> For the complete documentation index, see [llms.txt](https://clemson-autonomous-systems.gitbook.io/clemson-university-autonomous-systems/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://clemson-autonomous-systems.gitbook.io/clemson-university-autonomous-systems/development-projects/untitled-1/hardware-setup.md). # Hardware Setup ## Bill of Materials - Lt.Dan | Parts | Specification | | ------------------ | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | Frame | TBS Discovery | | Arms | 4 DJI F450 ARMS | | Propellers | Gruapner E-PROP 10x5 | | Motors | Tiger Motors MT2216 900KV | | Motor Prop Adapter | 8mm/5mm Adapter | | ESC | Flycolor X-Cross Slim BL32 36A ESC (3-5s) | | Battery | Multistar 4S 5.2Ah Lipo -[Alternative](https://hobbyking.com/en_us/turnigy-high-capacity-5200mah-4s-12c-multi-rotor-lipo-pack-w-xt60.html?queryID=f102fbdc4857bcc20176471cf689dd09\&objectID=78448\&indexName=hbk_live_magento_en_us_products_hbk_price_stock_2_group_0_desc) | | Voltage Checker | Hobby King (2S-8S) | | Flight Controller | mRo PixRacer R15 | | Compute Board | Jetson TX2 | | Carrier Board | Auvidea J120 | | Battery Charger | Turnigy Accucell-6 Balancer Charger | | R/C Transmitter | FrSky Taranis QX7 2.4GHz | | R/C Receiver | FrSky R-XSR SBUS 2.4GHz Micro | | FC Wifi Module | ESP8266 Serial Transceiver 1MB Flash | | Front Camera | Stereo Labs ZED2 | | Lidar Sensor | LeddarOne | ## Bill of Materials - Waldo | Parts | Specification | | ------------------ | ----------------------------------------- | | Frame | TBS Discovery | | Arms | 4 DJI F450 ARMS | | Propellers | Gruapner E-PROP 10x5 | | Motors | Tiger Motors MT2216 900KV | | Motor Prop Adapter | 8mm/5mm Adapter | | ESC | Flycolor X-Cross Slim BL32 36A ESC (3-5s) | | Battery | Multistar 4S 5.2Ah Lipo | | Voltage Checker | Hobby King (2S-8S) | | Flight Controller | mRo PixRacer R15 | | Compute Board | Jetson TX2 | | Carrier Board | Connect Tech Orbitty | | Battery Charger | Turnigy Accucell-6 Balancer Charger | | R/C Transmitter | FrSky Taranis QX7 2.4GHz | | R/C Receiver | FrSky R-XSR SBUS 2.4GHz Micro | | Wifi Module | ESP8266 Serial Transceiver 1MB Flash | | Front Camera | Logitech HD Pro Webcam C910 USB | | Downward Camera | PX4FLOW | | Lidar Sensor | LIDAR-Lite V3HP | ## Wiring Diagram For Reference here are the links to the technical documentations of the hardware for troubleshooting/replication purposes. * [Pixracer](https://docs.px4.io/v1.9.0/en/flight_controller/pixracer.html#wiring-diagrams) * [J120 Carrier Board](https://auvidea.eu/download/manual/J120/J120_technical_reference_1.9.pdf) * [Jetson TX2](https://developer.nvidia.com/embedded/downloads#?search=Tegra%20X2) (Login to Download TRM) * [LeddarOne](https://d2euypccftd53r.cloudfront.net/prod/app/uploads/2019/05/07143411/54A0025-4-Leddar-One-User-Guide.pdf) * [LidarLiteV3HP](https://www.mouser.com/datasheet/2/813/LIDAR_Lite_v3HP_Operation_Manual_and_Technical_Spe-1368030.pdf) and[ LidarLiteV3](https://static.garmin.com/pumac/LIDAR_Lite_v3_Operation_Manual_and_Technical_Specifications.pdf) * [Micro M8N HolyBro GPS](http://www.holybro.com/manual/Micro%20M8N%20Manual_v1.0.pdf) * [RadioLink GPS SE100](http://radiolink.com.cn/doce/UploadFile/ProductFile/SE100Manual.pdf) * [PX4FLOW](https://docs.px4.io/v1.9.0/en/sensor/px4flow.html#manual-and-schematics) ## Assembly