23PAC2401PAC2402COC24PAC2501PAC2502COC25PAC2601 PAC2602COC26PAC2701COC27 PAC2702PAC2801PAC2802COC28PAC2901PAC2902COC29PAC3001PAC3002COC30PAC3101PAC3102COC31PAC3201PAC3202COC32PAC3301PAC3302COC33PAC3401PAC3402COC34PAC3501PAC3502COC35 PAC3601 PAC3602COC36PAC3701PAC3702COC37PAC3801PAC3802COC38PAC3901PAC3902COC39PAC4001PAC4002COC40PAC4101PAC4102COC41PAC4201PAC4202COC42PAC4301PAC4302COC43 PAC4401 PAC4402COC44PAC4501PAC4502COC45PAC4601PAC4602COC46PAC4701PAC4702COC47PAC4801PAC4802COC48PAC4901PAC4902COC49PAC5001PAC5002COC50PAC5101PAC5102COC51PAC5201PAC5202COC52PAC5301PAC5302COC53PAC5401PAC5402COC54PAC5501PAC5502COC55PAC5601PAC5602COC56PAC5701PAC5702COC57PAC5801PAC5802COC58PAC5901PAC5902COC59PAC6001PAC6002COC60PAC6101PAC6102COC61PAC6201PAC6202COC62PAC6301PAC6302COC63PAC6401PAC6402COC64PAC6502PAC6501COC65PAC6602PAC6601COC66PAC6702PAC6701COC67COC68 PAC6802PAC6801PAC6901PAC6902COC69PAD101PAD102PAD103COD1PAD202PAD201COD2PADC101PADC103PADC104PADC105PADC102ODC1PAFB101PAFB102COFB1PAFB201PAFB202COFB2PAFB301PAFB302COFB3PAFB401PAFB402COFB4PAFB501PAFB502COFB5PAIC105PAIC106PAIC107PAIC108PAIC104PAIC103PAIC102PAIC101COIC1PAIC205PAIC206PAIC207PAIC208PAIC204PAIC203PAIC202PAIC201COIC2PAJ106PAJ105PAJ104PAJ103PAJ102PAJ101PAJ205 PAJ204 PAJ203 PAJ202 PAJ201COJ2PAJ305 PAJ303PAJ306 PAJ304PAJ302PAJ301COJ3PAJ404PAJ403PAJ402PAJ401PAJ501PAJ502PAJ503PAJ504PALED104 PALED105 PALED106PALED103 PALED102 PALED101COLED1PALED204PALED205PALED206PALED203PALED202PALED201COLED2PAP101PAP102PAP103PAP104PAP108PAP107PAP106PAP105COP1PAP201PAP202PAP203PAP204PAP208PAP207PAP206PAP205COP2PAP301PAP302PAP303PAP304PAP308PAP307PAP306PAP305COP3PAP401PAP402PAP403PAP404PAP408PAP407PAP406PAP405COP4PAQ10SPAQ10GPAQ10DCOQ1PAQ20SPAQ20GPAQ20DCOQ2PAQ301 PAQ302PAQ303PAQ304COQ3PAR102PAR101COR1PAR202PAR201COR2PAR301PAR302COR3PAR401PAR402OR4PAR508PAR507PAR506PAR505PAR504 PAR503 PAR502 PAR501 COR5PAR602PAR601COR6PAR708PAR707PAR706PAR705PAR704PAR703PAR702PAR701COR7PAR802PAR801COR8PAR901PAR902COR9PAR1001PAR1002COR10PAR1101PAR1102COR11PAR1201PAR1202COR12PAR1301PAR1302OR13PAR1401PAR1402COR14PAR1501PAR1502COR15PAR1601PAR1602COR16PAR1701PAR1702COR17PAR1801PAR1802COR18PAR1901PAR1902COR19PAR2001PAR2002COR20PAR2101PAR2102COR21PAR2201PAR2202COR22PAR2301PAR2302COR23PAR2401PAR2402COR24PAR2501PAR2502COR25PAR2601PAR2602COR26PAR2701PAR2702COR27PAR2801PAR2802COR28PAR2901PAR2902PAR2903PAR2904PAR2905PAR2906PAR2907PAR2908COR29PAR3002PAR3001COR30PAR3102PAR3101COR31PAR3201PAR3202COR32PAR3301PAR3302COR33PAR3401PAR3402COR34PAU101PAU102PAU103PAU104PAU105PAU106COU1PAU205PAU204PAU203 PAU202 PAU201 COU2PAU305PAU304PAU303 PAU302 PAU301 COU3PAU401PAU402PAU403PAU404PAU405PAU406PAU407PAU408PAU4016PAU4015PAU4014PAU4013PAU4012PAU4011PAU4010PAU409COU4PAU501PAU502PAU503PAU504PAU505PAU506PAU507PAU508PAU5016PAU5015PAU5014PAU5013PAU5012PAU5011PAU5010PAU509COU5PAU601PAU602PAU603PAU604PAU608PAU607PAU606PAU605COU6PAU708PAU709PAU7010PAU7011PAU7012PAU7013PAU7014PAU707PAU706PAU705PAU704PAU703PAU702PAU701COU7PAU801PAU802PAU803PAU804PAU805PAU806PAU807PAU808PAU809PAU8010PAU8011PAU8012PAU8013PAU8014PAU8015PAU8016PAU8017PAU8018PAU8019PAU8020PAU8021PAU8022PAU8023PAU8024PAU8025PAU8026PAU8027PAU8028PAU8029PAU8030PAU8031PAU8032PAU8033PAU8034PAU8035PAU8036PAU8037PAU8038PAU8039PAU8040PAU8041PAU8042PAU8043PAU8044PAU8045PAU8046PAU8047PAU8048PAU8049PAU8050PAU8051PAU8052PAU8053PAU8054PAU8055PAU8056PAU8057PAU8058PAU8059PAU8060PAU8061PAU8062PAU8063COU8 PAU8064PAU905PAU906PAU907PAU908PAU904PAU903PAU902PAU901 COU9 PAU1005PAU1006PAU1007PAU1008PAU1004PAU1003PAU1002PAU1001 COU10 PAU1105PAU1106PAU1107PAU1108PAU1104PAU1103PAU1102PAU1101COU11PAU1205PAU1204PAU1203PAU1202PAU1201COU12PAU1301PAU1302PAU1303PAU1304PAU1308PAU1307PAU1306PAU1305COU13PAU1405PAU1406PAU1407PAU1408PAU1404PAU1403PAU1402PAU1401COU14PAX101COX1PAX201COX2PAX301COX3PAX401COX4PAX501COX5PAX601COX6PAC1102PAC1502PAC2101PAC2202PAC2302PAC2402PAC2502PAC6502PAC6902PAFB301PAJ301PAJ501PAR202PAR1102PAR2102PAR3302PAR3402PAU305PAU5012PAU5015PAU5016PAU602PAU603PAU608PAU7013PAU7014PAU8010PAU8026PAU8035PAU8038PAU1201PAC702PAFB101PAU205PAC302PAC402PAC502PAC902PADC105PALED101PALED102PALED103PALED201 PALED202 PALED203PAU201PAU203PAU301PAU303PAADC106 PAADC206 PAADC306 PAADC406PAC3202 PAC4002 PAC4802PAC5202PAC5602PAC6102PAR2202PAR2402PAU903 PAU1003 PAU1103 PAU1403PAADC103 PAADC203 PAADC303 PAADC403PAC2802PAC3002PAC3602PAC3802PAC4402PAC4602PAC5302PAC5702PAC5902PAFB401PAP102 PAP202 PAP302 PAP402PAR2302PAIC103PAIC104PAQ20DPAR3202PAU106PAC101PAC1701PAC2702PAFB302PAIC108PAIC208PAR301PAR901PAU8019PAADC102 PAADC202 PAADC302 PAADC402PAC802PAC3401PAC3501PAC4201PAC4301PAC5001PAC5101PAC6301PAC6401PAC6602PAFB102PAFB402PAU907 PAU1007 PAU1107PAU1307PAU1407PAJ201PAR602PAJ202PAR508PAJ203PAR507PAJ204PAR506PAD101PAJ205PAR505PAD202PAQ10DPAU101PAX101PAU103PAU8018PAIC107PAU8015PAIC106PAR302PAU8016PAR201PAU104PAU8017PAADC1011PAU8062PAADC2011PAU8058PAADC3011PAU8048PAADC4011PAU8047PAADC101PAADC108PAADC109PAADC1010PAADC1016PAADC201PAADC208PAADC209PAADC2010PAADC2016PAADC301PAADC308PAADC309PAADC3010PAADC3016PAADC401PAADC408PAADC409PAADC4010PAADC4016PAC102PAC801PAC1201PAC1301PAC1302PAC1303PAC1304PAC1401PAC1702PAC2701PAC2801PAC3101PAC3201PAC3301PAC3402PAC3502PAC3601PAC3901PAC4001PAC4101PAC4202PAC4302PAC4401PAC4701PAC4801PAC4901PAC5002PAC5102PAC5501PAC5601PAC5701PAC6001PAC6101PAC6201PAC6302PAC6402PAC6601PAFB202PAFB501PAIC105PAIC205PAR701PAR702PAR703PAR704PAR801PAU408PAU8020PAU904 