# APM Overview
**APM 2.5** The APM 2.5 board requires no assembl y, and is ready for firmware. You have a choice of side or top entry

pin configuration, in order to accommodate a variety of installations. You’ll see this option when you order. *****Click and drag the image above to spin it!**  This page gives you a look under the hood, and goes into more detail about the design of this board. The APM 2.5 has some improvements over the APM 2.0, but they both have a very

similar layout and function. 

# APM 2.6

 **APM 2.6** is a revision of the APM that makes use of an external magnetometer (compass).  The APM 2.6 has no on board compass, and is optimized for vehicles where the compass should be placed as far from power and motor sources as possible to avoid magnetic interference
.  APM 2.6 is designed to be used with the 3DR GPS uBlox LEA
- 6 with Compass module.  The GPS/Compass module may be mounted further from noise sources than the APM itself.  APM 2.6 requires a GPS unit with an on board compass for full autonomy
.  For information on installing a 3DR GPS uBlox LEA
- 6 with Compass, visit
.

# Using the **APM 2.5/2.6 Enclosur e** 

The APM 2.5/2.6 board is shipped in an enclosure with foam protecting the barometric pressure sensor, as shown here.

# Or

**Not** If you aren’t using the enclosure, make sure to cover the barometric sensor with some open cell foam, cotton padding or tissue to protect it from prop wash, wind and turbulence. Also, the barometric sensor is sensitive to light and readings can change b y several meters from direct sunlight to shade. Some type of light shield (on top of the foam) will minimize the effects of light changes.

# Powering the **APM 2.5/2.6 Board**

Like an y computer, the APM needs a power supply with a steady clean voltage and sufficient current. 3DR provides an APM power module that supplies 2.25A at 5.37V. The module is designed to convert power from the main flight battery (18 volt maximum). That module will supply sufficient power for your APM, and low power radios including your RC receiver (without servos). Your RC receive r can be powered from any APM Input (+5V and ground). This is normally done b y connecting a 2 or 3 wire cable between an APM Input and one of the output channels on the RC radio.If you are using any servos such as are required with a traditional helicopter or a camera gimbal,

yo u will need to provide an additional dedicated power supply for the servos. The APM is intended to **control** servos, not power them. In order to design a pow er supply for your APM, or provide additional power, y ou’ll need a basic understanding of the power circuit in the APM.

There are two “sides” to the positive circuit in the board. Each side has positive
- rails available for inputing power or distributing it to peripheral devices. The center row of pins in the three groups of pins (Outputs, Inputs, Analog) labeled “+” are referred to as a “positive
- rail”. This means that the base of all the + pins are connected so they represent a single electrical path. Th e positive
- rails of the Input and Analog group are connected together. So we have two separate positive circuits, one in the Outputs and the other made up of the Input/Analog. All of the components on the board take power from various points on these rails , so it is necessary for both “sides” to be receiving +5V (within the specs below) for the board to function. These positive
- rails can be joined together b y placing JP1 in it’s position on the board. This connects all the positive
- rails ands provides power to both sides of the board, so that low
- level power can be distributed to peripheral sensors and devices: 3DR Radios, sonar, RC Rx, etc. via the power
- rails. When using the power module, the circuit path is as follows:From the power module connection the negative wire is connected to a negative
- rail shared b y

the entire board regardless of JP1. Positive voltage comes in to a T
- junction. to the left is a path through the JP1 to the positive
- rail of the Outputs. To the right it flows through an over
- voltage , over - current, reverse - polarit y protection(500mA fuse and 6V Zener diode). A side effect of passing through the Zener diode is a .37V loss, therefore input voltage should be bumped up by .37V to account for this. From here the positive voltage runs to the positive
- rails of the Inputs and Analog. Inputs should not be used to power an ything except your RC receiver. Higher current loads such as servos should be powered from the power
- rails (positive
- negative) of the Output side. You must use an adequate volta ge - regulator to provide power directly to the Output power
- rails, all servo power leads will attach to these same rails (the signal wires can connect on the Analog “S” pins in the case of a camera gimbal). Since JP1 is removed in this scenario, the other “ side” of the board will need power provided to it’s power
- rails directl y. 

