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"fabricate_2", "title": "Print PLA accessory mounts for sensors and peripherals", "partIds": [ "rpi5_wifi_adapter_mount", "atecc608b_carrier_mount", "rpi_camera_module_mount", "status_led_ring_mount" ] }, { "id": "fabricate_3", "title": "Print PETG Raspberry Pi 5 mounting assembly", "partIds": [ "rpi5_mount", "rpi_5_active_cooler_mount" ] }, { "id": "fabricate_4", "title": "Print PETG ESC protective mounts", "partIds": [ "blheli_s_20a_esc_1_mount", "blheli_s_20a_esc_2_mount", "blheli_s_20a_esc_3_mount", "blheli_s_20a_esc_4_mount" ] }, { "id": "fabricate_5", "title": "Test-fit M2.5 standoffs into printed trays", "partIds": [ "pixhawk_6x_tray", "m2_5_nylon_standoff_kit", "txb0108_level_shifter" ] } ] }, { "id": "wire", "subSteps": [ { "id": "wire_1", "title": "Solder XT60 and ESC power leads to PDB", "partIds": [ "holybro_pdb", "4s_5000mah_lipo_battery", "blheli_s_20a_esc_1", "blheli_s_20a_esc_2", "blheli_s_20a_esc_3", "blheli_s_20a_esc_4" ] }, { "id": "wire_2", "title": "Connect ESC phase wires to motors", "partIds": [ "blheli_s_20a_esc_1", "blheli_s_20a_esc_2", "blheli_s_20a_esc_3", "blheli_s_20a_esc_4", "holybro_2216_kv880_motor_1", "holybro_2216_kv880_motor_2", "holybro_2216_kv880_motor_3", "holybro_2216_kv880_motor_4" ] }, { "id": "wire_3", "title": "Wire Governance Bus level shifter between Pixhawk and Pi 5", "partIds": [ "txb0108_level_shifter", "pixhawk_6x_flight_controller", "raspberry_pi_5_companion_computer" ] }, { "id": "wire_4", "title": "Solder buck converter for dedicated LED power", "partIds": [ "mini_5v_buck_converter", "holybro_pdb", "status_led_ring" ] }, { "id": "wire_5", "title": "Interface Secure Element and LoRa module to Pi 5 GPIO", "partIds": [ "atecc608b_secure_element", "lora_sx1276_module", "raspberry_pi_5_companion_computer" ] } ] }, { "id": "bringup", "subSteps": [ { "id": "bringup_1", "title": "Flash PX4/ArduPilot and calibrate Pixhawk sensors", "partIds": [ "pixhawk_6x_flight_controller", "holybro_m9n_gnss_module" ] }, { "id": "bringup_2", "title": "Install OS and governance software on Raspberry Pi 5", "partIds": [ "raspberry_pi_5_companion_computer", "wifi_6_usb_adapter" ] }, { "id": "bringup_3", "title": "Provision ATECC608B keys and verify LoRa mesh connectivity", "partIds": [ "atecc608b_secure_element", "lora_sx1276_module" ] }, { "id": "bringup_4", "title": "Calibrate ESC endpoints and verify motor rotation", "partIds": [ "blheli_s_20a_esc_1", "holybro_2216_kv880_motor_1", "pixhawk_6x_flight_controller" ] }, { "id": "bringup_5", "title": "Verify MAVLink communication over level shifter", "partIds": [ "txb0108_level_shifter", "pixhawk_6x_flight_controller", "raspberry_pi_5_companion_computer" ] } ] }, { "id": "assemble", "subSteps": [ { "id": "assemble_1", "title": "Mount PDB and internal electronics to X500 V2 frame", "partIds": [ "holybro_x500_v2_frame_kit", "holybro_pdb", "vibration_dampers_kit" ] }, { "id": "assemble_2", "title": "Attach motors and ESCs to frame arms", "partIds": [ "holybro_2216_kv880_motor_1_mount", "blheli_s_20a_esc_1_mount", "holybro_x500_v2_frame_kit" ] }, { "id": "assemble_3", "title": "Install flight controller tray and companion computer mount", "partIds": [ "pixhawk_6x_tray", "rpi5_mount", "pixhawk_6x_flight_controller", "raspberry_pi_5_companion_computer" ] }, { "id": "assemble_4", "title": "Mount GPS mast and external communication antennas", "partIds": [ "gps_module_mast", "lora_antenna_mount", "holybro_m9n_gnss_module" ] }, { "id": "assemble_5", "title": "Route all cables and secure battery with strap", "partIds": [ "hook_and_loop_battery_strap", "4s_5000mah_lipo_battery", "general_mounting_hardware_kit" ] }, { "id": "assemble_6", "title": "Final prop attachment and swarm ID labeling", "partIds": [ "1045_propeller_fl", "1045_propeller_fr", "status_led_ring", "swarm_governance_guide_v1" ] } ] } ], "projectDescription": "This N=10 physical testbed evaluates