PAU1004 PAU1104PAU1304PAU1404PAR2908PAU8050PAR2906PAU8052PAU702PAU805PAU705PAU804PAADC1015PAU8061PAADC2015PAU8043PAADC3015PAU8059PAADC4015PAU8060PAU509PAU8033PAJ404PAU508PAU5011PAU8030PAJ403PAU5013PAADC1014 PAADC2014 PAADC3014 PAADC4014PAU1205PAC201PAC301PAC401PAC501PAC601PAC701PAC901PAC1001PAC1101PAC1501PAC1801PAC1901PAC2102PAC2201PAC2301PAC2401PAC2501PAC2602PAC6501PAC6701PAC6801PAC6901PADC101PAFB201PAJ303PAJ504PAQ302PAQ304PAR401PAU102PAU202PAU302PAU501PAU5014PAU605PAU703PAU706PAU707PAU809PAU8025PAU8041PAU8057PAU1202PAU1204PAX201PAX301PAX501PAADC104 PAADC204 PAADC304 PAADC404PAC3001PAC3302PAC3801PAC4102PAC4601PAC4902PAC5301PAC5901PAC6202PAFB502PAP103 PAP203 PAP303 PAP403PAR2501PAR2907PAU8051PAR2905PAU8053PAJ304PAR1101PAU807PAADC1012 PAADC2012 PAADC3012 PAADC4012PAU8045PAADC107 PAADC207 PAADC307 PAADC407PAU8042PAADC105PAC3102PAR1201PAR1402PAADC205PAC3902PAR1501PAR1702PAADC305PAC4702PAR1801PAR2002PAADC405PAC6002PAR2601PAR2802PAC602PAU204PAC1002PAU304PAC1202PAD103PAU4016PAC1601PAU504PAC1602PAU502PAC1802PAU503PAC1902PAU507PAC2001PAU506PAC2002PAU505PAC2601PAU8056PAC2901PAR1202PAR1302PAU902PAC2902PAR1401PAU906PAC3701PAR1502PAR1602PAU1002PAC3702PAR1701PAU1006PAC4501PAR1802PAR1902PAU1102PAC4502PAR2001PAU1106PAC5201PAC5402PAR2201PAU1302PAC5401PAR2401PAU1306PAC5502 PAR2301 PAR2502PAU1303PAC5801PAR2602PAR2702PAU1402PAC5802PAR2801PAU1406PAC6702 PAQ303PAU8040PAC6802PAQ301PAU8039PAD201PAR3201PADC104PAR402 PAIC201 PAIC202PAX601PALED104PAR2901PALED105PAR2902PALED106PAR3001PALED204PAR2903PALED205PAR2904PALED206PAR3101PAP104PAR1301PAP204PAR1601PAP304PAR1901PAP404PAR2701PAQ10GPAQ20GPAR101PAU105PAQ10SPAQ20SPAR102PAR501PAU401PAR502PAU404PAR503PAU4010PAR504PAU4013PAR2101PAU1203PAJ302PAU8011PAJ305PAU8012PAC202PADC102 PAIC101 PAIC102PAIC203PAIC204PAX401PAR3002PAU8046PAR3102PAU8049PAJ101PAR1002PAU7012PAJ102PAR1001PAU7011PAADC1013 PAADC2013 PAADC3013 PAADC4013PAU8044PAJ502PAR3401PAU8032PAJ503PAR3301PAU8031PAIC207PAU8013PAIC206PAR902PAU8014PAU604PAU8029PAJ401PAU606PAJ402PAU607PAJ104PAU709PAJ103PAU7010PAU704PAU801PAC1402PAR601PAR802PAU8028PAC1305PAR708PAU402PAU8024PAC1306PAR707PAU405PAU8023PAC1307PAR706PAU409PAU8022PAC1308PAR705PAU4012PAU8021PAU406PAU407PAU4014PAU4015PAU8027

2_51_52_45GREEN26BLUE27GREEN11NetLED1_62RED147ADC-C\S\448ADC-C\S\342MOSI361GND2NetC68_21_44NetLED2_438BLUE16NetLED1_61+6V6467M\C\L\R\2+3V358ADC-C\S\259BUSY312PGD53GREEN217ACCU_STATUS18ACCU_E\N\23V21AGND1TX_EN1NetC26_129THRUST_TX2NetC67_214T_I_FAULT8361BUSY15556NetC26_149RED250BLUE125GND2+3V330EPOS_TX31SDA 1GND2+3V34GND41GNDD2_5D1_5V5BUS_RX9GND 10+3V3 11PGC13T_I15ACCU_I 