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and b/docs/assets/assembling_clever4_2/raspberry_9.png differ diff --git a/docs/en/SUMMARY.md b/docs/en/SUMMARY.md index 87cddd7c..8f71c587 100644 --- a/docs/en/SUMMARY.md +++ b/docs/en/SUMMARY.md @@ -4,7 +4,8 @@ * [Glossary](gloss.md) * [Safety tips](safety.md) * Assembly - * [Clover 4 assembly](assemble_4.md) + * [Clover 4.2 assembly](assemble_4_2.md) + * [Clover 4.0 assembly](assemble_4_0.md) * [Clover 3 assembly](assemble_3.md) * [Clover 2 assembly](assemble_2.md) * Configuration diff --git a/docs/en/assemble_4.md b/docs/en/assemble_4_0.md similarity index 66% rename from docs/en/assemble_4.md rename to docs/en/assemble_4_0.md index f3813dca..1fdda58f 100644 --- a/docs/en/assemble_4.md +++ b/docs/en/assemble_4_0.md @@ -1,6 +1,6 @@ # Clover 4 assembly - + ## Frame base assembly @@ -8,20 +8,20 @@ 1. Mount the reinforcement pads on the stiffening ribs if you have them. Proceed without them if you don't. - + 2. Align two carbon stiffening ribs using the center notch.
- - + +
3. Install the top carbon deck using notches as guides.
- - + +
4. Place self-locking steel nuts into the slots in reinforcement plates and tighten the assembly with M3x8 screws. @@ -34,7 +34,7 @@ * Cut wires to 30 mm. * Strip 5 mm of insulation while taking care to not damage the cores - + * Twist the cores. * [Tin the wires](tinning.md). You may want to use tweezers to hold the wire. @@ -42,7 +42,7 @@ 3. Place the motor on the support arm. 4. Use hexagonal M3x5 screws to attach the motor to its arm. - + Perform these actions for each motor. @@ -50,15 +50,15 @@ Perform these actions for each motor. 1. Install the support arms on the frame base according to their rotation direction. Use notches as guides. - + > **Hint** Note the motor nut colors when installing the arms. Motors with red nuts should be placed on the front right and back left arms, with black ones - on the front left and back right arms. 2. Attach the arms to the frame base using 8 M3x8 screws, 6 steel nuts, and 2 15 mm spacers.
- - + +
## Preparing the power distribution board @@ -74,13 +74,13 @@ Perform these actions for each motor. 1. Attach four 6 mm standoffs on the top carbon deck using M3x6 screws.
- - + +
2. Place the PDB on the standoffs. - + 3. Make sure the arrow on the PDB is pointing in the same direction as the arrow on the top carbon deck. @@ -90,15 +90,15 @@ Perform these actions for each motor. 2. Solder the ESC power wires to the power distribution board (**red** to **«+»**, **black** to **«-»**).
- - + +
3. Solder power wires of the battery elimination circuit in parallel to one of the ESC power wires (**red** to **«+»**, **black** to **«-»**).
- - + +
4. Check the board for shorts using a multimeter. @@ -111,7 +111,7 @@ Turn on your transmitter using the **POWER** slider. If the RC transmitter is lo 2. Right stick should be **centered**. 3. The switches (A, B, C, D) should be in the **top position**. - Neutral control state + Neutral control state Make sure the transmitter operates in the PWM mode: @@ -132,14 +132,14 @@ Make sure the transmitter operates in the PWM mode: 5. The LED on the RC receiver should start to blink.
- - + +
6. Hold down the **BIND KEY** on the RC transmitter. 7. Turn on the RC transmitter while holding the **BIND KEY** - + 8. Wait for the **RXBind ok** message on the RC transmitter 9. Disconnect the binding jumper. @@ -149,7 +149,7 @@ Make sure the transmitter operates in the PWM mode: Motors with **red** nuts should rotate **counterclockwise**, the ones with **black** nuts should rotate **clockwise**. Correct rotation direction should also be printed on the motors. You can use a servo tester or your RC transmitter and receiver to check rotation direction. - + 1. Disconnect the battery pack and power down the transmitter. 2. Connect the signal wires from the ESC to CH3 pins on the output. The white wire should go to the top pin, the black one should go to the bottom one. @@ -179,53 +179,53 @@ The flight controller expects PPM signal from your RC gear. Switch your transmit 1. Attach four 6 mm standoffs on top of PDB. - + 2. Connect the flight controller power cable to the PDB. - + 3. Place the polycarbonate plate on the standoffs and fix them with plastic nuts. - + ## Mounting the flight controller 1. Insert the microSD card into your flight controller. - + 2. Align the flight controller so that the arrows on the controller and on the top carbon deck point in the same direction. - + 3. Attach the flight controller to the flight controller plate using 3M double-sided adhesive pads. 4. Connect the power cable to the **"POWER"** input of the flight controller.
- - + +
5. Attach four 40 mm aluminum spacers to the top carbon deck using M3x10 screws.
- - + +
6. Connect signal wires to the flight controller as shown in these pictures:
- - + +
7. Attach two 15 mm spacers to the top carbon deck using M3x8 screws.
- - + +
8. Attach two 15 mm spacers to the top carbon deck and the front arms using M3x10 screws (this was already described in the "Frame Assembly" section, p. 2). @@ -236,53 +236,53 @@ The flight controller expects PPM signal from your RC gear. Switch your transmit 2. Fix the ring on the frame using appropriate notches.
- - + +
## Installing the Raspberry Pi 1. Insert your microSD card [with our image](image.md) into the Raspberry Pi - + 2. Attach the Raspberry Pi using four standoffs. - + 3. Route the BEC wires through the channel in the top carbon deck. - + 4. Connect the BEC outputs according to the following image: - + ## Installing the LED strip on the LED strip ring 1. Check wires on the strip (and solder them on if they're missing)
- - + +
2. Attach the LED strip to the ring using the adhesive layer on the strip. Use zip ties to fix it in place. - + ## Connecting the LED strip to Raspberry Pi 1. Power the LED strip from a separate BEC. Connect the **«+»** and **«-»** leads to **5v** and **Ground** respectively.
- - + +
2. Connect the **D** lead to GPIO21 (consult the [relevant article](leds.md) for more information). - + ## Installing the camera cable @@ -290,7 +290,7 @@ The flight controller expects PPM signal from your RC gear. Switch your transmit 2. Insert the ribbon cable. 3. Press the T-clip down to secure the cable. - + ## Mounting the lower deck periphery @@ -302,17 +302,17 @@ The flight controller expects PPM signal from your RC gear. Switch your transmit 3. Mount the laser rangefinder on the lower deck using two M3x8 screws and steel nuts.
- - + +
4. Attach RC receiver to the lower deck using 3M double-sided adhesive pads. - + 5. Mount the lower deck assembly using four M3x10 screws. - + 6. Connect the camera ribbon cable to the camera. 7. Connect the laser rangefineder to the Raspberry Pi using the following pinout: @@ -321,49 +321,49 @@ The flight controller expects PPM signal from your RC gear. Switch your transmit * Connect **SDA** to pin 3 (**GPIO2**) * Connect **SCL** to pin 5 (**GPIO3**) - + ## Mounting the landing gear 1. Attach 8 landing gear pieces using M3x10 screws and steel nuts.
- - + +
2. Attach dampening pads to the landing gear pieces using M3x10 screws and steel nuts. - + ## Connecting the cables 1. Connect RC cable to the **RCIN** port on the flight controller. - + 2. Connect RC cable to RC receiver.
- - + +
## Mounting the propeller guards 1. Assemble the lower part of the guards using twelve M3x10 screws and twelve 40 mm plastic spacers. - + 2. Assemble the top part using twelve M3x10 screws. - + 3. Attach the assembly to the drone using four M3x10 screws and steel nuts.
- - + +
## Mounting the top deck @@ -372,18 +372,18 @@ The flight controller expects PPM signal from your RC gear. Switch your transmit 2. Thread the battery strap through the slots in the deck. 3. Attach the top deck using four M3x10 screws. - + 4. Connect the flight controller to the Raspberry Pi using retractable USB cable.
- - + +
5. Attach the USB cable reel where convenient using 3M double-sided adhesive pads while making sure the cable does not interfere with the propellers. - + ## Mounting the propellers and preparing for flight @@ -394,8 +394,8 @@ Perform the quadrotor components setup according to [the "Configuration" section Attach the propellers according to their rotation direction. The battery should be disconnected duting propeller installation.
- - + +
## Installing the battery @@ -408,12 +408,12 @@ Check the quadrotor assembly: * The ESCs should be zip tied to the frame. * All wires from the PDB and flight controller should be tucked under a velcro strap wound around aluminum spacers. - + Be sure to install and setup the voltage indicator before flying, so as not to overdischarge the battery. To configure the indicator, use the button located at its base. The displayed numbers during setup indicate the minimum possible voltage in each [cell](gloss.md#battery-cell) of the battery, the recommended value is **3.5**. > **Info** Sound indication means that your battery is low and needs to be charged. - + > **Success** The drone is ready to fly! diff --git a/docs/en/assemble_4_1.md b/docs/en/assemble_4_1.md new file mode 100644 index 00000000..e69de29b diff --git a/docs/en/assemble_4_2.md b/docs/en/assemble_4_2.md new file mode 100644 index 00000000..7e79f35f --- /dev/null +++ b/docs/en/assemble_4_2.md @@ -0,0 +1,225 @@ +# Clover 4 assembly + +## Fasteners size + +> **Hint** During assembly, screws and racks of various sizes are used, using fasteners of the wrong size can damage the copter. + + + +## Frame Assembly + +1. Align the 4 beams with the center deck, fix them with the M3x8 screws and nuts with a nylon insert. + +
+ + +
+ +2. Install 2 20mm posts on the center holes in the main deck and fix them with the M3x8 screws. + + + +3. Install the stiffener hook into the groove in the beam. + + + +4. Press the stiffeners onto the main deck. + + + +5. Tighten the stiffeners with a small carbon deck. + + + +6. Install 4 6mm nylon posts and fix them with the M3x6 screws. + + + +## Installating motors + +1. When installing motors, pay attention to the rotation scheme of the motors. The rotation marking on the motors must match the rotation pattern. + + + +2. Mount the motor on the corresponding holes in the beam using **M3x5 screws**. + +
+ + +
+ +> **Caution** Make sure that the motors are secured with M3x5 screws, otherwise a short circuit between the windings may occur. + +## Installing ESC and PDB + +1. Connect the speed controllers (ESC) to the motors using the MR30 connectors and fasten them to the beams using clamps. + +
+ + +
+ +2. Install the power distribution board (PDB) on the pre-mounted racks and secure it with 6mm racks. The power distribution board must be installed so that the power connection cable points toward the tail of the aircraft. + + + +3. Connect the power outputs of the speed controllers to the power distribution board. + + + +## Installing Flight Controller + +Set *Clover 4* allows you to install various flight controllers, for example *COEX Pix* and *Pixracer*. + +> **Caution** During installation the flight controller, pay attention to the arrow located on the board, it should be directed to the copter bow. + +### COEX Pix + +> **Hint** Before installing the damper struts, screw 2 layers of nylon nuts, for a stronger fix or bite off the excess thread using side cutters. + +Install the damper struts, fix *COEX Pix* on them with nylon nuts. + + + +### Pixracer + +1. Place the small deck on the racks and secure it with nylon nuts. + + + +2. Glue 3-4 layers of double-sided tape, glue it in the center of the small deck and install *Pixracer* on top. + + + +## Connect Flight Controller + +1. Connect the speed controllers to the flight controller in accordance with the diagram. + + + +2. Connect the power cable to the power distribution board(PDB) and the corresponding connector on the flight controller. + + + +3. Install 40mm aluminum racks on the M3x12 screws. + +
+ + +
+ +## Installing Raspberry Pi + +1. Install the 20mm racks on the main deck, fix them with the M3x8 screws. + +
+ + +
+ +2. On a mounting deck, install 6mm racks and 30mm racks, fasten them with the M3x6 and M3x12 bolts, respectively. + + + +3. Install the assembled mounting deck on the main deck and fix with the M3x8 screws. + + + +4. Install the *Raspberry Pi* circuit board and fix with nylon nuts. + + + +5. On the capture deck, install the rangefinder using self-locking nuts and M3x8 screws, and glue the radio using double-sided tape. + + + +6. Install 4 20mm racks and fix them with the M3x8 screws. + + + +7. Install the camera on the small mounting deck and fix it with 2 M2x5 self-tapping screws in the upper left and lower right corners. + + + +8. Install the camera module on the capture deck and fix with the M3x8 screws. + + + +9. Install the assembled pickup deck and fix with the M3x8 screws. + + + +10. Connect to the *Raspberry Pi* rangefinder and power cable. + + + +11. Connect the camera cable to *Raspberry Pi*. + + + +## Installing LED strip + +1. Assemble the hoop for the LED strip by combining the lock on the ends. + + + +2. Stick the LED strip on the hoop, for better fastening, pull it with 3-4 clamps. + + + +3. Install the legs on the stiffening plate using self-locking nuts and M3x8 screws using only the extreme mounting holes. From below, between the plates of the legs, install a damper silicone ring. + + + +4. Bend the legs back and install a hoop with LED strip in a special groove on them so that the connection cables exit from the tail side of the copter. + + + +5. Behind fasten the legs with self-locking nuts and M3x8 screws. + + + +6. Connect the LED strip power (red, black cables) to the short JST connector on the PDB. + + + +7. Connect the signal output of the LED strip (white cable) to *Raspberry Ri*, to pin *GPIO 21*. + + + +## Installing guard + +1. Assemble the lower level of guard with 40mm racks and M3x12 screws. + + + +2. Assemble the top level of protection with the M3x12 screws. + + + +3. Install the mounting deck and fix it with M3x8 bolts. + + + +4. Establish protection and fix on beams by means of self-locking nuts and M3x8 screws. + + + +## Flight preparation + +1. Install the battery strap and connect the flight controller to the *Raspberry Pi* using a USB cable. + +
+ + +
+ +2. Install the propellers in accordance with the [directional diagram of the motors](#prop_rotation). + + + +3. Install the battery. + + + +> **Success** The drone is assembled, then make ["setup"](setup.md). diff --git a/docs/en/auto_setup.md b/docs/en/auto_setup.md index 9aa36b0f..17213516 100644 --- a/docs/en/auto_setup.md +++ b/docs/en/auto_setup.md @@ -6,7 +6,7 @@ This manual contains links to other articles in which each of the topics address ## Raspberry Pi initial setup -- Install Raspberry Pi and a camera on the drone according to the [manual](assemble_4.md#installing-the-raspberry-pi). +- Install Raspberry Pi and a camera on the drone according to the [manual](assemble_4_2.md#installing-the-raspberry-pi). - Download the system image [here](image.md). - Burn the image to the microSD card. - Insert the card into Raspberry Pi. diff --git a/docs/en/leds.md b/docs/en/leds.md index e255c657..b13b31a8 100644 --- a/docs/en/leds.md +++ b/docs/en/leds.md @@ -16,8 +16,8 @@ Our [Raspberry Pi image](image.md) contains preinstalled modules for interfacing ## High-level control -1. Connect the +5v and GND leads of your LED to a power source and the DIN (data in) lead to GPIO21. Consult the [assembly instructions](assemble_4.md#Connecting-the-LED-strip-to-Raspberry-Pi) for details. -2. Enable LED strip support in `~/catkin_ws/src/clover/clover/launch/clover.launch`: +1. Connect the +5v and GND leads of your LED to a power source and the DIN (data in) lead to GPIO21. Consult the [assembly instructions](assemble_4_2.md#installing-led-strip) for details. +2. Enable LED strip support in `~/catkin_ws/src/clever/clever/launch/clever.launch`: ```xml diff --git a/docs/ru/SUMMARY.md b/docs/ru/SUMMARY.md index c9ccfc71..aa05e168 100644 --- a/docs/ru/SUMMARY.md +++ b/docs/ru/SUMMARY.md @@ -4,8 +4,9 @@ * [Глоссарий](gloss.md) * [Безопасность](safety.md) * Сборка - * [Клевер 4](assemble_4.md) + * [Клевер 4.2](assemble_4_2.md) * [Клевер 4.1](assemble_4_1.md) + * [Клевер 4.0](assemble_4_0.md) * [Клевер 3](assemble_3.md) * [Клевер 2](assemble_2.md) * Настройка diff --git a/docs/ru/assemble_4.md b/docs/ru/assemble_4_0.md similarity index 76% rename from docs/ru/assemble_4.md rename to docs/ru/assemble_4_0.md index a40606cc..c0d6e278 100644 --- a/docs/ru/assemble_4.md +++ b/docs/ru/assemble_4_0.md @@ -1,6 +1,6 @@ # Сборка Клевера 4 - + ## Сборка основы для рамы @@ -8,20 +8,20 @@ 1. В случае наличия, закрепите рем-накладки на пластинах жесткости, иначе продолжайте без них. - + 2. Совместите 2 карбоновые пластины жесткости, используя центральные пазы.
- - + +
3. Используя пазы, установите сверху карбоновую центральную деку.
- - + +
4. Стяните конструкцию с помощью винтов М3х8 и стальных гаек с нейлоновой вставкой, установленных в пазах пластин. @@ -34,7 +34,7 @@ * Обрежьте половину длины (оставив 30 мм). * Зачистите (снимите 5 мм изоляции с конца провода, не повредив медные жилы). - + * Скрутите медные жилы. * [Залудите провода](tinning.md), используя пинцет. @@ -42,7 +42,7 @@ 3. Установите мотор на луч. 4. Прикрепите мотор к лучу винтами М3х5, используя шестигранный ключ или отвёртку. - + Повторите эти действия для остальных моторов. @@ -50,15 +50,15 @@ 1. Установите 4 луча с моторами на базу рамы, используя пазы, согласно [схеме вращения моторов](#проверка-направления-вращения-моторов). - + > **Hint** Для правильной установки моторов обратите внимание на цвета гаек. Моторы с красными гайками следует установить на передний правый и задний левый лучи, с чёрными - на передний левый и задний правый. 2. Зафиксируйте лучи на раме, используя 8 винтов М3х8 и 6 стальных гаек, а также 2 стойки "мама-мама" 15 мм.
- - + +
## Подготовка платы распределения питания @@ -74,13 +74,13 @@ 1. Установите 4 стойки "папа-мама" 6 мм на центральную деку винтами М3х6.
- - + +
2. Установите PDB на стойки. - + 3. Стрелки на PDB и центральной деке должны быть направлены в одну сторону. @@ -90,15 +90,15 @@ 2. Припаяйте силовые провода регуляторов к контактным площадкам платы (**красный** к **«+»**, **черный** к **«-»**).
- - + +
3. Припаяйте силовые провода каждого BEC к контактным площадкам одного из регуляторов (**красный** к **«+»**, **черный** к **«-»**).
- - + +
4. С помощью мультиметра проверьте, что в цепи нет короткого замыкания. @@ -111,7 +111,7 @@ 2. Правый стик в **центре**. 3. Переключатели A, B, C, D в положение **"от себя"**. - Нейтральное положение стиков пульта + Нейтральное положение стиков пульта Убедитесь, что PPM в меню RX Setup отключен: @@ -132,14 +132,14 @@ 5. Светодиод на радиоприемнике должен мигать.
- - + +
6. Зажмите кнопку **BIND KEY** на пульте. 7. Включите пульт (перещелкните **POWER**, не отпуская **BIND KEY**). - + 8. Ждите синхронизации. 9. Отсоедините джампер. @@ -149,7 +149,7 @@ Моторы с **красными** гайками должны вращаться **против** часовой стрелки, с **чёрными** - **по** часовой стрелке. Правильные направления вращения также указаны на самих моторах. Для проверки направления вращения можно использовать серво-тестер или радиоприёмник с пультом. - + 1. Отключите АКБ и пульт. 2. Подключите сигнальный провод от ESC к выходу CH3 на приёмнике. Белый провод должен подходить к верхнему пину, чёрный - к нижнему. @@ -179,53 +179,53 @@ 1. Установите 4 стойки "папа-мама" 6 мм на PDB. - + 2. Подключите шлейф питания к PDB. - + 3. Установите поликарбонатную пластину на стойки и зафиксируйте нейлоновыми гайками. - + ## Установка полётного контроллера 1. Вставьте карту microSD в полётный контроллер. - + 2. Установите полетный контроллер на пластину с помощью двухстороннего скотча. - + 3. Стрелки на полетном контроллере и центральной деке должны быть направлены в одну сторону. 4. Подключите шлейф питания PDB к разъему *"POWER"* полетного контроллера, закрутив его в "косичку" для взаимной фиксации проводов.
- - + +
5. Установите 4 алюминиевые стойки 40 мм с помощью винтов М3х10.
- - + +
6. Подключите сигнальные провода регуляторов к полетному контроллеру следующим образом:
- - + +
7. Установите 2 стойки "мама-мама" 15 мм на центральную деку с помощью винтов М3х8.
- - + +
8. Другие 2 стойки были установлены ранее в разделе "Сборка рамы", п. 2. @@ -236,53 +236,53 @@ 2. Установите обруч на раму, используя пазы.
- - + +
## Установка Raspberry Pi 1. Вставьте карту microSD с [записанным образом](image.md) в Raspberry Pi - + 2. Установите плату Raspberry Pi на стойки, используя 4 стойки "папа-мама". - + 3. Протяните провода от BEC через паз в центральной раме. - + 4. Подключите провод питания от BEC к Raspberry, согласно схеме: - + ## Установка светодиодной ленты на обруч 1. Проверьте наличие напаянных пинов на контактах ленты (при отсутствии - напаять).
- - + +
2. Установите светодиодную ленту на обруч (используя клеевой слой на ленте) так, чтобы контакты были в задней части коптера. Для дополнительной фиксации используйте **стяжки**. - + ## Подключение светодиодной ленты к Raspberry Pi 1. Питание для ленты берется от второго BEC. Подключите контакты *«-»* и *«+»* к *Ground* и *5v* на ленте соответственно.
- - + +
2. Подключите контакт *D* к GPIO-пину на Raspberry. Рекомендуется использовать пин GPIO21. - + ## Установка шлейфа для камеры @@ -290,7 +290,7 @@ 2. Подключите шлейф. 3. Закройте защелку. - + ## Установка оборудования на нижнюю монтажную деку @@ -302,17 +302,17 @@ 3. Установить на деку лазерный дальномер с помощью 2 винтов М3х8 и стальных гаек.
- - + +
4. Установите приемник на нижнюю деку с помощью двухстороннего скотча. - + 5. Установите нижнюю деку с помощью 4 винтов М3х10. - + 6. Подключите шлейф к камере. 7. Подключите лазерный дальномер к Raspberry Pi с помощью проводов типа "мама-мама": @@ -321,49 +321,49 @@ * Разъем *SDA* к пину 3 (*GPIO02*). * Разъем *SCL* к пину 5 (*GPIO03*). - + ## Монтаж ножек 1. Установите 8 ножек с помощью винтов М3х10 и стальных гаек.
- - + +
2. Установите демпфирующие прокладки на ножки с помощью винтов М3х10 и стальных гаек. - + ## Подключение кабелей 1. Подключите кабель радиоприемника в *RCIN* разъем полетного контроллера. - + 2. Подключите кабель к приемнику, соответственно изображению.
- - + +
## Сборка защиты винтов 1. Соберите нижнюю часть защиты, используя 12 винтов М3х10 и 12 нейлоновых стоек 40 мм. - + 2. Установите верхнюю часть, используя 12 винтов М3х10. - + 3. Установите защиту на коптер, с помощью 4 винтов М3х10 и стальных гаек.
- - + +
## Установка верхней деки на коптер @@ -372,18 +372,18 @@ 2. Проденьте в пазы ремешок для фиксации АКБ. 3. Установите верхнюю деку на коптер с помощью 4 винтов М3х10. - + 4. Подключите USB кабель к разъему на полетном контроллере и USB разъему Raspberry Pi.
- - + +
5. Зафиксируйте "улитку" кабеля в удобном месте с помощью двухстороннего скотча так, чтобы провод не мешал вращению винтов. - + ## Установка пропеллеров и подготовка к полёту @@ -396,8 +396,8 @@ При установке будте внимательны, чтобы пропеллер не был перевернут. На лицевой стороне пропеллера имеется маркировка его характеристик, а также направление вращения, которое должно совпадать с направлением вращения моторов.
- - + +
## Установка АКБ @@ -411,12 +411,12 @@ * Все провода, идущие от PDB и полетного контроллера, должны быть зафиксированы липучкой или обмотанной вокруг алюминиевых стоек. * Пропеллеры установлены правильной стороной и соответствуют направлению кручения моторов. - + Обязательно установите и настройте индикатор напряжения перед полетом, чтобы не переразрядить аккумулятор. Для настройки индикатора используйте конпку расположенную в его основании. Отображаемые цифры во время настройки обозначают минимально возможное напряжение в каждой [ячейке](gloss.md#ячейка--банка-акб) аккумулятора, рекомендуемое значение **3.5**. > **Info** Звуковая индикация означает, что ваш аккумулятор разряжен и его нужно зарядить. - + > **Success** Дрон готов к полету! diff --git a/docs/ru/assemble_4_1.md b/docs/ru/assemble_4_1.md index 49853fc2..30cba511 100644 --- a/docs/ru/assemble_4_1.md +++ b/docs/ru/assemble_4_1.md @@ -1,6 +1,6 @@ # Сборка Клевера 4.1 -**Особенность набора.** Паечный набор с [версией рамы 4.0](assemble_4.md#сборка-основы-для-рамы), новыми регуляторами spedix e25 (они аналогичны старым dys 30a в плане работы и настройки), PDB и полётным контроллером производства COEX, радиоприёмником [FS-A8S](rc_flysky_a8s.md), новыми версиями пластин и деталей из поликарбоната. Использование новой COEX PDB избавляет от необходимости пользоваться дополнительными стабилизаторами на 5V, поэтому 2 платы BEC больше не включены в набор. +**Особенность набора.** Паечный набор с [версией рамы 4.0](assemble_4_1.md#сборка-основы-для-рамы), новыми регуляторами spedix e25 (они аналогичны старым dys 30a в плане работы и настройки), PDB и полётным контроллером производства COEX, радиоприёмником [FS-A8S](rc_flysky_a8s.md), новыми версиями пластин и деталей из поликарбоната. Использование новой COEX PDB избавляет от необходимости пользоваться дополнительными стабилизаторами на 5V, поэтому 2 платы BEC больше не включены в набор. **Особенность сборки.** Сборка рамы, крепление моторов и PDB аналогичны сборке из старой версии. Отличается крепление Raspberry Pi к центральной деке. Направление вращения моторов во время сборки проверить нельзя из-за особенностей радиоприёмника, однако можно однозначно запаять провода моторов к регуляторам. Остальная сборка аналогична сборке нового беспаечного набора. diff --git a/docs/ru/assemble_4_2.md b/docs/ru/assemble_4_2.md new file mode 100644 index 00000000..969441d9 --- /dev/null +++ b/docs/ru/assemble_4_2.md @@ -0,0 +1,229 @@ +# Сборка Клевера 4 + +## Размер крепежа + +> **Hint** Во время сборки используются винты и стойки различных размеров, использование крепежа не соответствующего размера может повредить коптер. + + + +## Сборка рамы + +1. Совместите 4 луча с центральной декой, зафиксируйте их при помощи винтов М3х8 и гаек с нейлоновой вставкой. + +
+ + +
+ +2. На центральные отверстия в главной деке установите 2 стойки 20мм и закрепите их с помощью винтов М3х8. + + + +3. Установите крючок пластины жесткости в паз на луче. + + + +4. Прижмите пластины жесткости к главной деке. + + + +5. Стяните пластины жесткости с помощью малой карбоновой деки. + + + +6. Установите 4 нейлоновые стойки 6мм и закрепите их с помощью винтов М3х6. + + + +## Установка моторов + +1. При установке моторов обратите внимание на схему вращения моторов. Маркировка вращения на моторах должна совпадать со схемой вращения. + + + +2. Установите мотор на соответствующие отверстия в луче с помощью **винтов М3х5**. + +
+ + +
+ +> **Caution** Убедитесь, что моторы закреплены с помощью винтов М3х5, в противном случае может возникнуть короткое замыкание между обмотками. + +## Установка ESC и PDB + +1. Подсоедините к моторам регуляторы оборотов(ESC) с помощью разъемов MR30 и закрепите их на лучах с помощью хомутов. + +
+ + +
+ +2. На заранее закрепленные стойки установите плату распределения питания(PDB) и зафиксируйте ее стойками 6мм. Плата распределения питания должна быть установлена таким образом, чтобы кабель подключения питания был направлен в сторону хвоста коптера. + + + +3. Подключите к плате распределения питания силовые выходы регуляторов оборотов. + + + +## Установка полетного контроллера + +Набор *Клевер 4* позволяет установить различные полетные контроллеры, к примеру *COEX Pix* и *Pixracer*. + +> **Caution** При установке полетного контроллера обратите внимание на стрелку, расположенную на плате, при монтаже она должна быть направлена к носу коптера. + +### COEX Pix + +> **Hint** Перед установкой демпферных стоек, накрутите 2 слоя нейлоновых гаек, для более прочного крепления или откусите лишнюю резьбу с помощью бокорезов. + +Установите демпферные стойки 6мм, на них закрепите *COEX Pix* с помощью нейлоновых гаек. + + + +### Pixracer + +1. Установите малую деку на стойки и зафиксируйте ее нейлоновыми гайками. + + + +2. Склейте 3-4 слоя двустороннего скотча, приклейте его в центр малой деки и установите сверху *Pixracer*. + + + +## Подключение полетного контроллера + +1. Подключите регуляторы оборотов к полетному контроллеру в соответствии со схемой. + + + +2. Подключите кабель питания к плате распределения питания(PDB) и соответствующему разъему на полетном контроллере. + + + +3. Установите алюминиевые стойки 40мм на винты М3х12. + +
+ + +
+ +## Установка Raspberry Pi + +1. На основную деку установите стойки 20мм, закрепите их с помощью винтов М3х8. + +
+ + +
+ +2. На монтажную деку установите стойки 6мм и стойки 30мм, закрепите их с помощью винт М3х6 и М3х12 соответственно. + + + +3. Установите собранную монтажную деку на основную и закрепите с помощью винтов М3х8. + + + +4. Установите плату *Raspberry Pi* и зафиксируйте с помощью нейлоновых гаек. + + + +5. На деку захвата установите дальномер с помощью самоконтрящихся гаек и винтов М3х8, и приклейте радиоприемник с помощью двустороннего скотча. + + + +6. Установите 4 стойки 20мм и закрепите их с помощью винтов М3х8. + + + +7. На малую монтажную деку установите камеру и зафиксируйте ее с помощью 2ух саморезов М2х5, в верхнем левом и нижнем правом углах. + + + +8. Установите модуль камеры на деку захвата и закрепите с помощью винтов М3х8. + + + +9. Установите собранную деку захвата и зафиксируйте с помощью винтов М3х8. + + + +10. Подключите к *Raspberri Pi* дальномер и кабель питания. + + + +11. Подключите радиоприемник к полетному контроллеру используя разъем *RCIN*. + + + +12. Подключите шлейф камеры к *Raspberry Pi*. + + + +## Установка LED ленты + +1. Соберите обруч для светодиодной ленты, объединив замок на концах. + + + +2. Наклейте светодиодную ленту на обруч, для большей крепкости притяните ее с помощью 3-4 хомутов. + + + +3. Установите ножки на пластину жесткости с помощью самоконтрящихся гаек и винтов М3х8 используя только крайние монтажные отверстия. Снизу, между пластинами ножек установите демпферное силиконовое колечко. + + + +4. Отогните ножки назад и в специальный паз на них установите обруч со светодиодной лентой, таким образом, чтобы кабели подключения выходили с хвостовой стороны коптера. + + + +5. Закрепите ножки с помощью самоконтрящихся гаек и винтов М3х8. + + + +6. Подключите питание светодиодной ленты(красный, черный кабели) в короткий разъем JST на плате распределения питания. + + + +7. Подключите сигнальный выход светодиодной ленты(белый кабель) в *Raspberry Ri*, к пину *GPIO 21*. + + + +## Установка защиты + +1. Соберите нижний уровень защиты с помощью стоек 40мм и винтов М3х12. + + + +2. Соберите верхний уровень защиты с помощью винтов М3х12. + + + +3. Установите монтажную деку и закрепите ее винтами М3х8. + + + +4. Установите защиту и закрепите на лучах с помощью самоконтрящихся гаек и винтов М3х8. + + + +## Подготовка к полету + +1. Установите ремешок для аккумулятора и подключите полетный контроллер к *Raspberry Pi* с помощью USB кабеля. + +
+ + +
+ +2. Установите пропеллеры в соответствии со [схемой направления движения моторов](#prop_rotation). + + + +3. Установите аккумулятор. + + + +> **Success** Дрон собран, далее произведите ["настройку"](setup.md). diff --git a/docs/ru/auto_setup.md b/docs/ru/auto_setup.md index 21b8b1ff..594d0e40 100644 --- a/docs/ru/auto_setup.md +++ b/docs/ru/auto_setup.md @@ -6,7 +6,7 @@ ## Первоначальная настройка Raspberry Pi -- Установите Raspberry Pi и камеру на квадрокоптер по [инструкции](assemble_3.md#монтаж-raspberry). +- Установите Raspberry Pi и камеру на квадрокоптер по [инструкции](assemble_4_2.md#установка-raspberry-pi). - Скачайте образ системы по [ссылке](image.md). - Запишите образ на MicroSD карту. - Вставьте карту в Raspberry Pi. diff --git a/docs/ru/leds.md b/docs/ru/leds.md index 4d68e98b..63215898 100644 --- a/docs/ru/leds.md +++ b/docs/ru/leds.md @@ -16,8 +16,8 @@ ## Высокоуровневое управление лентой -1. Для работы с лентой подключите ее к питанию +5v – 5v, земле GND – GND и сигнальному порту DIN – GPIO21. Обратитесь [к инструкции по сборке](assemble_4.md#Подключение-светодиодной-ленты-к-Raspberry-Pi) для подробностей. -2. Включите поддержку LED-ленты в файле `~/catkin_ws/src/clover/clover/launch/clover.launch`: +1. Для работы с лентой подключите ее к питанию +5v – 5v, земле GND – GND и сигнальному порту DIN – GPIO21. Обратитесь [к инструкции по сборке](assemble_4_2.md#установка-led-ленты) для подробностей. +2. Включите поддержку LED-ленты в файле `~/catkin_ws/src/clever/clever/launch/clever.launch`: ```xml