asctec laser scanner mount v2 - manual laser scanner mount v2 - manual. ... means the nose of the...

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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. 1 07.12 /// AscTec Pelican /// LSM V2 manual /// www.asctec.de Mounting option: ‚+‘-configuration ‚+‘ - configuration Fig. 1 AscTec Laser Scanner Mount V2 - manual

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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

1406.07.12 /// AscTec Pelican /// LSM V2 manual /// www.asctec.de

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