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, and also (probably) a few follow-up RFC’s (or edits to this page) from mech & ee on connector standardization && mounting clarity.

Implementation

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

• All transmit / receive modules (RF Modules henceforth) including the VTX & the RFD900X must be mounted such that there is adequate airflow over the device.

  • it is not necessary to mount them outside of the cabin/airframe, provided there is enough ducting/ventwork on the body to allow air to circulate over the heatsinks.

  • Care must be taken that antennas are always connected first, before applying power.

• There will be 1 more GPS module from the competition organizers that must be mounted, this can be placed on the rear horizontal stabilizer or on a wing. We do not know the exact shape/size until we get to competition.

Video System (to VTX - ) MAR 18

• 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

    • for the 18th, likely that this will be setup with ardupilot.

  • 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) 11th

• 1x RFD900x 11th

  • 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 Apr 8

• PPM between ZP & PX5/6 for comp APR 8

• 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) MAR18

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

PX5/6 Peripherals (to PX5/6)

• CAN to HereFlow OFS mar 18

  • mounted bottom of frame

• PX5/6 itself mounted center (or close to) of frame. Current arch doc sol’n is ok. mar 11

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

• GPS2 UART to NEO M8 GPS mar 11

  • 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) mar 18

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

  • Wired direct to px

• TELEM to ZP apr 1

• TELEM to Micro OSD mar 18

• TELEM to LTE/433 apr 1

  • 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) mar 18

  • 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) apr 1

• 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) apr 8

• 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

Comments

Signatures/Name