16ACCU_I_FAULT1GND52BLUE25457GND60BUSY462ADC-C\S\120AGND21V422V324V126+3V327VOLTAGES_EN28V01NetC68_21GND33EPOS_RX3435+3V33738+3V339NetC68_240NetC67_243BUSY244SCK45MISO1GND4BUS_TX51GREEN12GND32SCL219A+3V3632GND3NetC67_246RED1PAC2301PAC2302PAC2401PAC2402COC24PAC2501PAC2502COC25PAC2601PAC2602 COC26PAC2701PAC6702PAC6701COC67COC68PAQ301 PAQ302PAQ303PAQ304COQ3PAR3002PAR3001PAU8019PAU8018PAU8015PAU8016PAU8017PAU8058PAU8048PAU8047PAU8050PAU8052PAU805PAU804PAU8043PAU8059PAU8060PAU8033PAU8030PAU8051PAU8053PAU807PAC2601PAU8056PAC6702 PAQ303PAU8040PAQ301PAU8039PAR3001PAU8011PAU8012PAR3002PAU8046PAU8049PAU8013PAU8014PAU8029PAU801PAU8022

3TX-3GND54M\C\L\R\1RX+4TX+5PGD1+3V35+6V4NetDC1_4661GND32PGC4EPOS_RX_RS2323EPOS_TX_RS2322THRUST_TX-3SDA4GND1+3V32RX-2PWR+4AC33AC22AC12SCL1THRUST_TX+1AC05AC4PAADC109PAADC1010PAADC1011PAADC1012PAADC1013PAADC1014PAADC1015PAADC1016PAADC108PAADC107PAADC106PAADC105PAADC104PAADC103PAADC102PAADC101COADC1PAADC209PAADC2010PAADC2011PAADC2012PAADC2013PAADC2014PAADC2015PAADC2016PAADC208PAADC207PAADC206PAADC205PAADC204PAADC203PAADC202PAADC201COADC2PAADC309PAADC3010PAADC3011PAADC3012PAADC3013PAADC3014PAADC3015PAADC3016PAADC308PAADC307PAADC306PAADC305PAADC304PAADC303PAADC302PAADC301COADC3PAADC409PAADC4010PAADC4011PAADC4012PAADC4013PAADC4014PAADC4015PAADC4016PAADC408PAADC407PAADC406PAADC405PAADC404PAADC403PAADC402PAADC401COADC4PAC101PAC102COC1PAC202PAC201COC2PAC302PAC301COC3PAC402PAC401COC4PAC501PAC502COC5PAC601PAC602COC6PAC702PAC701COC7PAC802PAC801COC8PAC901PAC902COC9PAC1001PAC1002COC10PAC1102PAC1101 COC11 PAC1202PAC1201COC12PAC1301PAC1302PAC1303PAC1304PAC1305PAC1306PAC1307PAC1308COC13PAC1402PAC1401COC14PAC1501PAC1502COC15PAC1601PAC1602COC16PAC1701PAC1702COC17PAC1801PAC1802COC18PAC1901PAC1902COC19PAC2001PAC2002COC20PAC2101PAC2102COC21PAC2201PAC2202COC22PAC2301 PAC2302COC23PAC2401PAC2402COC24PAC2501PAC2502COC25PAC2601 PAC2602COC26PAC2701COC27 PAC2702PAC2801PAC2802COC28PAC2901PAC2902COC29PAC3001PAC3002COC30PAC3101PAC3102COC31PAC3201PAC3202COC32PAC3301PAC3302COC33PAC3401PAC3402COC34PAC3501PAC3502COC35 PAC3601 PAC3602COC36PAC3701PAC3702COC37PAC3801PAC3802COC38PAC3901PAC3902COC39PAC4001PAC4002COC40PAC4101PAC4102COC41PAC4201PAC4202COC42PAC4301PAC4302COC43 PAC4401 PAC4402COC44PAC4501PAC4502COC45PAC4601PAC4602COC46PAC4701PAC4702COC47PAC4801PAC4802COC48PAC4901PAC4902COC49PAC5001PAC5002COC50PAC5101PAC5102COC51PAC5201PAC5202COC52PAC5301PAC5302COC53PAC5401PAC5402COC54PAC5501PAC5502COC55PAC5601PAC5602COC56PAC5701PAC5702COC57PAC5801PAC5802COC58PAC5901PAC5902COC59PAC6001PAC6002COC60PAC6101PAC6102COC61PAC6201PAC6202COC62PAC6301PAC6302COC63PAC6401PAC6402COC64PAC6502PAC6501COC65PAC6602PAC6601COC66PAC6702PAC6701COC67COC68 