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Change Description <Filled out by requestor>

Description of Change

TLDR: I’m going to tell you what sensors are going onto the drone, and where they need to go, and what they are going to connect to. This is going to need a lot of work and love to clean up properly, I’ll try to group them as much as I can, but no guaranteesand also (probably) a few follow-up RFC’s (or edits to this page) from mech & ee on connector standardization && mounting clarity.

Implementation

Note: unless otherwise specified, refer to the Pixhawk wiring standard for our holybro px6 baseboard here: Pixhawk Baseboard Ports - Holybro Docs

Video System (to VTX - )

• 1x VTX either RMRC 800mW (arch doc) or mateksys 1.3 ghz (Video Transmitter 1.2/1.3GHz, VTX-1G3SE – Matek Systems)

  • 1x analog video input from mini OSD

  • 1x coax out to antenna

  • 12v power this is a hard requirement.

  • needs to have some amount of airflow over heatsink.

  • must be mounted with channel number up.

• 2x Caddx Baby Ratel 2 1200tvl (arch doc). Analog video output to video mux switch

  • one mounted on the front of the drone. Ideally -30 to +30 from horizon adjustable, minimum requirements -10 to +20 degrees. (This needs to be set once, before we take off).

  • one mounted on the bottom of the drone, centered w/landing gear as much as we can. At least center left/right. Ideally adjustment +/- 10-30 degrees (same as front facing camera rig is ok). Mounted flush with the fuselage is also ok.

  • takes 4-36V but probably give it 12?

• 1x video mux switch (arch doc)

  • PWM control from ZP3

  • 2x analog video input from the cameras

  • 1x video output to mini OSD

  • takes 5-26v MUST BE SAME AS CAMERAS (prolly 12?)

• mini OSD holybro micro osd v2 (Holybro - Micro OSD V2 - Camera & FPV from 3DXR UK)

  • TELEM from PX5/6 (see product page)

  • video in from video mux switch

  • video out to VTX

  • power, I believe, is 5V from the telem port, NOT VCam

• 1x singularity 1280 side exit (arch doc)

  • mounted on the rear horizontal stabilizer.

RF Comms (to RFD900x)

• 1x RFD900x

  • coax to one dipole antenna, either attached directly to the rfd900 or mounted in tailcone.

  • coax to one singularity 868 antenna mounted on nosecone. cylindrical axis perp to the ground.

  • uart to ZP for comp, to PX5/6 for testing

  • PPM to ZP for comp, to PX5/6 for testing

  • power from ??? → needs 5v

  • heatsink mounted w/some amount of airflow over it.

• UART between ZP & PX5/6 for comp

• PPM between ZP & PX5/6 for comp

• 1x dipole antenna mounted in tailcone or on rfd900 (ideally tailcone w/extension? or we just drill a hole through the top of the drone and stick a dipole out that’s funny too)

• 1x singularity 868 in nosecone cylindrical axis perp to ground.

PX5/6 Peripherals (to PX5/6)

• CAN to HereFlow OFS

  • mounted bottom of frame

• PX5/6 itself mounted center (or close to) of frame. Current arch doc sol’n is ok.

  • note to mount it away from EMI as much as possible.

• GPS2 UART to NEO M8 GPS

  • GPS2 port → see current mounting

  • mount on wing, inset slightly but facing up

  • wired direct to px

• I2C to TFMINI-S Micro Lidar Module (Benewake TFMINI-S Micro LIDAR Module I2C (12m) - RobotShop)

  • mounted bottom of drone, beside hereflow/pilot cam/mateksys ofs

  • Wired direct to px

• TELEM to ZP

• TELEM to Micro OSD

• TELEM to LTE/433

  • undecided ATM but either dragonlink 433 w/short antenna OR

  • LTE link from nathan OR

  • separate 433 mhz telemetry link gg

• i2c to 1x airspeed sensor, digital (hapyymodel see arch doc)

  • this can realistically be placed on ZP or PX, but since PX is doing the fly-by-wire, it seems better to have the more accurate airspeed linked to the PX.

  • fine to stick out the nosecone of the drone.

  • we may need to buy another airspeed sensor since the one we have isn’t directly supported

ZP Peripherals (to ZP3)

• uart to Vectornav vn300 (uart)

  • refer to arch doc for mounting requirements.

• uart to Mateksys Optical flow sensor (see arch doc)

  • beside Hereflow OFS on bottom of drone

• Analog airspeed sensor (idk where).

• spi to SD card thingamabobber.

• GPIO/PWM (unclear) Output to LED’s

• PWM Output to Video MUX

• input from Arm/Disarm (TBD)

• PWM out ? ? ? to Buzzer (TBD)

• comms to tx2 (uart)

• comms to px5/6 (uart)

TX2 Peripherals (to TX2)

• cv camera (arch doc)

• comms to ZP3 (uart)

Reason for Change

Working towards structuring everything properly for comp frame

Priority

⬆️ High

Impact of Not Responding to Change

I’ll let daniel handle this.

What Groups, People, Sub-teams Need to be Notified?

Change Impact <Filled out by requestor>

Additional Parts/Resources Required and Costs

Impact on deadlines

Alternatives and Recommendations

Comments

Change Request Sign Off <System Integration>

Status

✅ Accepted / ⏸️ On Hold / ❌ Rejected / More info Requested

Comments

Signatures/Name