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[Competition Requirements] [CR]Competition Requirements

[VN-300] [VectorNav VN-300] 2023-03-26 - VN-300 Rugged Harness

📐 Architecture

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The architecture of a drone can be found in the [Competition Design Outline]. <# iterations> iterations of the drone will be created, at <#milestones>. <# final copies> of the drone will be created in “competition spec”. Our system will meet the requirements in [Competition Requirements].

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• Jetson TX2 + Carrier Board

  • Jetson

  • NVIDIA Jetson TX2i: https://www.arrow.com/en/products/900-83489-0000-000/nvidia

  • Connect Tech Quasar carrier board: https://connecttech.com/product/quasar-carrier-nvidia-jetson-tx2/

• Custom STM Flight Board (Nucleo OR ZP3)

  • ZP3 Custom Hardware Specifications:

    • ZP3 MCU: STM32L562ZET6Q

    • Add ZP3 Interface: https://warg.365.altium.com/designs/14CBC2A9-7887-4911-B7F1-874B17856231

    • Add ZP3 Primary: https://warg.365.altium.com/designs/8E6687CB-1A15-4D5A-BEAD-9E45C5E56743

    • Add ZP3 Hardware Link: ZeroPilot 3.0 Hardware (ZP3HW)

  • Nucleo STM32L552

    • https://www.st.com/en/evaluation-tools/nucleo-l552ze-q.html

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• 2 FPV cameras + video mux

  • 2 Caddx Baby Ratel 2 https://www.getfpv.com/caddx-baby-ratel-2-1200tvl-1-8mm-fpv-camera.html

• 1 Video Mux

  • 1 video mux https://www.getfpv.com/lumenier-3-way-video-switcher-board.html

• 1 OSD board

  • Holybro micro OSD V2 https://www.3dxr.co.uk/camera-fpv-c57/osd-on-screen-display-c55/holybro-micro-osd-v2-p3649

• 1 1.3 GHz VTX

  • Mateksys VTX-1G3SE http://www.mateksys.com/?portfolio=vtx-1g3se

  • or

    • RMRC 800mW VTX https://www.readymaderc.com/products/details/rmrc-1-3ghz-800mw-transmitter-us-version

  • Pairs with singularity 1280 LHCP side exit

• 1 RFD900x

  • http://rfdesign.com.au/rfd900x-modem/

  • stock antennas

• Set of LED’s

  • green LED’s for PAX aboard light

  • LED’s for aircraft nav-lights

• 1 HereFlow Optical Flow Sensor

  • https://wurzbachelectronics.com/hereflow

• 1 Lidar module

  • TFMini-S I2C Micro Lidar Module https://ca.robotshop.com/products/benewake-tfmini-s-micro-lidar-module-i2c-12m

• 1 VN-300 Inertial Sensor

  • https://www.vectornav.com/products/detail/vn-300

• 1 NEO-M8 GPS Sensor w/safety switch (pixhawk terminated)

  • M9N GPS – Holybro

• 1 Airspeed Sensor

  • https://www.team-blacksheep.com/products/product:4404

Optional

• 1 CV Camera

  • $200 CV Camera

  • Tuning Camera To Improve Video Quality

  • 1080P 2MP Global Shutter Color USB Camera Module YUY2 USB2.0 100fps MJPEG | Hupuu Electronics

  • incl. 8mm 40deg fov lens

• (potential) 1 Dragonlink 433 OR LTE connection

• 1 SD Card for logging on ZP3.

  • incl SPI → SD board

• 1 SD Card for Jetson

• 1 Mateksys Optical Flow sensor

  • Mateksys 3901 L0X http://www.mateksys.com/?portfolio=3901-l0x

• Arm/Disarm board.

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• Servos connect to I/O Output and follow AETR, L->R

  • 1/2/3/4 Aileron (LO/LI/RI/RO)

  • 5/6 Elevator (LE / RE)

  • 7/8 Rudder (LR / RR)

• Motors connect to FMU 1-5

  • Mot X : FMU X

• FMU 6/7 for Aux Lighting

• FMU 8 for Video Mux

• Telem 1 → OSD

• Telem 2 → RFD900x

  • will need external Power

• CAN1 → Hereflow

• GPS1 → M9N

• VN300 → GPS2 OR Telem 3

Power Architecture

The drone will run a 12S power system. The specific sources and rails are listed below:

• VBAT (4x Turnigy 6S LiPo batteries, 2 pairs in series, each pair connected in parallel.):

  • APD PDB500[X] (500A continuous limit):

    • 12S rail (Total current draw: 300A MAX):

      • V505 KV260 Lift Motors x 4 (60A MAX each)

      • AT4130 230Kv Push Motor x 1 (60A MAX)

    • 12V rail (3A limit. Total current draw: 2.3A MAX):

      • RGB LED strip (~1.7A MAX)

      • DC Cooling Fan (0.59A MAX)

    • 5V rail (3A limit. Total current draw: 1.4A MAX):

      • Pixhawk 6

        • HS-311 Servo Motors x 8 (1.3A MAX)

        • Cytron H-Bridge Driver (0.1A MAX)

  • Pixhawk 6 (5V step-down from 12S BEC):

    • VN-300 x 1 (0.323A MAX)

• Turnigy 3S Battery

  • OSD Board

    • FPV Camera (Caddx Baby Ratel 2) x 3

    • VTX-1G3SE Video Transmitter x 1

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• How to use RFD900X: https://uwarg-docs.atlassian.net/l/cp/LPn8hwCv

• VN-300 Rugged pinout: 2023-03-26 - VN-300 Rugged Harness

• ZeroPilot Software ZeroPilot 3.0 Architecture

• [UART]  UART

• [Competition Design Outline] Competition Design Outline

• [Competition Requirements] Competition Requirements

• [CV Search] Search for Landing Pad

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