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
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

• J120 Carrier Board

• Jetson TX2 (Login to Download TRM)

• LeddarOne

• LidarLiteV3HP and LidarLiteV3

• Micro M8N HolyBro GPS

• RadioLink GPS SE100

• PX4FLOW

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.

Bulleted items marked with a (!) denote changes from the original Redtail documentation that must be followed if using our hardware configuration

• TBS Discovery Setup (For Reference)

• UART to Pixracer Connection (!)

• PX4FLOW Setup and Further Notes

  • Software Setup

• LidarLitev3 Setup

• LeddarOne Setup (!)

• GPS Install

• 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.

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.

Landing Gear