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 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. M3x5mm screws should be used to screw in from the bottom side.
Be cautious to not squeeze the wires attached to the NavQPlus!
Upon completion, the entire assembly should appear as follows:
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 like this:
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 highly recommend you just use some DUAL LOCK Velcro instead of screwing the NavQPlus to 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:
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.
After successfully attaching the NavQPlus, the next step is to install the MR-CANHUBK344 evaluation board.
The kit may include an ARMING board and/or a GPS module. In addition to being used for GPS, the it does also include a arming/safety switch and a beeper. Generally if you have a GPS, it is preferred to use that rather than the ARMING board.
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 does 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 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.
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. At this time keep the screws only loosely tightened. 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.
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 arrow on top.
There is a orange or black 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
The holes in the lidar standoff can be used to store some of the thumbscrews when not in use
The camera housing included with the NavQPlus mounts to the front "GoPro" style mount on the front plastic:
You must use the screw and bolt that included along with the original camera mount. (This is from the white plastic mount included with the NavQPlus)
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:
Screw the front and rear plastic to the top plate using two M3x5 screws from the bottom
The camera flex cable should already be attached to the front plastic.