PAC6802PAC6801PAC6901PAC6902COC69PAD101PAD102PAD103COD1PAD202PAD201COD2PADC101PADC103PADC104PADC105PADC102ODC1PAFB101PAFB102COFB1PAFB201PAFB202COFB2PAFB301PAFB302COFB3PAFB401PAFB402COFB4PAFB501PAFB502COFB5PAIC105PAIC106PAIC107PAIC108PAIC104PAIC103PAIC102PAIC101COIC1PAIC205PAIC206PAIC207PAIC208PAIC204PAIC203PAIC202PAIC201COIC2PAJ106PAJ105PAJ104PAJ103PAJ102PAJ101PAJ205 PAJ204 PAJ203 PAJ202 PAJ201COJ2PAJ305 PAJ303PAJ306 PAJ304PAJ302PAJ301COJ3PAJ404PAJ403PAJ402PAJ401PAJ501PAJ502PAJ503PAJ504PALED104 PALED105 PALED106PALED103 PALED102 PALED101COLED1PALED204PALED205PALED206PALED203PALED202PALED201COLED2PAP101PAP102PAP103PAP104PAP108PAP107PAP106PAP105COP1PAP201PAP202PAP203PAP204PAP208PAP207PAP206PAP205COP2PAP301PAP302PAP303PAP304PAP308PAP307PAP306PAP305COP3PAP401PAP402PAP403PAP404PAP408PAP407PAP406PAP405COP4PAQ10SPAQ10GPAQ10DCOQ1PAQ20SPAQ20GPAQ20DCOQ2PAQ301 PAQ302PAQ303PAQ304COQ3PAR102PAR101COR1PAR202PAR201COR2PAR301PAR302COR3PAR401PAR402OR4PAR508PAR507PAR506PAR505PAR504 PAR503 PAR502 PAR501 COR5PAR602PAR601COR6PAR708PAR707PAR706PAR705PAR704PAR703PAR702PAR701COR7PAR802PAR801COR8PAR901PAR902COR9PAR1001PAR1002COR10PAR1101PAR1102COR11PAR1201PAR1202COR12PAR1301PAR1302OR13PAR1401PAR1402COR14PAR1501PAR1502COR15PAR1601PAR1602COR16PAR1701PAR1702COR17PAR1801PAR1802COR18PAR1901PAR1902COR19PAR2001PAR2002COR20PAR2101PAR2102COR21PAR2201PAR2202COR22PAR2301PAR2302COR23PAR2401PAR2402COR24PAR2501PAR2502COR25PAR2601PAR2602COR26PAR2701PAR2702COR27PAR2801PAR2802COR28PAR2901PAR2902PAR2903PAR2904PAR2905PAR2906PAR2907PAR2908COR29PAR3002PAR3001COR30PAR3102PAR3101COR31PAR3201PAR3202COR32PAR3301PAR3302COR33PAR3401PAR3402COR34PAU101PAU102PAU103PAU104PAU105PAU106COU1PAU205PAU204PAU203 PAU202 PAU201 COU2PAU305PAU304PAU303 PAU302 PAU301 COU3PAU401PAU402PAU403PAU404PAU405PAU406PAU407PAU408PAU4016PAU4015PAU4014PAU4013PAU4012PAU4011PAU4010PAU409COU4PAU501PAU502PAU503PAU504PAU505PAU506PAU507PAU508PAU5016PAU5015PAU5014PAU5013PAU5012PAU5011PAU5010PAU509COU5PAU601PAU602PAU603PAU604PAU608PAU607PAU606PAU605COU6PAU708PAU709PAU7010PAU7011PAU7012PAU7013PAU7014PAU707PAU706PAU705PAU704PAU703PAU702PAU701COU7PAU801PAU802PAU803PAU804PAU805PAU806PAU807PAU808PAU809PAU8010PAU8011PAU8012PAU8013PAU8014PAU8015PAU8016PAU8017PAU8018PAU8019PAU8020PAU8021PAU8022PAU8023PAU8024PAU8025PAU8026PAU8027PAU8028PAU8029PAU8030PAU8031PAU8032PAU8033PAU8034PAU8035PAU8036PAU8037PAU8038PAU8039PAU8040PAU8041PAU8042PAU8043PAU8044PAU8045PAU8046PAU8047PAU8048PAU8049PAU8050PAU8051PAU8052PAU8053PAU8054PAU8055PAU8056PAU8057PAU8058PAU8059PAU8060PAU8061PAU8062PAU8063COU8 PAU8064PAU905PAU906PAU907PAU908PAU904PAU903PAU902PAU901 COU9 PAU1005PAU1006PAU1007PAU1008PAU1004PAU1003PAU1002PAU1001 COU10 