asctec laser scanner mount v2 - manual laser scanner mount v2 - manual. ... means the nose of the...
TRANSCRIPT
Please follow the steps in this manual to mount your
AscTec Laser Scanner Mount (LSM) onto your AscTec
Pelican.
For new users, please note, that the AscTec UAVs are
completely tested and ready set up. If the laser
scanner mount is not mounted due to transportation
issues, you can just skip to page 7.
If you want to change the orientation of your flight
system, it is also possible to turn the laser scanner
mount. To do that, unmount the laser scanner mount
and follow the next steps.
Before you attach the LSM to your AscTec Pelican,
please decide in which direction the laser scanner
needs to be facing. Fig. 1 shows the Pelican in the ‚+‘-
configuration, which means the nose of the flight
system / laser scanner, is in the direction of the red
flagged motor boom.
107.12 /// AscTec Pelican /// LSM V2 manual /// www.asctec.de
Mounting option: ‚+‘-configuration
‚+‘ - configuration
Fig. 1
AscTec Laser Scanner Mount V2 - manual
Fig. 2 shows the Pelican in the ‚x‘-configuration, which
means the nose of the flight system / laser scanner, is
pointing in the direction between two motor booms
(45°).
If you are flying the AscTec Pelican in the ‘x’-
configuration, we recommend to mark both motor
booms (front and right) with red tape as seen in Fig. 2.
Technically, the front of the Pelican is depending on
the orientation of the AscTec AutoPilot (IMU). For the
position of the front, have a look at the AutoPilot in Fig.
19, page 9.
Please contact [email protected] for information how
to change the parameters of the AutoPilot, to switch
the remote control commands to the ‘x’-configuration.
207.12 /// AscTec Pelican /// LSM V2 manual /// www.asctec.de
Mounting option: ‚x‘-configuration
Front
‚x‘ - configuration
Fig. 2
XBee
Depending on the configuration of your
AscTec Pelican, the compass module
needs to be positioned accordingly.
Fig. 3 shows the orientation of the compass
in the ‚+‘-configuration.
307.12 /// AscTec Pelican /// LSM V2 manual /// www.asctec.de
Orientation of the compass
Fig. 4Fig. 3
If you switch to the ‚x‘ - configuration, you
will have to turn the compass on the laser
scanner mount.
Fig. 4 shows the orientation of the compass
in the ‚x‘ - configuration.
GPS
compass
To reposition the compass, unscrew the white
plastic screws and turn the compass 45° to the
position corresponding to your configuration (page
3).
Use the same 3 screws and spacers to fix the
compass.
407.12 /// AscTec Pelican /// LSM V2 manual /// www.asctec.de
Turning the compass
Fig. 5
1. Attach the 3 black ‚L-connectors‘ below the base plate (Fig. 6). Each ‚L-connector‘ is held to
the base plate by 2 screws (Fig. 7).
2. Insert the laser scanner mount into the base plate, then fasten it with the included screws to
the ‚L-connectors‘ below the plate (Fig. 8).
3. Feed the cables through the robber grommets and place them in the appropriate slots (Fig.
7).
507.12 /// AscTec Pelican /// LSM V2 manual /// www.asctec.de
Preparing the ‚+‘-configuration
Front
View from below
power switch
R/C receiver
Fig. 6 Fig. 7 Fig. 8
1. Attach the 3 black ‚L-connectors‘ below the base plate (Fig. 9). Each ‚L-connector‘ is held to
the base plate by 2 screws (Fig. 10).
2. Insert the laser scanner mount into the base plate, then fasten it with the included screws to
the ‚L-connectors‘ below the plate as shown in Fig. 11.
3. Feed the cables through the robber grommets and place them in the appropriate slots (Fig.
10).
607.12 /// AscTec Pelican /// LSM V2 manual /// www.asctec.de
Preparing the ‚x‘-configuration
View from below
Front
power switch
Fig. 11Fig. 10Fig. 9
1. Insert the 4 support keys in the third slot from above of the Pelican foot (Fig. 12).
2. Place the 4 half moon clips onto the 4 support keys (Fig. 13) and then put the laser scanner
mount on top, in the position corresponding to the AscTec Pelican configuration (‚+‘- or ‚x‘-
configuration on page 1 and page 2).
