AheadX SAGI Manual de usuario
Tips
Welcome to read AheadX online document. This manual will assist you with the
installation and post-installation checking of SAGI.
Blue text, suggestions and content you may need to know
Orange text, please pay close attention
Red text, must be strictly enforced
Version
Version: V1.0
Update note: Create a document
Time: 2019.03.20
Copyright Notice
The intellectual property rights of this product and the manual are solely owned by
AheadX Technology. Without written permission, any unauthorized copying,
reproduction or sale by any organization or individual is prohibited. Please state the
source is AheadX if you quote or publish any content. The manual should not be
quoted, abridged or modified without any permission
The dimension and weight listed in this manual are approximate values based on
the design and repeated measurements.
All documents have been carefully verified to make sure the accuracy. Related
information is subject to the latest version released by the company.
The company reserves the right to change product specifications without prior
notice. Please pay attention to AheadX's official website
Registered for AheadX Technology (Beijing) Co., Ltd.
Disclaimer
Please read the entire document carefully before using this product. By using this
product, you hereby signify that you have read this disclaimer carefully and agree to
abide by the terms and contents herein. This product is not suitable for children
under the age of 18.
AheadX SAGI is a high quality UAV navigation flight controller. The company shall not
be liable for personal injury, property loss, etc. (including direct or indirect damage)
due to the following reasons:
1. The operator causes damage in the case of alcohol, drug abuse, drug anesthesia,
dizziness, fatigue, nausea and other poor physical or mental condition. Any
compensation for mental injury caused by the accident.
2. The product is not assembled or manipulated in accordance with the correct
guidance of the manual
3. Personal injury or property loss caused by operator’s errors or subjective
judgment
4. Knowing that the relevant equipment is in an abnormal state (such as water
damage, oil damage, soil & sand damage and entry of other unidentified substances
and incomplete assembly, main components with obvious failures, spare parts with
obvious defect or missing), but still use the equipment and cause damages.
5. Any damage caused by flying the drone in magnetic interference zone, radio
interference zone, no-fly zone, or the pilot flies the drone with following conditions
such as in a shadow, poor light, blurred vision and vision obscured
6. Collision, overturns and force majeure as fire, storms, tornadoes, heavy rains,
floods, tsunamis, earthquakes etc.
7. Direct or indirect liability for any illegal use, or other unauthorized purposes.
8. Third-party liability arising from the use of our software and hardware products ..
9. Any loss caused by obtaining or using our software or hardware and related
manuals through unauthorized ways
10. Other losses that are not within the AheadX’s sphere of accountability
Introduction
The SAGI GNC (Micro Guidance Navigation Control System) is a new generation of
navigation flight control system designed for industrial-grade drones with high
integration, high reliability and high cost performance. According to the national
military standard related detection method, it has passed strict environmental
adaptability and screening tests. It supports VTOL quad plane, fixed wing, helicopter,
multi-rotor and other types of aircraft.
The core sensor adopts the heterogeneousdual redundancy IMU. Main IMU uses
industrial grade component which can work at -45℃~85℃. Sagi can seemlessly
switch to backup IMU when main IMU is not working. It supports automatic switch
between dual redundancy magnetic compass and dual redundancy GNSS module.
To improve its reliability, SAGI comes with all metal cover and J30J connector. SAGI
adopts a decoupled extended Kalman filter, improved L1 guidance rate, and ADRC
controller as core algorithm, which has extremely high precision.
Features and applications
Integrated industrial grade inertial measurement unit, triaxial magnetometer,
barometric altimeter, airspeedometer, GNSS module.
Dual combined navigation systems. Decoupled 17-order extended Kalman filter
to complete the information fusion. Automatically switch between the GNSS/INS
and AHRS/DR navigation modes according to satellite signals
With adaptive controller based on ADRC to improve the control accuracy and
robustness. It can adapt to different altitude and airspeed automatically
Using the adaptive guidance rate, the aircraft mathematical model is dynamically
identified, and the route loop and altitude loop control are highly accurate, and
no adjustment parameters are needed.
SAGI supports automatic take-off, automatic return, automatic landing, route
mode, intelligent protection and other functions.
With built-in global geomagnetic model, and compass calibration has been tested
in polar area. SAGI can complete one-key compass calibration, take off
immediately after satellite positioning.
Powerful remote assistance service. Whenever and wherever you need technical
support, you can request AheadX's official remote technical support via the
Internet.
10 routes (The 10th route is the landing route for fixed wing or VOTL), max 200
waypoint of each route. SAGI is able to switch the route automatically
With fixed-point, equal time, equal distance shooting function. Records the POS
data of the shooting point.
Any installation method. SAGI comes with installing angle correction and lever
arm compensation. It can be mounted at any angle and position
Simulation training function. SAGI can work with AheadX's semi-physical
simulator for pilot’s daily simulation training.
Built-in black box data logging function, it is able to cyclically record
approximately 60 minutes flight data . Supports external data recorders,
recording up to 2000 hours flight data.
