Lisa/S is a very small general purpose autopilot. The main goal of creating an autopilot of minimal size and weight, while providing enough functionality to enable fully autonomous operation.
So if you are ready to make your tiny plane fly autonomously,you can already order one here
The Lisa/S Autopilot is available for purchase from 1 BIT SQUARED.
MOT1 (DC) = SERVO3 (PWM) = nb 0 (airframe) MOT2 (DC) = SERVO4 (PWM) = nb 1 (airframe) MOT3 (DC) = SERVO5 (PWM) = nb 2 (airframe) MOT4 (DC) = SERVO6 (PWM) = nb 3 (airframe) SERVO1 (PWM) = nb 4 (airframe, not compatible with I2C1) SERVO2 (PWM) = nb 5 (airframe, not compatible with I2C1)
In order to use the barometer, you just need to add one line to your firmware block (in your airframe file) :
<firmware name="fixedwing"> <target name="ap" board="lisa_s_0.1"> ... </target> ... <define name="USE_BAROMETER" value="TRUE"/> ... </firmware>
Once that line is added to the airframe file, you should be able to get the values of the barometer and paparazzi is going to take them into account when doing it's calculations.
Warning : the barometer doesn't seams to be working at a higher frequency than 120Hz in a fixed wing airframe. Than mean that in a fixed wing airframe the PERIODIC_FREQUENCY must be equal or lower than 120. In rotorcraft the barometer works fine.
One of the earliest versions of the board which is still used in the MAVlab of the TU-Delft is the Lisa/S V0.1R2. If you are not working there, this info is of no importance to you...Else as a reminder to all: This version is slightly different from newer versions:
1. Go the the Lisa/S Nano Quadcopter Kit Assembly Tutorial Page to get a good explanation for how to connect your board to a Nano Quadcopter.