2.1 Air Vehicle 2.1.1 Vehicle General Description 2.1.2

2.1 Air Vehicle 2.1.1 Vehicle General Description 2.1.2
2.1 Air Vehicle
2.1.1 Vehicle General Description
The PA-01 Vapor S-UAV is a rotary wing small unmanned aerial vehicle. The AV is powered
by an outrunner 8.5hp class brushless electric motor. The airframe consists of carbon fiber
construction for the main frame and an aluminum rotor head and tail boom. Electrical power
for the autopilot and payload is provided by an onboard 3 cell 11.1 volt lithium polymer
battery. Power for the servos is provided by an onboard ___2_____ cell __7.4___v lithium
polymer battery. Power for the electric motor is provided by two onboard __6___cell
__22.2____v lithium polymer batteries connected in parallel. Command and control is
achieved through the use of the WeControl wePilot 1000 autopilot system. The PA-01 Vapor
UAV is equipped with a _____2 blade______ type rotor head assembly and is controlled via a
CCPM swash plate connection.
2.1.2 Overall Dimensions
Length……………………………………………………..….…………………………..60”
Height………………………………………………….…….…………………………….20”
Rotor Diameter…………………………………….…………………………….......72”
Tail Rotor Diameter……………………………….………………………………….12”
Tail Boom Length…………………………….…….………………………………….38”
Width……………………………………………………..………………………………..12.5”
2.2 Motor
2.2.1 General specifications
The electric motor features a brushless outrunner design that includes a 6-pole outrunner
stator-rotor and uses Ndfeb extra strong magnets. The motor is equipped with an integrated
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cooling fan with ingress/egress vents which help to cool the motor continuously. This motor is
essentially maintenance free only requires an inspection of the wiring and pinion gear for wear.
2.3 Battery Information
2.3.1 wePilot 1000 and Servo Batteries
The PA-01 Vapor AV is equipped with a __3___ cell, _11.1___ volt __3100___ mAh lithium
polymer battery to provide power to the wePilot autopilot system. The AV is also equipped
with a __2__ cell, __7.4__ volt, ___3100___ mAh lithium polymer battery to power the servos.
2.3.2 Flight Batteries
The PA-01 Vapor AV electric motor is powered by two _6__ cell, __22.2___v batteries which
have the capacity for 35-55 minutes of hover flight.
2.3.3 Battery Charging and Storage
Lithium Polymer batteries where selected for the PA-01 Vapor S-UAV because they offer a
much higher energy density than traditional battery which allows higher capacity at a lower
weight. The newer batteries do require more attention than traditional batteries during the
charging process. Lithium polymer batteries have a longer shelf life than traditional batteries
and do not develop a memory when left at a specific voltage. .
2.4 Avionics Description
Command and control of the PA-01 Vapor UAS is accomplished through the use of the
wePilot 1000 autopilot and WeControl Ground Control Station (GCS).
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2.4.1 wePilot 1000 Autopilot
Figure 1 wePilot 1000 Autopilot
The WeControl wePilot 1000 autopilot is the primary means of command and control
for the PA-01 Vapor UAV. It features a fully integrated sensors and radio link housed in an EMI
shielded billet aluminum enclosure. The wePilot 1000 is capable of fully autonomous flight with
the use of a magnetometer and GPS antenna. During maintenance inspections, verify that the
25 pin connector is securely attached and the UHF and GPS antennas are tight. Inspect the case
for any damage including cracks and scratches
2.4.2 Magnetometer
The Honeywell HMR2300 digital compass is installed on the PA-01 Vapor AV to provide
accurate heading information for navigation. The HMR2300 is equipped with three magnetic
sensors arranged in an X, Y, and Z orientation to sense the earth’s magnetic field. The
Magnetometer also includes an accelerometer to provide tilt and pitch sensing relative to the
sensor’s flat position. When inspecting the magnetometer, visually inspect all connectors and
wires for security.
2.4.3 GPS and UHF Antennas
The wePilot 1000 autopilot utilizes the Global Positioning System as the primary means of
navigation in all flight conditions. The GPS antenna connects to the wePilot 1000 with an S3
SMA connector. The antenna is located on the top of the tail boom attached to the tail rotor
housing.
Command and control of the PA-01 Vapor UAV is accomplished using A UHF radio
transmitter and receiver over the commercially available 900 MHz frequency band. The UHF
antenna connects to the wePilot 1000 with an S-SMA connector and is mounted via a BNC
ulkhead connector to a ground plane located on the tail boom.
2.4.4 Video Transmitter and Antenna
The video is transmitted via WiFi by an Ethernet enabled camera. Figures 2.4-1 shows the WiFi
radio transmitter/receiver manufactured by Ubiquiti.
Figure 2.4.4-1. The video WiFi transmitter/reciever unit.
The following is the list of specifications for the Bullet WiFi Radio:
Processor Specs: Atheros MIPS 4KC, 180MHz
Memory Information: 16MB SDRAM, 4MB Flash
Networking Interface: 1 X 10/100 BASE-TX (Cat. 5, RJ-45) Ethernet Interface
Approvals: FCC Part 15.247, IC RS210
RoHS Compliance: YES
Antenna: Integrated antenna array
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Power Supply: Up to 24V DC POE (Power Over Ethernet).
Power Method: Passive Power over Ethernet (pairs 4,5+; 7,8 return)
Operating Temperature: -20C to +70C
Weight: 0.18 kg
Transmitting Power: up to 1000mW
The transmitting antenna (on the aircraft) uses a 15" omni-directional 2.4Ghz antenna with +9dBi gain.
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