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Main board

Release notes

rev.0

  • First revision

Description

This single-board autopilot serves as the central control unit of the UAV, integrating real-time flight-control functionality and high-performance onboard computing on a single PCB. The board includes an FMU based on an STM32H7 microcontroller for flight control and sensor data processing, together with a HAILO-15 processor that enables advanced autonomy functions. In addition, the HEDGEHOG autopilot provides the primary hardware interfaces required for connecting auxiliary modules within our ecosystem.

Mechanical / environmental specifications

Attribute
Value/Note

Weight

25g

Dimensions L×W×H (mm)

56 × 50 × 11.5

Temperature rating

-40°C / +85°C

Dimensions

2MB
DCS_HEDGEHOG_2Ddrawing.pdf
PDF
Open

3D model

19MB
DCS Hedgehog.zip
archive
Open

Power supply

WARNING - Do not exceed the maximum input voltage

Exceeding the maximum input voltage of 36 V may result in permanent damage to the device. Ensure that the input voltage remains within the specified limits at all times. Special care has to be taken if voltage transients and oscillations are present, as these may cause the maximum rating to be exceeded. This can occur in systems with high inductance, during switching events, or when using motor controllers with active braking. Appropriate suppression and protection measures must be implemented

WARNING - Beware of excess heat

Heat is generated by all onboard voltage regulators during operation, with dissipation increasing at higher load current and total power consumption. Adequate thermal management, such as airflow or passive cooling, is recommended when operating the board at higher load conditions to ensure proper thermal performance and prevent overheating. Onboard power monitoring can be used to provide a precise overview of power consumption across the whole system.

Power supply rating: 12-36V

Monitoring: Input VBAT, 3V3_MAIN and 5V_MAIN power rails are monitored

Power consumption approx: 6W

Overall consumption of the board strongly depends on the usage of the main computing unit. The given value corresponds to the HEDGEHOG in the default setup without any additional peripherals connected.

Note:

HEDGEHOG board can be powered by soldering an appropriate cable to VBAT pads, or through the HEDGEHOG DEFEXP board that is using Molex 213226-0210 connector. Powering by the HEDGEHOG DEFEXP board is preferred.

Peripherals

Connectors, controls and indicators

Top side

Connectors

CAM0, CAM1 (4-lane CSI)

  • CAM0, CAM1, CAM2/3 share the same power rails, internally limited to 1.4A

  • I2C and PWDN are 3V3 logic

  • CAM_SUPPLY is configurable to 3V3 or 5V by solder bridge near the connector. SB open = 3V3 , SB closed = 5V

pin
function

1

CSI_CLK_P

2

CSI_CLK_N

3

CSI_D0_P

4

CSI_D0_N

5

CSI_D1_P

6

CSI_D1_N

7

CSI_D2_P

8

CSI_D2_N

9

CSI_D3_P

10

CSI_D3_N

11

NC

12

NC

13

PWDN

14

MCLK

15

I2C_SCL

16

I2C_SDA

17-21

GND

22-26

CAM_SUPPLY

FMU USB2

  • Matching connector JST GHR-04V-S

  • Downstream port only

pin
function

1

VBUS_DETECT

2

USB_SE_N

3

USB_SE_P

4

GND

PPM

Matching connector JST GHR-03V-S

Note:

PPM, FMU_SPI, UART7, H_USB2 and H_GPS share the same power rail, internally limited to 1.4A

pin
function

1

PPM

2

5V

3

GND

FMU_SPI

Matching connector JST GHR-08V-S

Note:

PPM, FMU_SPI, UART7, H_USB2 and H_GPS share the same power rail, internally limited to 1.4A

pin
function

1

5V

2

SPI4_SCK

3

SPI4_MISO

4

SPI4_MOSI

5

SPI4_CS0

6

SPI4_CS1

7

NC

8

GND

H_GPS

Matching connector JST GHR-06V-S

Note:

PPM, FMU_SPI, UART7, H_USB2 and H_GPS share the same power rail, internally limited to 1.4A

pin
function

1

5V

2

UART2_TX

3

UART2_RX

4

I2C1_SCL

5

I2CI_SDA

6

GND

FMU GPIO

Matching connector JST GHR-10V-S

pin
function

1

SE_GPIO_1

2

SE_GPIO_2

3

SE_GPIO_5

4

SE_GPIO_3

5

SE_GPIO_6

6

SE_GPIO_4

7

SE_GPIO_7

8

SE_GPIO_8

9

GND

10

GND

H_USB2

Matching connector JST GHR-04V-S

Note:

PPM, FMU_SPI, UART7, H_USB2 and H_GPS share the same power rail, internally limited to 1.4A

pin
function

1

5V

2

USB2_N

3

USB2_P

4

GND

Indicators

FMU (LED1 / LED2)

Indicators of the onboard FMU module

Controls

DIP Switch

Boot from UART

ON = UART

Bottom side

Connectors

CAN1

Matching connector JST GHR-04V-S

Note:

CAN1, CAN2 and FMU_GPS share the same power rail, internally limited to 1.4A

pin
function

1

5V

2

CAN1_SE_P

3

CAN1_SE_N

4

GND

UART7

Matching connector JST GHR-06V-S

Note:

PPM, FMU_SPI, UART7, H_USB2 and H_GPS share the same power rail, internally limited to 1.4A

pin
function

1

5V

2

UART7_FMU_TX

3

UART7_FMU_RX

4

UART7_FMU_CTS

5

UART7_FMU_RTS

6

GND

FMU GPS

Matching connector JST GHR-06V-S

Note:

CAN1, CAN2 and FMU_GPS share the same power rail, internally limited to 1.4A

pin
function

1

5V

2

UART1_SE_TX

3

UART1_SE_RX

4

I2C1_SE_SCL

5

I2C1_SE_SDA

6

GND

CAN2

Matching connector JST GHR-04V-S

Note:

CAN1, CAN2 and FMU_GPS share the same power rail, internally limited to 1.4A

pin
function

1

5V

2

CAN2_SE_P

3

CAN2_SE_N

4

GND

RTC BAT (PADS)

Solder pads for external RCT battery connection

VBCK MAX = 3V3

pin
function

+

RTC_VBCK

-

GND

FAN (PADS)

Solder pads for external FAN connection

GPIO controlled 5V output limited to 0.6A

pin
function

+

5V

-

GND

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