Power

4xVeronte can use unregulated DC (6.5V to 36V) for the internal Veronte autopilots and also for the arbiter.

LiPo batteries between 2S and 8S can be used without voltage regulation. Remaining battery can be controlled by the internal voltage sensor and by configuring the voltage warnings on the PC application.

For higher voltage installations, voltage regulators must be used. For dimensioning voltage regulators take into account that a blocked servo can activate regulator thermal protection.

Caution!! Power Veronte out of the given range can cause irreversible damage to the system. Please read carefully the manual before powering the system.

Veronte and servos can be powered by the same or different batteries. In case there are more than one battery on the system, a single point ground union it is needed to ensure a good performance. The ground signal should be isolated from other system ground references (e.g. engines).

It is recommendable to use independent switches for autopilot and motor / actuators. During the system initialization, PWM signal will be fixed to low level (0V), please make sure that actuators / motor connected support this behaviour before installing a single switch for the whole system.

Despite the names, all GND connectors share the same line, meaning they can be used for any ground connection required.

Harness ended in Blue matting connector will refer to Redundant connector, and the one ended in Yellow (reverse polarity) will refer to Arbiter connector.

Redundant connector pinout

68-pin redundant connector for 4xVeronte Autopilot 

REDUNDANT CONNECTOR
PIN SIGNAL TYPE INTERNAL POWER DOMAIN COMMENTS
1 I/O1 I/O A MUXED PWM/DIGITAL OUTPUT/DIGITAL INPUT SIGNAL (0-3.3V)
2 I/O2 I/O B MUXED PWM/DIGITAL OUTPUT/DIGITAL INPUT SIGNAL (0-3.3V)
3 I/O3 I/O A MUXED PWM/DIGITAL OUTPUT/DIGITAL INPUT SIGNAL (0-3.3V)
4 I/O4 I/O B MUXED PWM/DIGITAL OUTPUT/DIGITAL INPUT SIGNAL (0-3.3V)
5 I/O5 I/O A MUXED PWM/DIGITAL OUTPUT/DIGITAL INPUT SIGNAL (0-3.3V)
6 I/O6 I/O B MUXED PWM/DIGITAL OUTPUT/DIGITAL INPUT SIGNAL (0-3.3V)
7 I/O7 I/O A MUXED PWM/DIGITAL OUTPUT/DIGITAL INPUT SIGNAL (0-3.3V)
8 I/O8 I/O B MUXED PWM/DIGITAL OUTPUT/DIGITAL INPUT SIGNAL (0-3.3V)
9 GND GROUND   GROUND SIGNAL FOR ACTUATORS 1-8
10 I/O9 I/O A MUXED PWM/DIGITAL OUTPUT/DIGITAL INPUT SIGNAL (0-3.3V)
11 I/O10 I/O B MUXED PWM/DIGITAL OUTPUT/DIGITAL INPUT SIGNAL (0-3.3V)
12 I/O11 I/O A MUXED PWM/DIGITAL OUTPUT/DIGITAL INPUT SIGNAL (0-3.3V)
13 I/O12 I/O B MUXED PWM/DIGITAL OUTPUT/DIGITAL INPUT SIGNAL (0-3.3V)
14 I/O13 I/O A MUXED PWM/DIGITAL OUTPUT/DIGITAL INPUT SIGNAL (0-3.3V)
15 I/O14 I/O B MUXED PWM/DIGITAL OUTPUT/DIGITAL INPUT SIGNAL (0-3.3V)
16 I/O15 I/O A MUXED PWM/DIGITAL OUTPUT/DIGITAL INPUT SIGNAL (0-3.3V)
17 I/O16 I/O B MUXED PWM/DIGITAL OUTPUT/DIGITAL INPUT SIGNAL (0-3.3V)