PAU1105PAU1106PAU1107PAU1108PAU1104PAU1103PAU1102PAU1101COU11PAU1205PAU1204PAU1203PAU1202PAU1201COU12PAU1301PAU1302PAU1303PAU1304PAU1308PAU1307PAU1306PAU1305COU13PAU1405PAU1406PAU1407PAU1408PAU1404PAU1403PAU1402PAU1401COU14PAX101COX1PAX201COX2PAX301COX3PAX401COX4PAX501COX5PAX601COX6PAC1102PAC1502PAC2101PAC2202PAC2302PAC2402PAC2502PAC6502PAC6902PAFB301PAJ301PAJ501PAR202PAR1102PAR2102PAR3302PAR3402PAU305PAU5012PAU5015PAU5016PAU602PAU603PAU608PAU7013PAU7014PAU8010PAU8026PAU8035PAU8038PAU1201PAC702PAFB101PAU205PAC302PAC402PAC502PAC902PADC105PALED101PALED102PALED103PALED201 PALED202 PALED203PAU201PAU203PAU301PAU303PAADC106 PAADC206 PAADC306 PAADC406PAC3202 PAC4002 PAC4802PAC5202PAC5602PAC6102PAR2202PAR2402PAU903 PAU1003 PAU1103 PAU1403PAADC103 PAADC203 PAADC303 PAADC403PAC2802PAC3002PAC3602PAC3802PAC4402PAC4602PAC5302PAC5702PAC5902PAFB401PAP102 PAP202 PAP302 PAP402PAR2302PAIC103PAIC104PAQ20DPAR3202PAU106PAC101PAC1701PAC2702PAFB302PAIC108PAIC208PAR301PAR901PAU8019PAADC102 PAADC202 PAADC302 PAADC402PAC802PAC3401PAC3501PAC4201PAC4301PAC5001PAC5101PAC6301PAC6401PAC6602PAFB102PAFB402PAU907 PAU1007 PAU1107PAU1307PAU1407PAJ201PAR602PAJ202PAR508PAJ203PAR507PAJ204PAR506PAD101PAJ205PAR505PAD202PAQ10DPAU101PAX101PAU103PAU8018PAIC107PAU8015PAIC106PAR302PAU8016PAR201PAU104PAU8017PAADC1011PAU8062PAADC2011PAU8058PAADC3011PAU8048PAADC4011PAU8047PAADC101PAADC108PAADC109PAADC1010PAADC1016PAADC201PAADC208PAADC209PAADC2010PAADC2016PAADC301PAADC308PAADC309PAADC3010PAADC3016PAADC401PAADC408PAADC409PAADC4010PAADC4016PAC102PAC801PAC1201PAC1301PAC1302PAC1303PAC1304PAC1401PAC1702PAC2701PAC2801PAC3101PAC3201PAC3301PAC3402PAC3502PAC3601PAC3901PAC4001PAC4101PAC4202PAC4302PAC4401PAC4701PAC4801PAC4901PAC5002PAC5102PAC5501PAC5601PAC5701PAC6001PAC6101PAC6201PAC6302PAC6402PAC6601PAFB202PAFB501PAIC105PAIC205PAR701PAR702PAR703PAR704PAR801PAU408PAU8020PAU904 PAU1004 PAU1104PAU1304PAU1404PAR2908PAU8050PAR2906PAU8052PAU702PAU805PAU705PAU804PAADC1015PAU8061PAADC2015PAU8043PAADC3015PAU8059PAADC4015PAU8060PAU509PAU8033PAJ404PAU508PAU5011PAU8030PAJ403PAU5013PAADC1014 PAADC2014 PAADC3014 PAADC4014PAU1205PAC201PAC301PAC401PAC501PAC601PAC701PAC901PAC1001PAC1101PAC1501PAC1801PAC1901PAC2102PAC2201PAC2301PAC2401PAC2501PAC2602PAC6501PAC6701PAC6801PAC6901PADC101PAFB201PAJ303PAJ504PAQ302PAQ304PAR401PAU102PAU202PAU302PAU501PAU5014PAU605PAU703PAU706PAU707PAU809PAU8025PAU8041PAU8057PAU1202PAU1204PAX201PAX301PAX501PAADC104 PAADC204 PAADC304 PAADC404PAC3001PAC3302PAC3801PAC4102PAC4601PAC4902PAC5301PAC5901PAC6202PAFB502PAP103 PAP203 PAP303 PAP403PAR2501PAR2907PAU8051PAR2905PAU8053PAJ304PAR1101PAU807PAADC1012 PAADC2012 PAADC3012 PAADC4012PAU8045PAADC107 PAADC207 PAADC307 