G-A1 | ArduPilot & PX4 Supported

The G-A1 is a state-of-the-art universal controller (flight controller) developed based on the Pixhawk Autopilot v6X Standard. It adopts a STM32H753 double-precision floating-point FMU processor, and a STM32F103 IO coprocessor. It also uses independent buses and power supplies. Multiple IMUs, each with its 6-axis inertial sensors, pressure/temperature sensors, and a geomagnetic sensor are designed for safety and rich expansion capabilities. With an integrated 10/100M Ethernet Physical Layer (PHY), the G-A1 can also communicate with the mission computer (airborne computer), high-end surveying and mapping cameras, and other UxV-mounted equipment for high-speed communications, meeting the needs of advanced UxV systems.

Godwit

Product Information

Hardware Summary

Item Description
FMU Processor STM32H753 (Arm® Cortex®-M7, 480MHz)
IO Processor STM32F103 (Arm® Cortex®-M3, 72MHz)
Memory 2 Mbytes of flash memory and 1 Mbyte RAM
Sensors
  • Bosch BMI088 IMU sensor (vibration isolated)
  • TDK InvenSense ICM-42688-P IMU sensor x2 (one vibration isolated)
  • TDK ICP-20100 Barometric Pressure and Temperature Sensor x2 (one vibration isolated)
  • PNI RM3100 Geomagnetic Sensor (vibration isolated)
IO Interface
  • 2 CAN Buses (CAN1 and CAN2)
  • 3 TELEM Ports (TELEM1, TELEM2 and TELEM3)
  • 2 GPS Ports (Safety switch/LED/Buzzer, and GPS2)
  • 1 PPM IN
  • 1 SBUS OUT
  • 2 USB Ports (1 TYPE-C and 1 JST GH1.25)
  • 1 10/100Base-T Ethernet Port
  • 1 DSM/SBUS RC
  • 1 UART 4
  • 1 AD&IO Port
  • 2 Debug Ports (1 IO Debug and 1 FMU Debug)
  • 1 SPI6 Bus
  • 2 Power Inputs with I2C bus (Power 1 and Power 2)
  • 2 Power Inputs with CAN bus (Power C1 and Power C2)
  • 16 PWM Servo Outputs (A1-8 from STM32H753 on FMU board and M1-8 from STM32F103 on IO board)
  • 1 MicroSD Socket (Push-Pull, supports SD 4.1 & SDIO 4.0 in two databus modes: 1 bit (default) and 4 bits)
MicroSD Card Not included in the package.
Power Requirement 4.6V to 5.7V
Current Ratings
  • TELEM1 and GPS2 output current: 1.5A (max)
  • All other port combined output current: 1.5A (max)
Operating Temperature -40°C to +55 °C
Storage Temperature -40°C to +70 °C
Operating Humidity 5% to 95% (Non-condensing)
Casing Material ABS (carrier board), Diecast Aluminum Alloy (IMU cover)
Dimensions 92.2 (L) x 51.2 (W) x 28.3 (H) mm
Weight 77.6g (carrier board with IMU)

Pin Definition

Pin

Wiring Overview

The diagram below shows G-A1 and the connections to its peripherals.

Wiring
Interface Function
POWER C1 Connect CAN PMU to POWER C1. Used with UAVCAN power modules.
POWER C2 Connect CAN PMU to POWER C2. Used with UAVCAN power modules.
POWER 1 Connect to an SMbus (I2C) power module.
POWER 2 Connect to an SMbus (I2C) power module.
GPS&SAFETY Connect to a GPS module, which includes GPS, safety switch, and buzzer interface.
GPS2 Connect to a GPS/RTK module.
UART 4 Enable user customization.
TELEM1/TELEM2/TELEM3 Connect to telemetry or MAVLink devices.
MicroSD CARD Insert a MicroSD card for log storage.
A1-A8 Define as PWM/GPIO. Supports Bdshot, and can be used to connect camera shutter/hot shoe, servo, etc.
M1-M8 PWM output from IO. Connect to ESCs and Servos.
USB Connect to a computer for communication with the universal controller, such as firmware loading.
CAN1/CAN2 Connect to Dronecan/UAVCAN devices.
DSM/SBUS/RSSI Signal input interface for DSM, SBUS, or RSSI. Connect to a DSM satellite receiver, SBUS receiver, or RSSI signal module.
PPM Connect to a PPM RC receiver.
ETH Connect to Ethernet devices.
AD&IO Connect to an analog input (ADC3.3 or ADC6.6). Usually not used.
FMU Debug For use by professionals and developers.
IO Debug For use by professionals and developers.

Serial Port Mapping

UART Device Port
USART1 /dev/ttyS0 GPS
USART2 /dev/ttyS1 TELEM3
USART3 /dev/ttyS2 Debug Console
UART4 /dev/ttyS3 UART4
UART5 /dev/ttyS4 TELEM2
USART6 /dev/ttyS5 PX4IO/RC
UART7 /dev/ttyS6 TELEM1
UART8 /dev/ttyS7 GPS2

Power Consumption

Voltage
Parameter Min Typical Max
4.6V 5V 5.4V
Current
Parameter Typical Max
G-A1 + Components 3.0Amp 3.44Amp
G-A1 Only 0.44Amp 0.58Amp

Quick Start

This quick start shows how to power the universal controller and connect its peripherals. Please refer to the image below to connect sensors and peripherals.

For other operation descriptions, please refer to the links below.

Vehicle Front

Orientation
Notes:

If the controller cannot be mounted in the recommended/default orientation (e.g. due to space constraints), you will need to configure the autopilot software with the orientation that you actually used.

Firmware Support

G-A1 is supported by both Ardupilot and PX4 autopilot. Please visit the links below.

This product includes open source software, please read the OPEN SOURCE SOFTWARE NOTICE.

GPS

Connect the GPS/RTK module to the GPS & SAFETY interface.

The GPS module generally integrates a GPS receiver, compass, safety switch, buzzer, and an LED status indicator. When installing the module, it should be mounted on the frame as far away from other electronic devices as possible, with the direction marker pointing toward the front of the carrier board.

A CAN/UAVCAN GPS/RTK module can also be connected to the CAN1 interface as a secondary GPS.

GPS

Telemetry (Radio) System

Using the telemetry system you can communicate with the vehicle through the ground station software. Monitor and control drones in flight. The air unit of the telemetry system should be connected to the TELEM1/TELEM2/TELEM3 interface.

For DSM/SBUS receivers, connect them to the DSM/SBUS interface, while PPM receivers should be connected to the PPM interface.

Radio

Power

This universal controller features a CAN PMU module that supports 3 to 14s lithium batteries. The PMU is not included in the package. You need to provide a PMU that complies with the specifications of the CAN PMU module. To ensure proper connection, attach the module’s 6-pin connector to the flight control Power C1 or Power C2 interface.

When running Ardupilot, the universal controller operates as a plug-and-play device, requiring no further configuration. When running PX4, set it according to [Power Module Setup (PX4)].

Power

MicroSD Card

The MicroSD card is not included in the package. You need to prepare a MicroSD card and insert it into the socket.

A MicroSD card is highly recommended, as it is required to save logs and flight data.

SC Card

Motor/Servo

Connect the motor and servo system to the M1–M8 and A1–A8 ports in the order indicated on the carrier board.

Servo

Servo Power Supply

This universal controller does not provide power to the servos. To power them, an external BEC must be connected to the positive and negative terminals of any A1–A8 or M1–M8 port.