The camera housing included with the NavQPlus mounts to the front "GoPro" style mount on the front plastic:
You must reuse the screw and bolt that was part of the original camera mount. (This is from the white plastic mount included with the NavQPlus) Follow earlier instructions to remove the mount from around the cable if necessary.
The camera flex cable should come out the back of the NavQPlus and loop over top of it. Then route under the lower edge of the front bracket. and up into the camera module. The final setup should look like this:
UPDATING: Production units will instead include a 3d printed plastic standoff post which also acts to protect the cable. The file will also be provided in 3D Printed parts page See image below
Next install this standoff which gives stability for later steps in the mounting of the robot. The screws are the ones that come with the purple standoff and the nut are size M3:
And install it in this position:
We will now mount the NavQPlus and The MR-CANHUBK344 to the metal top plate. Follow the steps in the next two sections. The final setup will look something like this:
NOT all kits include the GPS module. Notably the NXP-CUP car kit will not. Instead use the PX4ARMINGBOARD BOARD and stick it down in a convenient location.
The arming board will provide the same beeper and arming buttons. It doesn not (currently) include a compass component.
If provided in your kit, please install the GPS and GPS post mounting, The the pieces needed are listed in the WITB GPS Module page.
Important notes: 1) Install the base plate with the clamping screw pointing either forward-right or forward-left. This will allow you to loosen/tighten even when the plastic rear piece is installed.
2) install the GPS so that the arrow is pointing forward on the B3RB
3) Zip tie the cable so that it stays tight against the carbon fiber mounting tube. This is to minimize interference with the LIDAR beam
4) Don't tighten down the mast clamping scews, you will need to remove the GPS top or the GPS and the MAST in future steps. Tighten them only enough so the parts can still wiggle and be removed.
There is a set of screws that comes with the GPS unit. Use the 4 longer screws and Nylock Lock Nuts to attach the base mount.
It should be placed in this furthest back position:
Attach the mounting mast rod and fasten it with one of the smaller two screws left. Only loosly tighten these screws. Attach the top mount with the remaining screw. Keep it only loosely tighened as well. It should look like this when completed:
Locate the M10 GPS and the 3M double tape.
Attach the double tape in the center of the top mount.
Carefully align the GPS in the center of this tape. Ensure the arrow on the GPS module is facing forward. The cable of the GPS should be zip tied so it stays very close to the GPS mast in order to not obstruct the LIDAR sensor.
<<TODO - show image of fully connected GPS. Final Picture>>
MR-CANHUBK344 is the real time controller board for the robot. After successfully attaching the NavQPlus, the next step is to install the MR-CANHUBK344 evaluation board.
The materials needed for this tutorial are the MR-CANHUBK344, MR-CANHUBK344 ADAP board and the plastic covers of the boards:
Assemble the MR-CANHUBK344 on the bottom plastic then add the top cover. Use included screws to screw from the bottom side up into the top cover. The plastic top and bottom cover and board assembly should not be loose when properly assembled.
NOTE the MR-CANHUB-ADAP must have the extra board edges snapped off at the break lines. Gently break off the edges of the MR-CANHUB-ADAP board.
Attach the MR-CANHUBK344 assembly to the top plate which already contains the NavQPlus board. The final setup should look like this:
The MR-CANHUBK344 board should be attached in the highlighted holes of the following image. M3x5mm screws should be used to screw in from the bottom side.
Upon completion, the entire assembly should appear as follows:
The mount for the camera must be removed for MR-B3RB-M use, It is kept only when using the MR-B3RB-S KEEP the nut and screw that is in this original camera mount!
UPDATING: Production units will include a mount with the backside cut out. This allows the flex cable to not be captive and the mount and camera can be easily separated.
Unless you REALLY want to keep the Camera mount, the easiest and quickest way to remove the mount is to use some side cutters and break the plastic base. Be careful and wear safety glasses as this plastic may be brittle and fly up. Alternatively you could cut this with a hacksaw or rotary tool. Be careful of any dust. While doing either method, be very careful not to damage the camera flex cable
First, unscrew and remove the screws located at the corners of the board.
Then take out the white case, you should have something that look like this:
Then use the smallest hex key from the provided set to unscrew the screws on the corners of the blue case. This should allow you to detach the white case from the bottom. Note you don't have to remove the screws completely, just enough to detach them from the back plate.
The camera's flat ribbon cables is connected to a vertical connector situated in centre-right of the board.
To properly detach the camera, first, open the clip at the backside of the connector to release the ribbon cable. Once freed, you can remove it from the camera mount. To reconnect, carefully insert the flat ribbon cable back into the connector on the NavQPlus board. Ensure a secure connection.
Reassemble the board into the white casing using the previously removed screws. Note you should screw in the heatsink screws first while simultaneously pressing to ensure the case is fully closed. Then in a second step install the outer four screws.
Next, use the provided M3 screws to securely attach the board's corners to the following position in the metal frame:
Screw them in from the bottom side. It should look like this:
The following images illustrate the method for securing the cables to the metal frame using zip ties. This ensures a neat and organized setup.
After successfully attaching the NavQPlus, the next step is to install the MR-CANHUBK344 evaluation board.
Snap off the edges of the MR-CANHUB-ADAP board with your fingers
UPDATING: Production units will include DUAL LOCK type mounting eliminating the need for the procedure below and screw fastening. This will also elevate the NAVQPLUS boards slightly so that Ethernet and USB will have better clearance. We strongly recommend you just use some DUAL LOCK Velcro instead of screwing the NavQPlus to the metal frame.
