Avior 100 Autopilot


The ATI Avior autopilot is an advanced design built around high performance, high quality, state of the art components and sensors. The CPU is a 600 Mhz OMAP 3503, offering 256 Mb of Flash and 256Mb of RAM. The core sensors include a Vectornav VN100T IMU and the Ublox Neo 6 GPS. The firmware is built around an advanced 15-state kalman filter that blends the inertial and gps sensor data to accurately estimate roll, pitch, and true yaw angles. The ATI Avior offers unprecedented performance, accuracy, and capabilities in a small package and at a competitive price.


  • Dimensions: 103mm x 82mm x 13mm
  • Weight:  68grams
  • Texas Instruments OMAP 3503 CPU (600 Mhz ARM Cortex-A8, up to 1200 Dhrystone MIPS)
  • 256Mb RAM, 256Mb Flash, MicroSD slot
  • I2C, SPI, 1-wire UART, High Speed USB Host and USB OTG, Ethernet
  • 8 PWM in, 8 PWM out, 6 Analog in
  • Professional double-sided SMT (Surface-Mount Technology) Mil-Spec available
  • 5 – 44.4V input voltage range
  • 0C < T < 85C rated
  • VectorNav VN100/VN100T IMU
  • Accelerometer range: +/- 2g / 6g
  • Gyro range: 500 deg/sec
  • Magnetometer range: 6 gauss
  • Shock limit: 1000g (unpowered), 500g (powered)
  • Advanced 15-state Kalman filter with true-heading estimation (INS/GNS)
  • 100hz filter update rate
  • Ublox Neo 6 GPS
  • 5 Hz navigation rate
  • Anti-jamming technology
  • Cold starts: 26 s, Hot starts: 1s
  • Radio modem: direct plug-in support for Digi 900 Mz XTend modem — serial or IP connection provided for external modemand hardware.

Firmware Specifications

  • IMU based stabilization and flight control — 15-state Kalman filter provides accurate roll, pitch, and “true” yaw angle estimates
  • WGS-84 (great-circle) route navigation
  • Unlimited waypoints (limited only by hardware RAM.)
  • Supports fixed waypoint routes and “pattern based” routes that can be repositioned at startup or during flight
  • Accurate onboard wind vector estimation
  • Stable heading control (even in high wind operations)
  • Autonomous flight mode; Command Augmentation flight mode; Manual flight mode.
  • Circle holds (wind compensated)
  • Altitude hold (pitch-based or throttle based)
  • Speed hold (pitch-based or throttle based)
  • Lost link return home safety feature
  • Includes drivers for additional sensors and hardware
  • Extensive on board data logging
  • Real-time air-to-ground communication via an open, well documented API
  • Able to directly control servo based pan/tilt camera mechanism with support for WGS-84 point holds and NED vector holds
  • Firmware uses a robust quaternion based formulation in combination with the Kalman filter based attitude estimate to compute the correct pan/ tilt angle offsets for pointing the camera at the intended target independent of aircraft motion
  • Potential to leverage this internal math to drive more sophisticated stepper motor based pan/tilt mechanisms.
  • Auto launch, auto land (under development)