# Alternative ways to power **your board**  **3DR Power Module** If you are using the 3DR Power Module please find instructions here: Using the 3DR Power Module

 **Warning!** Under no circumstances should you ever attempt to draw servo power from the analog input connector.  **Warning:** You may

“control” servos from A9, A10 and A11 from the A0

– A11 I/O connector, but you must run servo power separately
. o The A0

– A11 I/O connector cannot suppl y sufficient power for servos. o A9, A10 and A11 of the I/O connector come pre
- wired to correct digital out for use as servo control lines. o For servo us e, it is imperative that they have not been reassigned to analog use with the pads on the back of the APM board. 

# A **Non technical Description of the Power Supply Requir**  **ements** The description below simply supplements and provides an alternate view of the inf ormation above. 1. The APM 2.5/2.6 board has two separate power circuits which make it very eas y to power b y a variet y of methods. 1. A fused power circuit provides primary board and general I/ O power: (It cannot provide power for servos).2. The Other power circuit is for the OUTPUT connector power rail: (it can provide power for servos). 2. The jumper JP 1 determines whether the two power circuits are connected or separate. 1. If JP1 is removed, the power rail on the OUTPUT connector “Floats” and may be used to d istribute power. 2. Although if JP1 is removed the OUTPUT connector cannot be used to supply power to the APM board. 3. It is possible to power the APM board from the Power Module connector or the OUTPUT or INPUT connectors. 4. Normally

the APM 2.5/2.6 “Power Modul e” is used to provide primary APM 2.5 board and general I/O power. 5. Alternativel y primary board power can be supplied by a BEC either from one of the ESCs or from an external BEC. 6. If servos are used, supplementary power is required. 1. Generally

one power sup ply

is provided for the board and one or more additional power supplies for the servos. 2. But if a sufficiently

large external BEC is used it can supply power for both via the OUTPUT connector. 7. Only the OUTPUT connector can provide power for servos as the other circuit is fused. 1. The address connector is sometimes used provide servo signals, but the servos power must come from elsewhere. 8. How you are powering your APM board and or servos determines whether JP1 is installed or not. 1. (Whether the two power circ uits are separated or connected). 2. All possible configurations are detailed Below. 9. The ty

pe of use will determine which options are available. 1. Copter can power the APM from a power module or a UBEC or a BEC from one of the ESCs and can power servos from a UBEC or from the other ESC’s BECs. 2. Plane can power the APM from the power module, the BEC from the flight motors ESC or a separate UBEC and can power servos from a separate UBEC or the flight motors BEC if it is large enough. 3. Rover can power the APM fro m the power module, the BEC from the drive motor’s ESC or a separate UBEC and can power the steering servo from a separate UBEC or the drive motors BEC if it is large enough. 

# Power **Supply Rails Connected Requir ements**  **(JP1 Installed) Warning:**  Do not exceed Abs MAX input voltages when connecting the power suppl y or you will damage your board. **Warning:** Connecting USB when you have input voltages at the high end of the range (near Abs Max) can damage the board. Disconnect battery before connecting USB or test input voltages so they are within the specified range.Power Options Nominal Abs MAX JP1 status

Power on Output PWM connector 5.37V +
- 0.5 6V JP1 connected Power on Input PWM connector 5.00V +
- 0.25 5.5V JP1 connected 

## No Power Module and No Servos a **nd Power provided by BEC from ESC** 

 If you do not have a power module and you are not using servos.  Ensure JP1 is installed and provide the necessary power via the BEC from one of your ESC’s.  Connect one ESC’s BEC power and ground wires to one pair of the APM OUTPUT connectors power and ground pins.  Clip the BEC power leads on the remaining 3 wire connectors.  Ensure that the ESC’s signal wires are connected to the appropriate APM OUTPUT connect or signal pins.  You must ensure that yo ur ESC’s BEC has a sufficient power capability (at least 2 amps). o Most 20 amp or higher ESCs have 2 amp BECs. 