PAADC407PAU8042PAADC105PAC3102PAR1201PAR1402PAADC205PAC3902PAR1501PAR1702PAADC305PAC4702PAR1801PAR2002PAADC405PAC6002PAR2601PAR2802PAC602PAU204PAC1002PAU304PAC1202PAD103PAU4016PAC1601PAU504PAC1602PAU502PAC1802PAU503PAC1902PAU507PAC2001PAU506PAC2002PAU505PAC2601PAU8056PAC2901PAR1202PAR1302PAU902PAC2902PAR1401PAU906PAC3701PAR1502PAR1602PAU1002PAC3702PAR1701PAU1006PAC4501PAR1802PAR1902PAU1102PAC4502PAR2001PAU1106PAC5201PAC5402PAR2201PAU1302PAC5401PAR2401PAU1306PAC5502 PAR2301 PAR2502PAU1303PAC5801PAR2602PAR2702PAU1402PAC5802PAR2801PAU1406PAC6702 PAQ303PAU8040PAC6802PAQ301PAU8039PAD201PAR3201PADC104PAR402 PAIC201 PAIC202PAX601PALED104PAR2901PALED105PAR2902PALED106PAR3001PALED204PAR2903PALED205PAR2904PALED206PAR3101PAP104PAR1301PAP204PAR1601PAP304PAR1901PAP404PAR2701PAQ10GPAQ20GPAR101PAU105PAQ10SPAQ20SPAR102PAR501PAU401PAR502PAU404PAR503PAU4010PAR504PAU4013PAR2101PAU1203PAJ302PAU8011PAJ305PAU8012PAC202PADC102 PAIC101 PAIC102PAIC203PAIC204PAX401PAR3002PAU8046PAR3102PAU8049PAJ101PAR1002PAU7012PAJ102PAR1001PAU7011PAADC1013 PAADC2013 PAADC3013 PAADC4013PAU8044PAJ502PAR3401PAU8032PAJ503PAR3301PAU8031PAIC207PAU8013PAIC206PAR902PAU8014PAU604PAU8029PAJ401PAU606PAJ402PAU607PAJ104PAU709PAJ103PAU7010PAU704PAU801PAC1402PAR601PAR802PAU8028PAC1305PAR708PAU402PAU8024PAC1306PAR707PAU405PAU8023PAC1307PAR706PAU409PAU8022PAC1308PAR705PAU4012PAU8021PAU406PAU407PAU4014PAU4015PAU8027

47 A.6. Layout MothernodeA.6 Layout Mothernode

4NODE_TX+2NODE_RX-665GND34NetDC2_43NODE_TX-1NODE_RX+31PWR+2PWR+1GND5+6V54+12V2GND4NODE_TX+2NODE_RX-665GND34NetDC2_43NODE_TX-1NODE_RX+31PWR+2PWR+1GND5+6V54+12V2GND2+12V2NetC12_24NetC12_23+6V1GND1GND1GND5+5V2GND1+6V2+6V2NetC9_24NetC9_23+6V2GND5+3V31+6V2NetC2_22NetC2_21NetLED2_41NetLED2_51NetLED2_62NET_STAT2GND2GND2GND2NET_STAT292830NET_STATG624RGB_IMU262527GND2021TX_XBEE22RX_XBEE23PPM_RC_ING516HL_RX171819XBEE_CTS_INVG413121415HL_TXG38RX_BUS10911G21GND4GND567TX_BUS1+5V2+5V3GNDG12+6V1GND1GND2NetC20_21GND1NetLED1_41NetLED1_51NetLED1_61GND2RGB_IMU2RGB_IMU2RGB_IMU1GND6GND1NODE_TX-4+3V3112NODE_TX+3GND12XBEE_CTS_INV911314+3V32+3V37152NetC16_2161NetC16_25NetC16_2172+3V32PPM_RC_IN1NetR12_1183TX_XBEE191GND2+3V3201GND2+3V31+3V3M29NODE_RX+11NODE_TX-10GND12NODE_TX+14+3V38 6M142RX_XBEE2+6V1GND2PWR+2NetC22_21NetC19_11GND1GND8HL_RX_RS2329HL_RX5NetC22_26NetC22_112+3V311HL_TX2NetC19_23NetC21_215+3V314GND1GND2NetC21_21NET_STAT1GND1GND2+3V31GND1GND1GND2PWR+2+5V2NetC19_21NetC22_12+3V32+6V1GND2NetDC2_41NetC2_21GND4NetC19_17NetC20_216+3V313HL_TX_RS232101+3V32+3V36NetLED1_65NetLED1_51+6V2+6V6NetLED2_65NetLED2_57GND1GND2+3V35TX_BUS2RX_BUS1GND1PWR+1HL_TX_RS2323+6V4NetLED2_43+3V34NetLED1_4810NODE_RX-13+3V31GND1+5V1GND2PWR+1GND1HL_RX_RS2321NetC2_21GND1NetR12_11+12VPAC101PAC102COC1PAC201PAC202COC2PAC301PAC302COC3PAC401PAC402COC4PAC501PAC502COC5PAC602PAC601COC6PAC702PAC701COC7PAC801PAC802COC8PAC901PAC902COC9PAC1002PAC1001