18 GND GROUND   GROUND SIGNAL FOR ACTUATORS 9-16
19 RS_232_TX OUTPUT A MUXED RS-232 OUTPUT
20 RS_232_RX INPUT A REDUNDANT RS-232 INPUT
21 V2_USB_DP I/O   VERONTE 2 USB DATA LINE
22 ANALOG_4 INPUT B REDUNDANT ANALOG INPUT 0-36V
23 ANALOG_5 INPUT B REDUNDANT ANALOG INPUT 0-36V
24 V2_USB_DN I/O   VERONTE 2 USB DATA LINE
25 CANA_P I/O   CANbus interface. It supports data rates up to 1 Mbps.
Twisted pair with a 120Ω Zo recommended
26 CANA_N I/O  
27 GND GROUND   GROUND SIGNAL FOR BUSES
28 CANB_P I/O   CANbus interface. It supports data rates up to 1 Mbps.
Twisted pair with a 120Ω Zo recommended
29 CANB_N I/O  
30 V2_USB_ID I/O   VERONTE 2 USB ID LINE
31 I2C_CLK OUTPUT A MUXED CLK LINE FOR I2C BUS
32 I2C_DATA I/O A MUXED DATA LINE FOR I2C BUS
33 GND GROUND   GROUND FOR 3.3V POWER SUPPLY
34 3.3V POWER B 3.3V-100mA  POWER SUPPLY
35 GND GROUND   GROUND FOR 5V POWER SUPPLY
36 5V POWER B 5V-100mA POWER SUPPLY
37 GND GROUND   GROUND FOR  ANALOG SIGNALS
38 ANALOG_1 INPUT A REDUNDANT ANALOG INPUT 0-36V
39 ANALOG_2 INPUT A REDUNDANT ANALOG INPUT 0-36V
40 ANALOG_3 INPUT A REDUNDANT ANALOG INPUT 0-36V
41 V2_USB_VCC POWER   VERONTE 2 USB POWER (GND2 SHOULD BE USED FOR USB CONNECTOR)
42 V3_USB_DP I/O   VERONTE 3 USB DATA LINE
43 V3_USB_DN I/O   VERONTE 3 USB DATA LINE
44 GND GROUND   GROUND SIGNAL FOR BUSES
45 UART_TX OUTPUT B MUXED UART OUTPUT
46 UART_RX INPUT B REDUNDANT UART INPUT
47 GND GROUND   GROUND SIGNAL FOR BUSES
48 V3_USB_VCC POWER   VERONTE 3 USB POWER (GND3 SHOULD BE USED FOR USB CONNECTOR)
49 V3_USB_ID I/O   VERONTE 3 USB ID LINE
50 OUT_RS485_P OUTPUT B NON-INVERTED OUTPUT FOR MUXED RS-485 BUS
51 OUT_RS845_N OUTPUT B INVERTED OUTPUT FOR MUXED RS-485 BUS
52 IN_RS845_N INPUT   INVERTED INPUT FOR MUXED RS-485 BUS
53 IN_RS485_P INPUT   NON-INVERTED INPUT FOR MUXED RS-485 BUS
54 RS-485_GND GROUND   GROUND FOR RS-485 BUS
55 EQEP_A INPUT A FOR VERONTE 1&2
B FOR VERONTE 3
ENCODER QUADRATURE REDUNDANT INPUT A (0-5V)
56 EQEP_B INPUT ENCODER QUADRATURE REDUNDANT INPUT B (0-5V)
57 EQEP_S INPUT ENCODER STROBE REDUNDANT INPUT (0-5V)
58 EQEP_I INPUT ENCODER INDEX REDUNDANT INPUT (0-5V)
59 GND3 GROUND   VERONTE 3 GROUND INPUT
60 V1_USB_DP I/O   VERONTE 1 USB DATA LINE
61 V1_USB_DN I/O   VERONTE 1 USB DATA LINE
62 V1_USB_ID I/O   VERONTE 1 USB ID LINE
63 V1_USB_VCC POWER   VERONTE 1 USB POWER (GND 1 SHOULD BE USED FOR USB CONNECTOR)
64 VCC3 POWER   VERONTE 3 POWER SUPPLY (6.5 to 36V)
65 GND2 GROUND   VERONTE 2 GROUND INPUT
66 GND1 GROUND   VERONTE 1 GROUND INPUT
67 VCC2 POWER   VERONTE 2 POWER SUPPLY (6.5 to 36V)
68 VCC1 POWER   VERONTE 1 POWER SUPPLY (6.5 to 36V)

Redundant connector pinout

Arbiter connector pinout

Although being the same part, Arbiter connector and the Redundant connector are polarized differently to avoid wiring swapping.