## No Power Module but using **Servos and a high power External BEC** 

 If you do not have a power module and are u sing servos you can use a high power external BEC.  Ensure JP1 is installed and provide the necessary power via a high power external BEC (5 to 10 amps or more).  The BEC power **must** be provided to one pair of the APM OUTPUT connector pins.  **Warning!** Clip all power leads on the ESC’s BECs (they would conflict with the external BEC).  Your servos will determine the size of the BEC required.  You should allow at least 2 or 3 amps extra to power the APM, receiver and to prevent (brown outs).  All of the positive powe r for driving each servo must come from the OUTPUT connector. o This is true even if the servo(s) signal wires are connected to the ADDRESS connector.  This option requires you to take responsibility for providing sufficient power to prevent brownout. 

## No Pow **er Module but using Servos and multiple BECs from**  **ESC’s (A BEC for each Servo)**

 If you do not have a power module and are using servos you can use multiple BECs from yo ur ESC’s. Ensure JP1 is installed and plug one of your ESC’s signal cables with power leads into

the OUTPUT connector.  Remove the power and ground leads from the remaining ESCs signal cable connectors.  Plug the signal wire connector from each ESC onto the appropriate pin on the OUTPUT connector. o You can heat shrink these or plug them into a multi
- wire connector appropriate for your copter.  Connect one pair of each of the remaining BEC power and ground lines to the power and ground of each individual servo.  Clip or heat shrink an y remaining excess BEC power and ground leads.  The BEC power from one ESC **must** be provided to one pair of the APM output connector pins.  Plug only

the signal input wire from your servos into the appropriate OUTPUT or ADDRESS connector pin.  Your ESC’s BECs should be at least 2 amps.  The ESC’s BEC grounds are in common with battery and internal signal ground so grounding the servos this way is OK. 

# Power **Supply Rails Not Connected Requir**  **ements (JP1 Not Installed) Warning:**  Do not exceed Abs MAX input voltages when connecting the power suppl y or you will damage your board. **Warning:** Connecting USB when you have input voltages at the high end of the range (near Abs Max) can damage the board. Disconnect battery before connecting USB or test input voltages so they are within the specified range. Power Options Nominal Abs MAX JP1 status Power on Output PWM connector 5.00V +
- 0.5 6V JP1 open Power on Input PWM connector 5.00V +
- 0.25 5.5V JP1 open 

## Power Module and No Servos

 If you have a power module and you are not using servos.  Ensure JP1 is not installed.  Provide the necessary power via the power module connected to the APM’s power module connector.  When connecting your ESCs to the OUTPUT connector clip the BEC power leads on each ESC’s 3 wire connector. o Or connect only

the ESC’s signal wires to the OUTPUT connector. 

## Power **Module and using Servos with External BEC power** If you have a power module and an external BEC and you are using servos.

 Ensure JP1 is Not installed  Provide APM board and receiver power via the power module connected to the power module connector.  Connect an external BEC with sufficient power for your servos to one pair of the OUTPUT connector power pins.  When connecting your ESCs to the OUTPUT connector clip the BEC power leads on each ESC’s 3 wire connector. o Or connect only

the ESC signal wires to the OU TPUT connector. 

## Power Module and using Servos with BEC power from one **ESC**

 If you have a power module and you are using servos Remove JP1.  Provide APM and receiver power via the power module connected to the APM’s power module connector.  The BEC of a single ESC must provide sufficient power for all your servos.  When connecting your ESCs to the OUTPUT connector clip the BEC power leads on all but one of the ESC’s connectors.  Or connect only

the ESC signal wires to the OUTPUT connector for all except one ESC. o And on that ESC connect all 3 wires to the OUTPUT connector. 

## No Power Module and using Servos with BEC power from **tw o ESCs** 

 If you do not have a power module and you are using servos remove JP1.  Provide APM and receiver power via 1 pair of ESC
- BEC power wires connected to the APM I NPUT connector power pins.  Also connect another of the ESCs power wire pair to the OUTPUT connector.  The BEC of a single ESC must provide sufficient power for all your servos.  Clip the signal power leads on your remaining ESC’s.  Connect all ESC signal wires to the appropriate OUTPUT connector pins. 