COC10PAC1101PAC1102COC11PAC1201PAC1202COC12PAC1302PAC1301COC13PAC1401PAC1402COC14PAC1501PAC1502COC15PAC1601PAC1602COC16PAC1701PAC1702COC17PAC1801PAC1802COC18PAC1901PAC1902COC19PAC2001PAC2002COC20PAC2101PAC2102COC21PAC2201PAC2202COC22PAC2301PAC2302COC23PAD101PAD102COD1PADC101PADC103PADC102PADC106PADC104PADC105ODC1PADC201PADC203PADC204PADC205PADC202CODC2PAJ106PAJ105PAJ104PAJ103PAJ102PAJ101COJ1PAJ20G6 PAJ20G5 PAJ20G4 PAJ20G3 PAJ20G2 PAJ20G1PAJ201PAJ202PAJ203PAJ204PAJ205PAJ206PAJ207PAJ208PAJ209PAJ2010PAJ2011PAJ2012PAJ2013PAJ2014PAJ2015PAJ2016PAJ2017PAJ2018PAJ2019PAJ2020PAJ2021PAJ2022PAJ2023PAJ2024PAJ2025PAJ2026PAJ2027PAJ2028PAJ2029PAJ2030PAJ20M1PAJ20M2COJ2PALED101PALED102PALED103PALED106PALED105PALED104COLED1PALED201PALED202PALED203PALED206PALED205PALED204COLED2PAR101PAR102COR1PAR201PAR202COR2PAR301PAR302COR3PAR401PAR402COR4PAR501PAR502COR5PAR601PAR602COR6PAR701PAR702COR7PAR801PAR802COR8PAR901PAR902COR9PAR1001PAR1002COR10PAR1101PAR1102COR11PAR1202PAR1201COR12PAU108 PAU109 PAU1010 PAU1011 PAU1012 PAU1013 PAU1014PAU107 PAU106 PAU105 PAU104 PAU103 PAU102 PAU101COU1PAU205PAU204PAU203 PAU202 PAU201COU2PAU305PAU304PAU303 PAU302 PAU301COU3PAU401PAU402PAU403PAU404PAU405PAU406PAU407PAU408PAU4016PAU4015PAU4014PAU4013PAU4012PAU4011PAU4010PAU409COU4PAX101COX1PAX201COX2PAX301COX3PAX401COX4PAX501COX5PAX601COX6PAX701COX7PAX801COX8PAX901COX9PAX1001COX1PAX1101COX11PAXBEE1020PAXBEE1019PAXBEE1017PAXBEE1018PAXBEE1015PAXBEE1016PAXBEE1013PAXBEE1014PAXBEE1011PAXBEE1012PAXBEE109PAXBEE1010PAXBEE107PAXBEE108PAXBEE105PAXBEE106PAXBEE103PAXBEE104PAXBEE102PAXBEE101COXBEE1PAC102PAC1002PAC1402PAC1502PAC1702PAC1802PALED101PALED102PALED103PAR902PAU104PAU1013PAU1014PAU205PAU4012PAU4015PAU4016PAXBEE101PAXBEE1014PAC1302PAJ201PAJ202PAU305PAX901PAC602PAC702PAC802PAC1102PADC205PALED201PALED202PALED203PAU201PAU203PAU301PAU303PAC402PADC104PAX201PAC101PAC201PAC301PAC401PAC501PAC601PAC701PAC801PAC901PAC1001PAC1101PAC1201PAC1301PAC1401PAC1501PAC1601PAC1701PAC1801PAC2001PAC2101PAC2301PADC102PADC105PADC201PAJ203PAJ204PAJ2027PAR502PAR602PAR702PAR801PAR1101PAU103PAU106PAU107PAU202PAU302PAU401PAU4014PAX301PAX401PAX601PAX1101PAXBEE1010PAJ2016PAU409PAU408PAX701PAJ2015PAU4011PAU4013PAX801PAC2302PAJ2030PAR1001PAR1102PAC202PAD101PAR1002PAX501PAC902PAU204PAC1202PAU304PAC1602PAR901PAXBEE105PAC1901PAU404PAC1902PAU402PAC2002PAU407PAC2102PAU403PAC2201PAU406PAC2202PAU405PADC204PAR802PALED104PAR201PALED105PAR301PALED106PAR401PALED204PAR501PALED205PAR601PALED206PAR701PAR1201PAX1001PAJ101PAU109PAJ102PAU1010PAJ104PAR102PAU1012PAJ103PAR101PAU1011PAJ2023PAR1202PAC302PAC502PAD102PADC101PADC202PAX101PAJ2024PAR202PAR302PAR402PAJ208PAU102PAJ2022PAXBEE102PAJ207PAU105PAJ2021PAXBEE103PAJ2019PAXBEE1012