ARBITER AND EXTERNAL FCU CONNECTOR
PIN SIGNAL TYPE INTERNAL POWER DOMAIN COMMENTS
1 EXTERNAL FCU I/O1 I/O A EXTERNAL FCU PWM/DIGITAL OUTPUT/DIGITAL INPUT SIGNAL (0-3.3V). Input current must be limited to 25mA.
2 EXTERNAL FCU I/O2 I/O B EXTERNAL FCU PWM/DIGITAL OUTPUT/DIGITAL INPUT SIGNAL (0-3.3V). Input current must be limited to 25mA.
3 EXTERNAL FCU I/O3 I/O A EXTERNAL FCU PWM/DIGITAL OUTPUT/DIGITAL INPUT SIGNAL (0-3.3V). Input current must be limited to 25mA.
4 EXTERNAL FCU I/O4 I/O B EXTERNAL FCU PWM/DIGITAL OUTPUT/DIGITAL INPUT SIGNAL (0-3.3V). Input current must be limited to 25mA.
5 EXTERNAL FCU I/O5 I/O A EXTERNAL FCU PWM/DIGITAL OUTPUT/DIGITAL INPUT SIGNAL (0-3.3V). Input current must be limited to 25mA.
6 EXTERNAL FCU I/O6 I/O B EXTERNAL FCU PWM/DIGITAL OUTPUT/DIGITAL INPUT SIGNAL (0-3.3V). Input current must be limited to 25mA.
7 EXTERNAL FCU I/O7 I/O A EXTERNAL FCU PWM/DIGITAL OUTPUT/DIGITAL INPUT SIGNAL (0-3.3V). Input current must be limited to 25mA.
8 EXTERNAL FCU I/O8 I/O B EXTERNAL FCU PWM/DIGITAL OUTPUT/DIGITAL INPUT SIGNAL (0-3.3V). Input current must be limited to 25mA.
9 EXTERNAL FCU I/O9 I/O A EXTERNAL FCU PWM/DIGITAL OUTPUT/DIGITAL INPUT SIGNAL (0-3.3V). Input current must be limited to 25mA.
10 EXTERNAL FCU I/O10 I/O B EXTERNAL FCU PWM/DIGITAL OUTPUT/DIGITAL INPUT SIGNAL (0-3.3V). Input current must be limited to 25mA.
11 EXTERNAL FCU I/O11 I/O A EXTERNAL FCU PWM/DIGITAL OUTPUT/DIGITAL INPUT SIGNAL (0-3.3V). Input current must be limited to 25mA.
12 EXTERNAL FCU I/O12 I/O B EXTERNAL FCU PWM/DIGITAL OUTPUT/DIGITAL INPUT SIGNAL (0-3.3V). Input current must be limited to 25mA.
13 GND GROUND   GROUND SIGNAL FOR ACTUATORS
14 EXTERNAL FCU ANALOG INPUT 1 OUTPUT A EXTERNAL FCU ANALOG INPUT (0-36V). This is the analog signal corresponding to Analog signal 1 on Redundant connector.
15 EXTERNAL FCU ANALOG INPUT 2 OUTPUT A EXTERNAL FCU ANALOG INPUT (0-36V). This is the analog signal corresponding to Analog signal 2 on Redundant connector.
16 EXTERNAL FCU ANALOG INPUT 3 OUTPUT A EXTERNAL FCU ANALOG INPUT (0-36V). This is the analog signal corresponding to Analog signal 3 on Redundant connector.