# APM Power

**Wi ring Example**  **Warning:** Do not exceed Abs MAX input voltages when connecting power supply or you will damage your board. **Warning:** Connecting USB when you have input voltages at the high end of the range (near Abs Max) can damage the board. Disconnect battery before connecting USB or test input voltages so they are within the specified range. On the bench, you’ll probably be powering the board via your USB cable while you set i t up and test it. But in your aircraft, you’ll need to power it with your on board power sy stem, which isusually

your LiPo battery going through an ESC or the Power Module. In the case of a multicopter, this can come through your Power Distribution Board (PDB), which will break out the 5V output from the one of the electronic speed controls (ESCs) or the Power module which is wored directly

to the battery
. In the picture below, the red and black wires are the 5b m hV power cable coming from a PDB. You c an plug them into any two pins along the 5V and Ground (middle and outer) rows of pins on APM 2.5’s Output side. The other cable, which in this case is a four
- wire cable with orange and white wires for a quadcopter, is the signal cable to the PDB, which are the wires that APM 2.5 will use to command each of the ESCs. The picture below is of APM 2; but the concept is applicable to APM 2.5.It’s also possible to power APM 2.5 from two separate sources, one powering the RC s ys tem on

the input side, and the o ther powering the output side (servos or ESCs). This is determined by a jumper on the JP1 pins (see below). If the jumper is on, which is the factory default, the board is powered from the OUTPUT rail or the USB. If the jumper is off, the board is powered from the INPUT rail, but the OUTPUT rail will need its own power source. This configuration is used if yo u want to have two separate power sources in your aircraft, one powering the servos and the other powering the electronics. The ideal input voltage is 5.37v +/
- 0.0v and may not be provided by a t ypical ESC. **Warning: Do not exceed Abs MAX input voltages when connecting power supply or you will damage your board.** In some cases it may be a good idea to set the input voltage slightly above the median (but be low the maximum) to account for possible voltage drops during momentary high current events. The APM2.5 by

itself draws relativel y little current (200ma range) and a power source capable of providing 300

– 500ma will provide plenty of margin. However, if s ervos or other power consuming devices are being driven b y the same power source you must consider the power requirements for those devices as well and provide plenty of margin to prevent disastrous “brown
- outs”. For instance, a single digital servo can ea sily draw 1
- 5 amps depending on it’s size and performance. (Note: ESCs do not consume power from the APM) If you experience spurious resets or other odd behavior it is most likely due to noisy

or insufficient power to the APM. As with all logic boards, ele ctrical noise from the motors, servos, or other high current devices on the power source can cause unpredictable behavior. It is recommend that a power filter be used in such cond itions. Too short or long power wires, bad or old connectors, or insufficient current capability of the APM power source can result in a “brown
- out” situation resulting in unpredictable operation. This is particularly

true in traditional helicopters where the collective servos can draw 3
- 20 amps in short bursts. The power source must be able to accommodate this without voltage droop or voltage spikes. A quality

switching t ype BEC such as one of these or one of these can be a solution depending on overall current requirements. Many of these type of regulators are programmable so reme mber to program them with in the safe operating range of the APM2. Linear voltage regulators are not recommended as they are inefficient and prone to overheating and heat induced failures. APM2 should never be connected directl y to a battery of an y t yp e. P ower source problems are common and can be insidious and frustrating. Be meticulous. Any autopilot or flight controller is useless and potentially dangerous without good clean power source. The picture below is of APM 2; but the concept is applicable to AP M 2.5/2.6.

# Explanation of solder **jumper options on the**  **bottom of the board**

## APM 2.5 Board Features

**APM 2.5 Board Assembly Options** Quadzimodo has produced a reall y nice editable 3D model of the APM 2.5 board in

SketchUp 8: **APM 2.5 Google Sketchup File**

# Analog input pins

Pin 0 to 8: The APM2 has a row of an alog input pins down one side, labelled A0 to A8 on the underside of the board. These are available as pin numbers 0 to 8 inclusive in PI N variables. All these pins can take up to 5V and may be used for an y general analog input. They are commonly

used for airspeed and sonar inputs. Pin 12: power management connector current pin, accepts up to 5V, usually attached to 3DR power brick with 17:1 scaling Pin 13: power management connector voltage pin, accepts up to 5V, usually attached to 3DR power brick with 10 .1:1 scaling

# Digital output pins

The APM2 uses the same set of 9 analog input pins as digital output pins. They are configured as digital output pins automatically when you start to use them as digital outputs. Pin 54 to 62: You need to add 54 to the pin number to convert from an analog pin number to a digital pin number. So pin 54 is digital output pin on the A0 connector. Pin 58 is A4 etc. These pins are usually

used with the REL

AY_PIN to REL

AY_PIN4 parameters, allowing y ou to control things like camera shutter, bottle drop etc. They are also used as sonar “stop” pins allowing you to have multiple sonars and not have them interfere with each other.
Questions about this page? Comments? Suggestions? Post to APM Forum ! Use the platform specific to your query, and make sure to include the name of the page you are referring to. 

