Houston 360 lidar mounting requirements

Owned by Anthony Luo
Last updated: 2023-11-22
2 min read

2023-11-22 draft by Anni

Refer to this document: LightWare Learn SF54/B product guide for all specific information.

General system constraints

  • We want to maintain a takeoff weight no more than 500g greater than the current weight of houston in a ready-to-fly configuration with ELRS airport, a TBS or ELRS RC link, px5, 1 GPS, 1 PM02, 1 RPi, necessary landing gear and structure, 1 rpi camera.

    • I don’t have a specific weight of houston right now, but if we put on more weight houston is really going to struggle to maintain control.

    • This might mean that we have to take some stuff off. It is permissible to take off the following list of items:

      • RPi

      • CV Camera

    • The following list of items must remain (essentially the base flyable configuration, in case I missed something super obvious):

      • PX + SD card

      • GPS

      • Power Module

      • RC Link

      • LTE Link

      • Battery

      • Motors, ESC’s

      • wires.

  • The LIDAR should be plugged into Telem1 port for preliminary tests.

    • The comm link that we use (ELRS Airport) doesn’t draw that much current, and is safe to run on Telem2 or Telem3 without brownouts.

    • Spec is for 300-350mA nominal, but having extra room in telem1 for free won’t hurt?

  • Any mounting system may obstruct ports on the px5 if and only if it is possible to connect the ports and then mount the lidar system.

    • Otherwise, clearance of at least 5cm from the top surface of any mounting port must be maintained such that is is possible to plug in / insert cables

  • The mounting system must be rigid, and move as closely as possible with the center frame of Houston.

    • do not put in any vibration compensation or dampening.

Lidar Specific

  • Lidar should remain as free as possible of FOD / kickback on takeoff

  • Lidar should not have obstructions around it in 360 FOV.

    • This likely means placing the lidar on top of the drone (otherwise it’ll be hit by the landing legs

  • Use the provided mounting holes (if possible)

  • Ardupilot can allow the lidar to be mounted both right side up and upside down

  • Communication cable must be accessible either by removing the lidar or through open area below

  • Beam width can be assumed to be 3 degrees at absolute worst case. Nominally <0.5 degrees from spec sheet