17 EXTERNAL FCU ANALOG INPUT 4 OUTPUT B EXTERNAL FCU ANALOG INPUT (0-36V). This is the analog signal corresponding to Analog signal 4 on Redundat connector.
18 GND GROUND   GROUND FOR ANALOG SIGNALS
19 EXTERNAL_ FCU TO PAYLOAD UART SIGNAL INPUT A EXTERNAL FCU UART OUTPUT. (0-3.3V)
THIS SIGNAL WILL BE AN INPUT FOR THE RS_232 OUTPUT MULTIPLEXER. MULTIPLEXED OUTPUT ON REDUNDANT CONNECTOR PIN 19
20 PAYLOAD TO EXTERNAL_ FCU  UART SIGNAL OUTPUT A EXTERNAL FCU UART INPUT. (0-3.3V)
THIS SIGNAL WILL BE THE OUTPUT OF THE RS_232  MULTIPLEXER. MULTIPLEXED INPUT ON REDUNDANT CONNECTOR PIN 20
21 PAYLOAD TO EXTERNAL FCU RS-485_P OUTPUT   RS-485_P OUTPUT SIGNAL  FROM PAYLOAD (REDUNDANT CONNECTOR PIN 53)TO FCU RS-485_P INPUT
22 PAYLOAD TO EXTERNAL FCU RS-485_N OUTPUT   RS-485_N OUTPUT SIGNAL  FROM PAYLOAD (REDUNDANT CONNECTOR PIN 52)TO FCU RS-485_N INPUT
23 EXTERNAL_ FCU TO PAYLOAD RS-485_P INPUT B RS-485_P OUTPUT SIGNAL  FROM EXTERNAL FCU (REDUNDANT CONNECTOR PIN 50)TO PAYLOAD RS-485_P INPUT
24 EXTERNAL_ FCU TO PAYLOAD RS-485_N INPUT B RS-485_N OUTPUT SIGNAL  FROM EXTERNAL FCU (REDUNDANT CONNECTOR PIN 51)TO PAYLOAD RS-485_N INPUT
25 CANA_P I/O   CANbus interface. It supports data rates up to 1 Mbps.
Recommended cable is a twisted pair with a 120Ω Zo.
26 CANA_N I/O  
27 GND GROUND   GROUND FOR BUSES
28 CANB_P I/O   CANbus interface. It supports data rates up to 1 Mbps.
Recommended cable is a twisted pair with a 120Ω Zo.
29 CANB_N I/O  
30 ARBITER_RS485_OUT_P OUTPUT ARBITER NON-INVERTED OUTPUT FOR ARBITER’S RS-485 BUS
31 ARBITER_RS485_OUT_N OUTPUT ARBITER INVERTED OUTPUT FOR ARBITER’S RS-485 BUS
32 ARBITER_RS485_IN_N INPUT ARBITER INVERTED INPUT FOR ARBITER’S RS-485 BUS
33 ARBITER_RS485_IN_P INPUT ARBITER NON-INVERTED INPUT FOR ARBITER’S RS-485 BUS
34 ARBITER_ARINC_TXA OUTPUT ARBITER ARBITER’S ARINC POSITIVE OUTPUT
35 ARBITER_ARINC_TXB OUTPUT ARBITER ARBITER’S ARINC NEGATIVE OUTPUT
36 ARBITER_ARINC_RXA INPUT ARBITER ARBITER’S ARINC POSITIVE INPUT
37 ARBITER_ARINC_RXB INPUT ARBITER ARBITER’S ARINC NEGATIVE INPUT
38 GND GROUND   GROUND SIGNAL FOR BUSES
39 ARBITER_I2C_SCL OUTPUT ARBITER CLK LINE FOR ARBITER’S I2C BUS
40 ARBITER I2C_DATA I/O ARBITER DATA LINE FOR ARBITER’S I2C BUS
41 ARBITER_RS232B_RX INPUT ARBITER ARBITER RS-232 INPUT B
42 ARBITER_RS232B_TX OUTPUT ARBITER ARBITER RS-232 OUTPUT B
43 ARBITER_RS232A_RX INPUT ARBITER ARBITER RS-232 INPUT A
44 ARBITER_RS232A_TX OUTPUT ARBITER ARBITER RS-232 OUTPUT A
45 GND GROUND   GROUND SIGNAL FOR ANALOG SIGNALS
46 ARBITER ANALOG_INPUT_1 I/O ARBITER ARBITER ANALOG INPUT (0-36V)
47 ARBITER ANALOG_INPUT_2 I/O ARBITER ARBITER ANALOG INPUT (0-36V)
48 ARBITER ANALOG_INPUT_3 I/O ARBITER ARBITER ANALOG INPUT (0-36V)
49 ARBITER ANALOG_INPUT_4 I/O ARBITER ARBITER ANALOG INPUT (0-36V)
50 ARBITER ANALOG_INPUT_5 I/O ARBITER ARBITER ANALOG INPUT (0-36V)
51 ARBITER ANALOG_INPUT_6 I/O ARBITER ARBITER ANALOG INPUT (0-36V)
52 ARBITER ANALOG_INPUT_7 I/O ARBITER ARBITER ANALOG INPUT (0-36V)
53 ARBITER ANALOG_INPUT_8 I/O ARBITER ARBITER ANALOG INPUT (0-36V)
54 ARBITER ANALOG_INPUT_9 I/O ARBITER ARBITER ANALOG INPUT (0-36V)
55 ARBITER ANALOG_INPUT_10 I/O ARBITER ARBITER ANALOG INPUT (0-36V)
56 WD_EXT I ARBITER WATCHDOG SIGNAL FROM EXTERNAL AUTOPILOT TO ARBITER (0-3.3V)
57 EXT_DETECT I ARBITER CONNECT TO GND IF EXTERNAL FCU IS CONNECTED. OTHERWISE, LEAVE OPEN
58 GND GROUND   GROUND SIGNAL FOR GPIO
59 ARB_GPIO1 I/O ARBITER ARBITER’S PWM/DIGITAL OUTPUT/DIGITAL INPUT SIGNAL (0-3.3V)
60 ARB_GPIO2 I/O ARBITER ARBITER’S PWM/DIGITAL OUTPUT/DIGITAL INPUT SIGNAL (0-3.3V)
61 ARB_GPIO3 I/O ARBITER ARBITER’S PWM/DIGITAL OUTPUT/DIGITAL INPUT SIGNAL (0-3.3V)
62 ARB_GPIO4 I/O ARBITER ARBITER’S PWM/DIGITAL OUTPUT/DIGITAL INPUT SIGNAL (0-3.3V)
63 ARB_GPIO5 I/O ARBITER ARBITER’S PWM/DIGITAL OUTPUT/DIGITAL INPUT SIGNAL (0-3.3V)
64 ARB_GPIO6 I/O ARBITER ARBITER’S PWM/DIGITAL OUTPUT/DIGITAL INPUT SIGNAL (0-3.3V)
65 FTS1 OUTPUT ARBITER DEADMAN SIGNAL (I.E. HEAR-BEAT, ALIVE…) ENCODING ITS PRODUCT-LEVEL BIT

DEADMAN SIGNAL. SQUARE WAVE AT [100,125] HZ.  CAN BE HIGHER WHILE REBOOTING (ABOUT300-400HZ). BUT SHOULD NOT BE LESS THAN 100HZ.

66 FTS2 OUTPUT ARBITER OUTPUTS A !SYSTEMOK (0 WHEN OK, VCC WHEN IN ERROR) BIT

LOW (0 VOLTS) IF NO FAILURE DETECTED. HIGH (3.3 VOLTS) ON ERROR DETECTED. THIS PIN GOES HIGH IF THE DEADMAN SIGNAL SENT BY THE MPU (MAIN PROCESSOR UNIT) IS LOWER THAN 63 HZ. THAT MEANS THERE IS A CRITICAL ERROR.

67 GND_ARBITER GROUND   ARBITER GROUND INPUT
68 VCC_ARBITER POWER   ARBITER POWER SUPPLY (6.5 to 36V)

Arbiter connector pinout