Avionics Plate

The top plate in the free-flyer is the avionics plate. In this plate, we can find the batteries, main ON/OFF switch, microcontrollers, onboard computers, as well as payload supporting structure. This plate is shown in the 3D model below.

Avionics Plate

The first step is to waterjet the avionics plate. The DXF file for this plate is found below. The final aspect of the plate should look like the 3D model below.

Download the DXF file.

Pixhawk Installation

The second step is to install the Pixhawk Mini in the platform. We suggest to align the Pixhawk Mini with the suggested orientation and position to ensure center-of-mass and actuation alignment. We suggest to attach the Pixhawk with the provided double-side tape.

Power Module, Battery, Switch

Then, we can install the battery and connect it to the main power switch. The switch should disable the high-voltage rail, and we recommend to assemble an XT60 cable for this purpose, with the battery termination being compatible with your battery model. Then, we can connect the power-module to the switch and the other end to the XT60 power hub. Lastly, we can connect the digital signal cable from the power module to the Pixhawk Mini.

The support for the switch is available in the STL file below.

Download the Switch Holder STL file.

Onboard Computer

For the onboard computer, we recommend to install it in the location suggested in the 3D model, that is, in front of the Pixhawk Mini. In our case, we use a Jetson Orin NX and we provide a simple box to hold it in place in the STLs below. Note that you need a power regulator (item 0004) to power the onboard computer from battery power. We recommend to connect the regulator to the XT60 hub.

Download the Jetson Box STL files.

Pixhawk Wiring

  1. Connect the Pixhawk Mini with power via its power module board.
  2. For the solenoid thrusters, we use the Pixhawk’s FMU PWM output. This leaves the I/O PWM output free for optional higher frequency actuation. Thus, connect the PWM breakout board from the actuation plate to FMU PWM OUT on the Pixhawk.
  3. Next, we also recommend to connect the Pixhawk via Ethernet to the onboard computer, so make sure that your onboard computer has two ethernet ports in case you want to use the spare one for networking or other sensors.
  4. (Optional) We recommend to also connect the Pixhawk with onboard via serial. This is to facilitate the MAVLink communication (necessary for MAVLink Router in the NVIDIA Jetson Setup).
  5. Finally, connect the Pixhawk with remote control system (RC) by connecting RC Reciever (item 0009) to SBUS RC.

Payload Aluminium Profiles

The last step is to install the aluminium profiles for payload support. To that end, we recommend to install the profiles in the locations shown in the 3D model below. We recommend to use the provided angle brackets and T-slot nuts to secure the profiles to the plate.

Payload Mounting

Payloads can now be attached to the top of the platform and power and data can be collected from the XT60 hub and the onboard computer.

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