Notes If you are looking to build your own drone using our specifications we suggest you read through the original documentation using the links provided below. We will cover some of the specific modifications we had to make due to the some of the use of different hardware. {% hint style="info" %} Bulleted items marked with a (!) denote changes from the original Redtail documentation that must be followed if using our hardware configuration {% endhint %} * [TBS Discovery Setup](https://github.com/NVIDIA-AI-IOT/redtail/wiki/Skypad-TBS-Discovery-Setup) (For Reference) * UART to Pixracer Connection (!) * [PX4FLOW Setup](https://github.com/NVIDIA-AI-IOT/redtail/wiki/3DR-Iris-Setup#px4flow) and [Further Notes](https://github.com/NVIDIA-AI-IOT/redtail/wiki/Skypad-Optional-PX4Flow-Build) * [Software Setup](https://github.com/NVIDIA-AI-IOT/redtail/wiki/Skypad-Software-Setup-Guide#zed-software-setup) * [LidarLitev3 Setup](https://github.com/NVIDIA-AI-IOT/redtail/wiki/3DR-Iris-Setup#lidar-lite-v3) * LeddarOne Setup (!) * [GPS Install ](https://github.com/NVIDIA-AI-IOT/redtail/wiki/Skypad-Optional-ZED-Camera-Build#rf-shielding) * PixRacer Parameter Setup (!) ### How Our Hardware Build Differs * We used the Pixracer flight controller, which is smaller and more compact than the Pixhawk. Note that because of this change, any wiring between the flight controller and the auxiliary hardware (TX2, Sensors, ESCs, Lidar) have to be wired appropriately for the Pixracer. * See the wiring schematics below and an explanation of the differences. * We use the PX4FLOW but we did not change the 16mm lens to the 6mm lens used in the original project. Also we do no use the sonar sensor data from the PX4FLOW, instead we only use the Lidar sensor for altitude estimation. * All PX4 firmware versions downloaded from github must be for fmu-v4. * The UART0 Port on the orbitty board is for debug by default, you can change this in the kernel and custom compile it when flashing the TX2 or you can just use UART1 like we did and modify the /ect/extras.txt and MAVROS parameters to match the appropriate ttyTHS# device port. ### Frame Modification for Heat Sync In order to run the trailNet DNN, Yolo, and the Stereo DNN the TX2 must have the heatsync installed. It is currently a known issue that the J120 PWM Fan port does not work, so as a result we used 2x 12V DC fans that consume up to 0.2 Amps altogether. The configuration shown below works manages to maintain \~55 degC with the GPU and CPU overclocked at 100% usage. ![](https://2257299444-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MDFWl6FJNNzxuDA_xAi%2F-MDWNUfIOlthTrr6iCsw%2F-MDWNn9uQwBXdP4igCi6%2FIMG_0718%20\(1\).jpg?alt=media\&token=7e70b4ed-ee91-49a3-9246-d7a523908bcc) We suggest insulating the heat edges of the top plate after you have made the appropriate cuts to avoid short circuits. The J120 gets its power from the lower PCB frame and the upper frame also has integrated wiring in the section where the cuts need to be made. ![](https://lh3.googleusercontent.com/FKc7DQw2Mfm-ObvoM_0moJc5lNnnNMaK-t-_mi8c74IXvgrpKVdIFQDripX3z8jGqE_qtBVlBh7vC357Me10oeQCnRxarz0HxrbM-M5v-M4RtHOKsChSYMetqPvyfcAbhAFjiFotWT4) ### Landing Gear