Online upgrade. User can quickly get the latest firmware and ground station
software on the Internet
Technical Parameters
Item Maximum Standrad Minimum Unit Remarks
Weight 103 g
Volume 68 * 43 *
33 mm
Supply voltage 25（53 HV
version）12 9 V
Power
consumption 1.2 W
Working
temperature 85 25 -40 ℃
Attitude
accuracy 0.5 ° dynamic, after GNSS
positioned
Angular
velocity
measurement
range
300 -300 °/s
Acceleration
measurement
range
18 -18 g
Positioning
accuracy 1 m CEP
Speed
measurement
accuracy
0.1 m/s
Height
measurement
range
10000 -400 m
Airspeed
measurement
range
140 0 m/s
Ground speed
measurement
range
500 0 m/s
Servo control
channel 10 CH
SBUS input
channel 1 CH Backup radio control
data
SBUS output
channel 1 CH
Servo update
frequency 200 50 Hz
telemetry
communication
interface
1 CH
RS232 level, need to
turn off built-in data
link
Voltage
monitoring
channel
2 CH
Voltage
monitoring
range
58 0 V
Engine speed
monitoring
channel
2 CH
Engine speed
monitoring
range
65535 0 RPM
CAN interface 1 bus
Used for smart
battery, optical
camera and other
equipment
Extended serial
port 1 CH
forwarding data to
user's
equipment,connecting
external black box
and other equipment
Flight control installation and
connection
Thanks for purchasing our Leo GNC. This chapter will guide you how to install and
tune the flight controller. You can make the cables& wires and check it according to
the instruction. Please read this chapter carefully and make the installation strictly
abide to the guidance.
Self-prepared equipment
User needs to prepare the following equipment to work with:
Drone : Quad wing ——Hybrid fixed wing with four rotor configuration.
Fixed wings—— Various fixed wings
Multi-rotor—— multi-rotor drone.
Data link: with RS232 interface.
Auxiliary control joystick: AheadX A4RC01 auxiliary joystick is recommended;
Support SBUS output; Radio controller with more than 10 channels (eg FUTABA
T8FG/T14SG).
computer:Recommend Intel Core i3 processors, 2GB memory, 200M hard disk
space or better configuration to install our ground station software
Cable
SAGI adopts 30J-37TJL rectangular connector with 37 durable cables.
User can make cables according to the interface or buy AheadX’s finished cables.
Interface definition
Interface definition
Serial
number Pin Description:
1 P+: power supply "+"
Flight control power supply, DC9~25V
(standard version) 9~53V (HV version)）
2PGND: power supply
"-"
3 GND: Ground
For communicating with external black box4
T2: Serial port 2
transmission, RS232
level
5 GND：Ground
6 P1+: positive output DC 5V/0.8A for powering low-power airborne
equipment,
It is strictly forbidden to supply power to ESC
and servo with 5V output.
7P1\_GND+: positive
output
8R1: Serial port 1 , 232
level
Connect to data link, it is recommended to
use the AheadX DL900 products9 T1: Serial port 1 , 232
level
10 GND：Ground
11 CAN\_H: CAN bus H
pin
CAN interface, used for connecting with other
AheadX's products, such as smart batteries,
external magnetic compass, height-finding
radar, etc.
12 CAN\_H: CAN bus L
pin
13 P2+: data link
positive input The voltage is the same as the flight control
power supply P+, the maximum current is 1A.
14 P2\_GND：data link
negative output
15 SBusIn: SBus signal
input DC 5V/0.8A for powering low-power airborne
equipment,
It is forbidden to supply power to ESC and
servo with the 5V output.
16
5V: 5V output,
powering the
receiver
17 GND: Ground
18 PWM1:PWMchannel1 Used to control the servo or ESC
19 PWM2：PWM
channel2
20 PWM3：PWM
channel3
21 PWM4：PWM
channel4
22 PWM5：PWM
channel5
23 PWM6：PWM
channel6
24 PWM7：PWM
channel7
25 PWM8：PWM
channel8
26 PWM9：PWM
channel9
27 PWM10：PWM
channel10
28 GND: Ground Ground
29 SBusOut：SBus
control output Used to control the servo or ESC
30 AD1： Voltage
monitoring channel 1
Voltage must be less than 58V
31 AD2： Voltage
monitoring channel 2
32
GND: Ground, for
voltage monitoring
only
33 Reserved: Alternate
RPM monitoring, compatible with 3.3V/5V
34 RPM1:RPM
monitoring 1
35 R5: Serial port 5 , 232
level
Reserved serial port for connecting RTK and
task load commands for transparent
transmission
36
T5: Serial port 5
transmission, RS232
level
37 GND: Serial port
Ground
Precautions
Please pay attention whether the power GND and signal GND are connected or not when using
ESC.
You may meet following problem if the power GND and signal GND are connected:
high current may be led back to flight controller via the signal GND cable if power
GND cable with any cold soldering or virtual open circuit, which may cause the flight
controller to be burnt.
Therefore, user can make following modification to ensure flight controller will not
be burnt even with colder soldering or virtual open circuit.
Tabla de contenidos
