Using a 1.5mm hex tool unscrew the 4 bolts
The housing should pull apart smoothly, and then carefully pick off the indicated epoxy.
Use a soldering iron to reflow and remove the indicated wires, then cover the pads with hotglue.
While the hotglue is still got place the back cover back on firmly and hold for a few seconds to cool.
Flip back over and reinstall the bolts.
Solder motors to ESCs
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2 motors straight wired, 2 motors with 2 wires swapped. This supports the motor orientation to hard-wire their rotation. Make sure to add heat shrink around each solder joint.
Extend power wires from ESCs
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Add heat shrink around each solder joint
Attach Motor to motor mounts
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Make sure to attach metal brackets prior to attaching motors
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Loctite motor bolts and arm bracket bolds
Slide the plastic onto the bolt
@TODO update image
Note
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Wear respiration PPE when cutting or drilling carbon fiber. |
Cut arm to 18 inches:
Drill a hole to attach the hinge to arm. This hole should align with the hinge mounting holes - to align in, you can put the hinge in place and mark a drill point.
Prepare the arm hinge 3D print by adding the brass inserts. Note the shorter brass insert is used to secure the long bolt through the arm, all the other brass inserts are the longer inserts.
Remove the bolt from the kit arms:
Attach the prepared arm hinge using the long bolt to the end of the arm:
Attach mounted motors to end of arms
Zip tie ESCs to the bottom of the arm and the wires against the arms:
Result 4x of these, 2 with swapped ESC / Motor wires:
@TODO image of finished arms
Cut the thicker carbon fiber tube to match the length of the provided ones in the kit. Make sure the setscrews are installed if not look for them in a small plastic bag. Install the tube and tighten till the tubes won’t move/pullout.
Mount Legs
Unscrew leg brackets and attach them to the body
Reattach legs to brackets and connect set screw
Mount Arms
Prepare 3D printed arm clasps by inserting long brass inserts into mounting holes:
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Replace stock tarot frame arm locks with larger 3D printed arm clasps.
Attach built arms to attachment points in the body frame.
@TODO missing image built arm attach
Keep in mind motor orientation. Motors A and C (1 and 2) should be using crossed ESC to motor wiring orientation, motors B and D should be straight. (See Quad motor letter example figure for arm labels).
Solder Hall Effect sensor (Mauch voltage sensor) to XT90 plug Verify hall effect sensor orientation. Arrow should be pointing away from the battery in, towards the quad
@TODO missing image hall effect sensor
Wire power to main power Route wires into permanent locations and make sure you have enough slack Hall Effect
5 power and 5 ground into 1 power 1 ground → PL-Sensor → Anti-spark connectors. Add heavyduty heat shrink around joints and stow wires
Result:
Add Battery Tray
Attach tray hangers to body (metal payload brackets go inside of 3D printed parts):
@TODO need image
Add payload rails. The long bracket end should face towards the back of the quad (weight offsets the payload)
@TODO need image
Attach left and right battery brackets using axils and crossbeams to stabilize separation between tray hangers. Use a battery to ensure that the mounting separation is correct. The battery should be fixed (not tight or loose) within the battery hangers and brackets.
Add glue to axils and crossbeams
@TODO need image of adding glue to axils
Mount top plate to body Top plate should face forward with mourning fins on the left and right side of the quad. The forward orientation of the plate has a notch for GPS mast clearance.
Make sure Mauch has enough slack
@TODO missing image Mauch slack check
Widen holes in body to accept bolt
Screw top plate to body with rubber dampeners sandwich between top plate and body
Mount pixhawk Tape Pixhawk down to secondary top plate in corners
Glue secondary top plate to top plate with vibration gel
@TODO need image
Solder in mounting leads
Wire indicator LED to hat (LED should have note facing forward)
Solder power jumpers
Attach to Raspperry PI using plastic standoffs
Ziptie down Raspberry pi Use large ziptie as “belt”, second small ziptie in corner
Ziptie down mauch power supply Small zip ties in 4 corners
Wire mauch to pixhawk power 1 and power 2
@TODO double check this image
Mount power button and wire to Mauch
Wire hall effect sensor (voltage sensor) to Mauch
@TODO need image
Run ESC control lines to pixhawk The motor orientation shoudl already be set, but wiring the control lines tot he pixhawk must be done in the specified order: [A,C,D,B] → [1,2,3,4]
Wire telemetry and radio control to pixhawk, velcro to the bottom
@TODO need image
@TODO update images for new GPS MAST
Assemble GPS stand and mount to front corner of frame Glue together GPS stand structure. Verify length will fold down accommodating GPS wire length.
@TODO need image for GPS wire length
Attach stand structure to the bottom bracket (add tightener before screwing together):
Mount bottom bracket to the frame. Keep in mind the orientation of the bolt and angle of the GPS arm. The arm should tilt in towards the center but face forward and the bolt should face outward for accessibility. Be sure to add Loctite
Mount GPS device
Wire to Pixhawk GPS, lidar, etc
Wire to raspberry pi pixhawk uart, sba5 usb
Wire in LiDAR