UPV/nMine UAV extension board for OLIMEX LPC-E2468

This board is the second design of our uav project, first one is based on OLIMEX LPC-H2294, we are moved to Olimex LPC-E2468 because this small board have very interesting hardware and peripherals for UAV applications (Ethernet, 2xCAN, 4xUARTs, USB HOST and more)

This project try to be the most cheap solution for full 2 axis inertial AHRS solution

the theory of this project assumes than gyros can be calculated from a pair of accelerometers placed with a known distance (about 110mm in this case).

Gyro measurement could be calulated in this way:

angular acceleration X = (Y1-Y2) / radio
angular velocity X = ? angular acceleration X
angular position x = ? angular velocity X

absolute angular position X = ATAN2 ((Y1+Y2)/(Z1+Z2))

nMine Mini-Kangaroo v0.0 flight program.

what is GreatKhan?
Greatkhan is a development environment to make your own autopilot or any
other complex control applications.
Greatkhan is for those people than want to understand the algorithm they are
using in his airplane but they don't have big knowing of programming. Greatkhan let you to implement any
algorithm and modify quickly.

Main screen: