AscTec Laser Scanner Mount V2 - manual Mounting option: + -configuration 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. + - configuration 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. Fig. 1 1
Mounting option: x -configuration 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 support@asctec.de for information how to change the parameters of the AutoPilot, to switch the remote control commands to the x -configuration. XBee x - configuration Front Fig. 2 2
Orientation of the compass 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. 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 Fig. 3 Fig. 4 3
Turning the 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. Fig. 5 4
Preparing the + -configuration 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). View from below R/C receiver power switch Front Fig. 6 Fig. 7 Fig. 8 5
Preparing the x -configuration 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). View from below power switch Fig. 9 Fig. 10 Front Fig. 11 6
Mounting the AscTec Laser Scanner Mount V2 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). Fig. 12 Fig. 13 Fig. 14 7
Wiring of the sensors on the AscTec Laser Scanner Mount V2 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). compass XBee R/C data Fig. 15 Fig. 16 Fig. 17 8
Wiring of the sensors on the AscTec Laser Scanner Mount V2 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. GPS + -config. front R/C power x -config. front Fig. 18 Fig. 19 9
Mounting the laser scanner 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. Fig. 21 Fig. 22 10
Mounting the big laser scanner (Hokuyo UTM-30LX) 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. Fig. 23 Fig. 24 Fig. 25 11
Mounting the small laser scanner (Hokuyo URG-04LX) 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) Fig. 26 Fig. 27 12
Mounting the small laser scanner (Hokuyo URG-04LX) 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. Fig. 28 Fig. 29 13
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Check your flight system 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! Fig. 30 06. 15