Step 2: Mounting the MPU/MCU boards to the top plate
We will now mount the NavQPlus and the MR-CANHUBK344 to the metal top plate. Follow the steps in the next two sections.
In the end, the top plate assembly should look like this:
The right side is front end having camera and left side in the picture is the rear end.
Step 2c: Mounting LIDAR and Standoff for LIDAR arch stability
Ensure the metal top arch is oriented the correct way up and the Lidar is mounted facing the front.
A common mistake is for the top arch to be flipped upside down, resulting in the LIDAR facing the back. Check the direction of the LIDAR by looking at the images below and noting the embossed arrow on top.
Three M2.5 Cap Screws and Nylock nuts are included with the LIDAR
Use the included RC-CAR wrench to hold the nuts
Double check that the lidar is facing the front as shown here.
Standoff for LIDAR arch stability
There is a black (or orange) 3d printed plastic standoff post which also protect the cable.
This file will also be provided in
Do NOT attach the top plate to the B3RB, yet. This can only be done after completion of step 3: wiring.
The holes in the lidar standoff can be used to store some of the thumbscrews when not in use
Zip tie the lidar cable and standoff as shown in this picture. The wire should wrap around the back of the standoff.
The wires should wrap around to the back of the standoff and ziptie here as well.
Updated 3D printed LIDAR stand
Step 2a: Mounting NavQPlus
First chose option A (Preferred) or B
Option A: Dual Lock mounting the NavQPlus on the metal frame (Preferred)
This is also a good time to mention that you should be extra careful with the small black patch antenna and the camera flex cable attached to the NavQPlus
Locate the DUAL LOCK type mounting tape 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 recommend you just use some DUAL LOCK Velcro instead of screwing the NavQPlus to the metal frame.
Option B: Mounting the NavQPlus on the metal frame
Alternative mounting using screws
The kit includes 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.
An alternative method of mounting is to 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:
NavQPlus Cable management on top plate
Use a ziptie to secure the power cable (4 wire cable with 5 pin JST-GH), and route the CAN cables down and underneath as shown below.
Next: After successfully attaching the NavQPlus, the next step is to install the MR-CANHUBK344 evaluation board.
Apply dual lock to bottom of the NavQPlus
Apply mating dual lock and stick to the top plate in the correct position shown here.
Zip tie the NavQPlus power cable
Step 2b: Mounting MR-CANHUBK344
Introduction
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.
Install the MR-CANHUBK3-ADAP on the MR-CANHUBK344
Included in the kit is a CANHUB ADAP board. This board has IMU (Inertial measurement Unit) components on it such as Accelerometer, Gyro, Magnetometer, as well as specific connectors for GPS and other interfaces.
Attach it to the CANHUBK344 as shown below.
Assemble MR-CANHUBK344 onto top plate
The MR-CANHUBK344 board should be attached in the highlighted holes of the following image.
Reuse the M3x5mm screws that were previously removed from the side skirts.
These M3x5mm screws should be used to screw in from the bottom side.
Be cautious to not squeeze or pinch any of the existing wires attached to the NavQPlus!
Upon completion, the entire assembly should appear as follows:
Step 2d: Mounting M10 GPS Module and metal frame
Introduction
The kit may include either or both an ARMING board and/or a GPS module.
The GPS module in addition to being used for GPS, the it does also include a arming/safety switch, LED lights and a beeper. Generally if you have a GPS, it is preferred to use that rather than the ARMING board.
PX4 Arming Board vs GPS
NOT all kits include the GPS module. Notably the NXP-CUP car kit will not. Instead use the BOARD and stick it down in a convenient location.
The arming board will provide the same beeper and arming buttons. However it does not include a compass component.
Install M10 GPS module
If provided in your kit, please install the GPS and GPS post mounting,
The the pieces are listed in the 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 screws, 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.
GPS parts
GPS Base installation
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:
GPS Mast installation
Attach the mounting mast rod and fasten it with one of the smaller two screws left.
At this time only tighten the screws loosely as you will need to rotate align and remove the mast before completion.
Attach the top mount with the remaining screw.
Keep it also only loosely tightened.
It should look like this when completed:
Attach the M10 GPS module to the mast
Locate the M10 GPS and the 3M double tape.
Attach the double tape in the center of the top mount.
Align GPS facing forward
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.