3. Use the black plastic screws to tighten the laser scanner mount (Fig. 14).
4. Attach the power switch on the base plate of the LSM (Fig. 14).
707.12 /// AscTec Pelican /// LSM V2 manual /// www.asctec.de
Mounting the AscTec Laser Scanner Mount V2
Fig. 14Fig. 13Fig. 12
Connect the compass (Fig. 3) with the compass-cable to the „compass connector“ (Fig. 15
and Fig. 16).
Connect the Xbee (Fig. 2) with the XBee-cable to the „LL Serial 0“ (Fig. 15 and Fig. 16).
Connect the Futaba receiver (Fig. 7) with the R/C data-cable to the „LL I/O“ (Fig. 15 and Fig.
17).
Connect the Futaba receiver (Fig. 7) with the R/C power-cable to „LL Serial 1 / R/C receiver“
(Fig. 16 and Fig. 18).
807.12 /// AscTec Pelican /// LSM V2 manual /// www.asctec.de
Wiring of the sensors on the AscTec Laser Scanner Mount V2
R/C data
XBeecompass
Fig. 15 Fig. 16 Fig. 17
Connect the GPS-module (Fig. 3) with the GPS-cable to the „HL Serial 1 / GPS“ (Fig. 18 and
Fig. 19).
Please make sure, that all cables are fixed with zip ties, that they can not get into the
propellers of your flight system.
907.12 /// AscTec Pelican /// LSM V2 manual /// www.asctec.de
Wiring of the sensors on the AscTec Laser Scanner Mount V2
GPS
R/C power
Fig. 18 Fig. 19
‚+‘-config. front
‚x‘-config. front
If the camera mount option 1 or 2 is in use,
you need to rotate it in an upwards direction
before mounting the laser scanner. To rotate it
up, loosen the two screws as seen in Fig. 21.
1007.12 /// AscTec Pelican /// LSM V2 manual /// www.asctec.de
Mounting the laser scanner
Fig. 21 Fig. 22
1. Insert the laser scanner carefully into the LSM. The cables run through the mount (Fig. 23).
2. Screw the laser scanner to the LSM with 4 screws below the base plate (Fig. 24).
3. Attach the laser scanner cables with zip ties as seen in Fig. 25. Make sure the cables can not
get into the propellers of the flight system.
1107.12 /// AscTec Pelican /// LSM V2 manual /// www.asctec.de
Mounting the big laser scanner (Hokuyo UTM-30LX)
Fig. 25Fig. 24Fig. 23
1. Attach the receiver to the LSM with a zip tie.(Fig. 26).
2. Solder the power cable to the 5V power supply on the autopilot.(Fig.27)
1207.12 /// AscTec Pelican /// LSM V2 manual /// www.asctec.de
Mounting the small laser scanner (Hokuyo URG-04LX)
Fig. 26 Fig. 27
1. Attach the GPS and compass cable with zip ties as seen in Fig. 28 and Fig.29.
Make sure the cables can not get into the propellers of the flight system.
1307.12 /// AscTec Pelican /// LSM V2 manual /// www.asctec.de
Mounting the small laser scanner (Hokuyo URG-04LX)
Fig. 29Fig. 28
After installing the laser scanner, make sure to check
all functions of your flight system carefully before
flying!
Especially an incorrect mount of the compass can lead
to problems flying in the GPS mode. Check its function
by monitoring the telemetric data with the AutoPilot
Control software. If the nose is pointing towards South,
the compass should show approx. 180° (Fig. 30).
To test the GPS-mode the first time, find a large open
field and make sure a safety pilot is ready to switch
back to the height mode.
If you observe an unusual behavior, please read the
manuals or contact the AscTec support for further
instructions.
We wish you good flights with your AscTec UAV!
1506.07.12 /// AscTec Pelican /// LSM V2 manual /// www.asctec.de
Check your flight system
Fig. 30