DARPA-BAA-15-16_Attachment_5_GFE_Platform_-_Revision_1.pdf

DARPA-BAA-15-16 Attachment 5 Revision 1

Page 1 of 2 DARPA-BAA-15-16 Attachment 5 – Revision 1

GFE Platform - VeloHex

Specifications (subject to change)

- Dimensions: 27.5” x 25.2” x 6”

- Weight: ~900g (no battery, no CPU)

- Weight: ~1100g (no battery, with CPU)

- Battery: 4S LiPo (25C 4400mAh - 428g)

- Max Takeoff Weight: ~2200g

- Flight Time: 5-25 minutes

- Carbon Fiber Frame

- Three accessory mounting locations: Top plate, Bottom plate, Interior layer

Features

- Boom Modularity: Booms and motors are easily replaceable so the vehicle can be repaired quickly

- Propeller Guard: Removable blade guard that keeps vehicle from crashing due to small collisions

- Landing gear: Landing gear is available in different sizes or can be designed by users

- Batteries: Any 4-cell LiPo battery capable of delivering at least 50A of continuous current may be used for either longer flight time or increased maneuverability

Sensor Mounting Locations

- Top Plate: Customizable 6.75” x 5” plate for mounting sensors and battery

- Electronics Layer: Houses ALL flight critical electronics except the battery. Does not have extra space for mounting other sensors.

- Middle Layer: Designed to house a mini-PC, this location is safely sandwiched in the core of the vehicle. It should allow for any sensor, battery, or mini-PC that has the maximum dimensions of approximately 5” x 3.5” x 1.3”. Vibration dampening standoffs are included for a mini-PC.

- Bottom Plate: Customizable 6.75” x 5” plate for mounting sensors, battery, or landing gear.

Software Capabilities

DARPA-BAA-15-16 Attachment 5 Revision 1

Page 2 of 2 DARPA-BAA-15-16 Attachment 5 – Revision 1

- Control Modes

- Manual Control: Control the vehicle using a radio transmitter (e.g. Spektrum DX6i)

- Auto Control: Send computer-generated commands directly to the vehicle for autonomous control. These commands can include:

- setting the desired thrust, pitch angle, roll angle, and yaw angle

- setting the controller gains

- setting the desired motor RPMs

- Feedback: Receive feedback information from the vehicle while in flight including:

- raw sensor values (IMU, accelerometer, gyros, barometer)

- status messages (voltage, system state, errors, etc.)

- attitude estimate, rates, and accelerations

- motor status (state, commanded and actual RPM)

Sample Vehicle Configuration

Sensors (Not Included):

- Top LIDAR: Hokouyo UTM-30LX

- Bottom LIDAR: Hokouyo UST-20LX

- Cameras: 4x USB mvBlueFOX

Specifications (With Sensors)

- Total Weight: ~2100 g

- Thrust to Weight: ~1.7

- Battery: TP 4S 4400mAh 25C

- Flight Time: 8-10 minutes

Included Items

- CPU for running team autonomy software: GIGABYTE i7 mini-PC (teams may replace)

- Carrying case, radio transmitter, LiPo battery charger, propeller guard, spare booms/motors, spare propellers, spare battery, and programming cable

See the VeloHex in action: http://youtu.be/CyXFXLREdj0 http://youtu.be/CyXFXLREdj0