Issue 45 | Uncrewed Systems Technology Aug/Sept 2022 Tidewie USV Tupan | Performance monitoring | Bayonet 350 | UAVs insight | Xponential 2022 | ULPower UL350i and UL350iHPS | Elroy Air Chaparral | Gimbals | Clogworks Dark Matter

111 He adds that there is a choice of set- ups for the Dark Matter hX drivetrain, one optimised for maximum efficiency and the other optimised for power to provide a heavy-lift capability with payloads of up to 6 kg. “Even when lifting its maximum payload, the system still operates well within an acceptable performance window in terms of current draw and temperature, so it can be operated all day, every day,” Opdam says. The Gen2 Dark Matter can use either lithium-polymer (LiPo) or solid-state flight batteries in forms between 6S and 12S, the figures indicating the number of cells connected in series that form the battery. A typical battery for free flight is either a 22,000 mAh or 30,000 mAh standard LiPo or solid state, and both the Dark Matter hX and qD core can fit two of them, he explains. All these batteries are hot-swappable so that the UAV can be left powered up while the swap takes place, he adds. “Most customers have enough flight time to complete their mission using one set of batteries and swap them for one or two new ones if needed while briefly powering down the system,” he says. A question of control Having followed the evolution of the Ardupilot-Cube combination over many years, Opdam decided it was the logical choice for the Dark Matter vehicles. Ardupilot is an open source UAV autopilot software suite that comes in ‘Plane’, ‘Copter’, ‘Rover’, ‘Antenna Tracker’ and ‘Sub’ variants. Naturally, the Copter version is aimed at rotary-wing craft, including conventional helicopters and multi-copters. The system includes an autopilot computer loaded with Copter firmware, mission planning software with point- and-click set-up and configuration, and a ground control interface, along with other essentials such as data radios for two- way telemetry and control. Cube is the autopilot hardware, an evolution of the Pixhawk designed for commercial systems and UAV manufacturers who want to integrate an open source autopilot into their systems. It is the Cube that contains the three sets of inertial sensors referred to above for extra redundancy, two of which are isolated mechanically from vibration to improve the system’s state estimation performance. Resistance heaters are used to maintain the IMUs at their optimum temperature. Opdam notes that the system’s combination of hardware and firmware provides a lot of scope for configuration and tuning. It also allows for the integration of many sensors and payloads without relying on a third party, allowing the company to offer a wide variety of solutions. “From a software perspective, the Cube firmware is constantly developed and tested by many experienced developers as well as ourselves, before a new stable release is signed off and we use it for our customers’ systems,” he adds. “From a hardware perspective, the semiconductors and sensors are excellent, and there is plenty of scope for communication and expansion. “You can still add your bit of knowledge to it, but most of the work is done in a very timely manner, at no cost to the end-user, and is being thoroughly tested so that you or your customers do not feel like beta testers but are using a proven, reliable product.” The system comes with some autonomy features as standard, including actions to be followed after a failsafe is triggered, such as a low battery warning or a temporary loss off comms owing to external factors. Other autonomy features can be configured when additional sensors have been installed. “The Uncrewed Systems Technology | August/September 2022 The Dark Matter hX coupled to a tether system from Elist Air for tasks involving extended hovering flight under the control of the Pixhawk Cube/Ardupilot system