## Fixed **- wing aircraft UAV**  

# Getting Started Introduction Video GuidesFirst Time Setup

Assembly Pixhawk Wiring and Quick Start PX4 Wiring RC Setup for Plane (APM) Install Mission Planner Load Fi rmware onto APM Loading Firmware onto Pixhawk Load Firmware onto PX4 Configuration Checking the Sensors Reversing Servos and Setting Normal/Elevon Mode Throttle Arming in Plane Failsafe Function Advanced Failsafe Configuration Plane Parameters First Flight Flight Modes Tuning the Airframe Roll, Pitch and Yaw Controller Tuning Navigation Tuning TECS (Total Energy

Control System) for Speed & Height
- Tuning Guide Calibrating an Airspeed Sensor Tuning Groun d Steering for a Plane Automatic Tuning with AUTOTUNE Flight Features Automatic Takeoff Automatic Landing Sta ll Prevention GeoFencing in Plane Terrain Foll owing Channel Output Functions Mission Planning & Analy sis Planning a Mission with Way points and Events Mission Command L ist* Camera Control and Auto Missions* Rally Points Downloading and Anal yzing Data Logs in Mission Planner* Using a Ground Station Telemetry

L ogs Diagnosing Problems Using Logs Using P ython Scripts in Mission Planner Geotagging Images with Mission Planner Other Mission Planner Features Optional Hardware* Telemetry *3DR Radio v2*

Bluetooth RFD900 Radio Modem* FrSky* XBee* 3DR Radio

— Advanced Configuration* 3DR Radio v1* Power Modules* 3DR Power Module* Attopilot Current Sensor* Attopilot Current Sensor with Pixhawk* Rangefinders* Maxbotic Analog Sonar* Maxbotic I2C Sonar* LIDAR
- Lite* Li ghtware SF02* Optical Flow Sensors* ADNS3080 Mouse Sensor* PX4
- FLOW* Cameras and Gimbals* Tarot Gimbal* SToRM32 Gimbal* Gimbal with Servos* Camera Shutter Configuration* Camera Trigger using CHDK* Camera Trigger using Stratosnapper/IR* Camera Trigger for Son y MultiPort* 3DR Camera Control Board* CHDK Camera Control* Minim OSD for FPV* Servo* Positioning* 3DR UBlox GPS + Compass* LEDs* UBlox GPS Configuration* Zubax GNSS: GPS, Compass, Barometer* Relay Switch* EPM Gripper (EPM688)* PPM Encoder* PPM Encoder Programming Guide* Received Signal Strength Indication (RSSI)* Airspeed Sensor Calibrating an Airspeed Sensor eCalc Motor and Prop Efficiency Guide AutoPilot Hardware* Pixhawk*LEDs*

Sounds* Safety Switch* APM 2.x* LEDs* PPM Encoder* PX4FMU* PX4I O Overview* PX4FMU plus PX4IO Wiring Erle
- Brain Linux Autopilot* Use
- Cases and Applications* 3d Mapping* Web Apps* First Person View (FPV) Multi
- Vehicle Fl yi ng* Antenna Tracking Mission Planner Antenna Tracking* Antenna Design Overview* Appendix* Glossary * Wiki Editing Guide* Archived Topics* Disabling the Built In GPS on APM2* GPS Module* External Compass* VR Gimbal* Modes de vol (fr) MagAPM2 (fr) Connexion RC (fr) Capteur de tension & courant (fr) Carte APM2.5 (fr) Téléchargement
- installation du logiciel Mission Planner et chargement du micrologiciel Téléchargement du programme Premier paramètrage de l'APM Install Mission Planner (Korean)* Documentation Tests* Fixed Wing FAQ Full Table of Contents* 

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