GAPTER: Internal Hardware Connection

../_images/gapter_internal_HW_connection.png

.

Connection
Number
Connection
between
components
No. of pins
connecting

Description
1
Sonar of px4flow
to ADC of pixhawk
Two pins
used in 3 pin slot
Sonar connecting from px4flow to ADC of Pixhawk. Connecting slot contains
4 pins but only two pins are used. So 2 wires connecting between them.
2
I2C of px4flow
to I2C splitter
Four pins
used in 4 pin slot
I2C of px4flow sensor connecting to I2C of pixhawk via I2c splitter. Four pins
are used. So 4 wires connecting between them.
3
GPS to I2C
splitter
Two pins
used in 4 pin slot
GPS consists of two connecting wires. One connected to I2C of pixhawk via
I2C splitter. Two pins are used , so 2 wires connecting between them
4
GPS to GPS
slot of pixhawk
4 pins are
used in 6 pin slot
The other wire of GPS is connected to GPS slot of pixhawk. Four pins are used
in 6 pin slot. Hence 4 wires are connecting between them
5
LED/USB to
I2C splitter
4 pins are
used in 4 pin slot
It LED/USB is the extension of pixhawk USB and LED notification. It consists of
two connecting wires. One wire is connected to pixhawk I2C via I2C splitter.
4 pins are used and so 4 connecting wires are used.
6
Pixhawk’s
I2C to I2C splitter
4 pins are
used in 4 pin slot
It is an extension of I2C’s of pixhawk allowing more components to connect
pixhawk which are depending on I2C channel. We connect GPS and px4flow to
this extension. 4 pins are used hence 4 wires are connecting between them
7
Pixhawk’s usb to
usb extension
4 pins are
used in 4 pin slot
The other connecting wire of pixhawk’s USB extension is connected between
pixhawk serial USB port to USB extension. 4 pins are being used. Hence 4 wires
are connecting between them
8
Receiver to pixhawk’s
receiving channel
2 pins are
used in 3 pin slot
This is connecting between RC receivers to pixhawk’s RC connecting slot.
2 wires are used in 3 pin slot. Hence two wire are used.
9
Safety switch to safety
switch slot of pixhawk
3 pins are
used in 3 pin slot
This is connecting between safety switch to safety switch slot of pixhawk.
3 pins are used in 3 pin slot. Hence 3 wires are connecting between them
10
Speaker connecting to
pixhawk speaker slot
2 pins are
used in 2 pin slot
This is connecting between speaker module to speak slot of pixhawk. 2 pins
are used to connect in 2 pin slot. Hence 2 wires are used in connecting
between them.
11
ESC to serial
channel of pixhawk
2 pins are
used in 3 pin slot
ESC 1,2,3,4 are connecting between serial channels of pixhawk 1,2,3,4
respectively. Each ESC connecting to each channel where 2 pins are used
among 3 pins of each slot of channel. Hence each ESC occupying 2 wires.
Totally 8 wires are connecting between all ESC to pixhawk. Among them 4
wires are connected to negative terminal of channel slot.
12
ESC to motor
3 pins are
used in 3 pin slot
Motors 1,2,3 and 4 connecting to ESC 1,2,3 and 4 respectively. Each motor
uses 3 pins of esc and hence each motor connecting 3 wires between them.
Totally of 12 wires are being used to connect motors and ESC.
13
ESC to powe
converter of pixhawk
8 wires used
ESC is powered from power module of pixhawk where power from main
source is connected to ESC and pixhawk power module in parallel.
4 positive and 4 negative wires are connecting.
14
Power slot of pixhawk
to power converter
of pixhawk
6 wires used in
6 pin slot
Power is supplied to pixhawk from power converter of pixhawk which
is sourced from battery. 6 wires are used to connect between them
15
Pixhawk to xu4
4 wires used in
6 pin slot
This is to make communication between pixhawk and xu4. A usb-ttl is used to
connect pixhawk’s telemetry port 1 to usb ttl connecting to xu4’s usb. 4 wires
are being used in 6 pin slot.
16
Telemetry 2 to radio
6 wires used in
6 pin slot
This is to connect between telemetry port 2 to telemetry radio. 6 wires are
used in 6 pin slot
17
Xu4 to power
converter
2 wires
This is to power xu4 form battery via power converter. A power converter
which converts power to 5V, 4A is used to supply power to xu4. Two wires
+ve and –ve are being used.
18
Xu4 Usb 3.0 extension
Usb wire
This is the usb 3.0 extension cable used to connect 3D sensor
19
Power wire from
battery to pixhawk
power converter
Two wires

This is to supply power form battery to power converter of pixhawk. Two
wires +ve and –ve are connected to this module
20
Power wire from
battery to xu4
power converter
Two wires
This is to supply power form battery to power converter of xu4. Two wires
+ve and – ve are connected to this module
21
Battery to
battery monitor
Two wires
This is to connect battery moniter to battery. Two wires +ve and –ve are
connected to this module
22
Battery to
power switch
One wire
This is to connect power switch from battery to switch and passing overall
power. A +ve wire is connected to switch from battery.