The first part of the Veronte tab is the identification of the autopilot. Here are defined the name of the configuration (Vehicle Name) and the Address of the selected autopilot. Commonly, the air autopilot is 1 and the Ground is 255. It is possible to control more than one air with the same ground, just change the address of the autopilot to 2, 3 and then it will be detected by the system. The Encryption can be activated from this panel by clicking on the shield icon.
On the other hand, the option Part Number corresponds to the internal layout of the autopilot, and it is something that can not be changed by the user.
SU / US Matrix
SU & US are inverse matrices which contain the relationship between actuators and control channels. This relationship should be completed in order to define the influence of each control channel in each control actuator. In the SU matrix, the Control channels are positioned in the columns and the Actuators in the rows. For example, in the following matrices, Actuators 1 and 2 control the Rolling, Actuator 3 the Flaps and so on.
SU Matrix Values example
US Matrix Values example
U is a vector which contains the control outputs of the system. These values are not real controls, but fictitious variables that are used in the controller algorithm. What is really applied to the actual system are the servo movements (actuators) which are in the S vector. The relation between this two vectors is depicted by the SU matrix.
The option of having a configurable SU matrix allows Veronte to control any type of vehicle, independently of how its control surfaces are. Just by introducing in this matrix the values that map the control outputs to the servo movements the control of the platform is possible.
Let’s consider an example to clarify what has been said above. Imagine that the aircraft to control has no tail, so the typical aileron and elevator movement is done with the same control surface, for example, the elevons. Inside the controller algorithm, the program works with elevator and aileron deflection separately, as in a conventional aircraft, but the outputs of the controller have to be adapted to the actual configuration of the aircraft, and here is where the SU matrix is used.
If the relation of the elevon movement with the aileron and elevator deflection is as shown in the next expression,
the SU matrix which provides the actuator deflection from a set of output controllers is as represented in this figure.
In addition to the SU matrix, it is also possible to set in Veronte Pipe the inverse matrix, US. This one is not as important as the previous matrix but has also its functions. Normally, this matrix is used when there is a radio controller connected to the system because the pilot stick movements are values of the S vector, and in the case that these values have to be changed to controller commands for the algorithm, that task is performed with the US matrix. To see more information about the stick commands and the use of the US matrix visit section 6.3.4
Aircraft axes are defined according to international aviation convention; Veronte axes are drawn on Veronte box as defined in the “Hardware Installation” section of the manual (2.1).
It is not compulsory to install the autopilot in the platform aligned with the aircraft axes. There could be a rotation, for example, the box can have its X axis directed to one of the wings, like in the case of the figure shown as follows.
In order to indicate the box disposition inside the platform, click on the axis in the aircraft diagram and select the corresponding axis according to the autopilot layout.
The case of a nonorthogonal installation is also covered in the software. The right menu of the figure shows the values of the rotation matrix, which are totally modifiable by the user.
Veronte and GPS antenna distance from centre of mass must also be entered. This distance is entered in meters and accordingly to aircraft axes.
Setup Veronte Position
This information is used to take into account the moment produced by the weight of the autopilot and GPS antenna.