attritable swarm governance using Pixhawk 6X flight controllers and Raspberry Pi 5 companion computers. Secure communication is managed via ATECC608B elements over a dual LoRa and Wi-Fi 6 mesh, integrated onto Holybro X500 V2 airframes for DAWG-class operational research.", "instructionPreamble": { "tools": [ "3D printer (PETG and PLA capable)", "Soldering iron and lead-free solder", "M2, M2.5, and M3 Hex keys", "Wire strippers and crimping tool", "Multimeter", "Heat gun for heat shrink", "Double-sided VHB mounting tape", "Zip ties", "USB-C and Micro-USB data cables" ], "assumptions": [ "Access to 3D printing slicing software", "Familiarity with PX4 or ArduPilot firmware", "Basic Linux command line proficiency for Raspberry Pi setup", "LiPo battery safety knowledge and balanced charger available", "Soldering experience for PDB and power leads" ] }, "electricalConnections": [ { "type": "power", "label": "Main battery to PDB", "source": "4s_5000mah_lipo_battery", "target": "holybro_pdb", "current": "60A", "voltage": "14.8V" }, { "type": "power", "label": "PDB to ESC 1", "source": 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"power", "label": "ESC 4 to Motor 4", "source": "blheli_s_20a_esc_4", "target": "holybro_2216_kv880_motor_4", "current": "20A", "voltage": "14.8V" }, { "type": "power", "label": "PDB 5V BEC to Pixhawk", "source": "holybro_pdb", "target": "pixhawk_6x_flight_controller", "current": "3A", "voltage": "5V" }, { "type": "power", "label": "PDB 5V BEC to Pi 5", "source": "holybro_pdb", "target": "raspberry_pi_5_companion_computer", "current": "3A", "voltage": "5V" }, { "type": "power", "label": "Pi 5 to Active Cooler", "source": "raspberry_pi_5_companion_computer", "target": "rpi_5_active_cooler", "current": "100mA", "voltage": "5V", "sourcePin": "GPIO 4-pin connector", "targetPin": "GPIO 4-pin connector" }, { "type": "data", "label": "Pi 5 to ATECC608B", "source": "raspberry_pi_5_companion_computer", "target": "atecc608b_secure_element", "protocol": "i2c", "sourcePin": "I2C", "targetPin": "I2C" }, { "type": "data", "label": "Pi 5 to LoRa Module", "source": "raspberry_pi_5_companion_computer", "target": "lora_sx1276_module", "protocol": "spi", "sourcePin": "SPI", "targetPin": "SPI" }, { "type": "data", "label": "Pi 5 to Wi-Fi 6 Adapter", "source": "raspberry_pi_5_companion_computer", "target": "wifi_6_usb_adapter", "protocol": "usb", "sourcePin": "USB 3.0", "targetPin": "USB 3.0" }, { "type": "data", "label": "Pi 5 to Camera Module", "source": "raspberry_pi_5_companion_computer", "target": "rpi_camera_module_3", "protocol": "csi-2", "sourcePin": "CSI-2", "targetPin": "CSI-2 connector" }, { "type": "data", "label": "Pixhawk to GPS (UBX)", "source": "pixhawk_6x_flight_controller", "target": "holybro_m9n_gnss_module", "protocol": "uart", "sourcePin": "GPS UART", "targetPin": "UART" }, { "type": "data", "label": "Pixhawk to Magnetometer (in GPS module)", "source": "pixhawk_6x_flight_controller", "target": "holybro_m9n_gnss_module", "protocol": "i2c", "sourcePin": "I2C", "targetPin": "I2C" }, { "type": "data", "label": "Pixhawk to ESC 1 signal", "source": "pixhawk_6x_flight_controller", "target": "blheli_s_20a_esc_1", "protocol": "pwm", "sourcePin": "GPIO", "targetPin": "PWM signal" }, { "type": "data", "label": "Pixhawk to ESC 2 signal", "source": "pixhawk_6x_flight_controller", "target": "blheli_s_20a_esc_2", "protocol": "pwm", "sourcePin": "GPIO", "targetPin": "PWM signal" }, { "type": "data", "label": "Pixhawk to ESC 3 signal", "source": "pixhawk_6x_flight_controller", "target": "blheli_s_20a_esc_3", "protocol": "pwm", "sourcePin": "GPIO", "targetPin": "PWM signal" }, { "type": "data", "label": "Pixhawk to ESC 4 signal", "source": "pixhawk_6x_flight_controller", "target": "blheli_s_20a_esc_4", "protocol": "pwm", "sourcePin": "GPIO", "targetPin": "PWM signal" }, { "source": "txb0108_level_shifter", "target": "pixhawk_6x_flight_controller", "type": "data", "sourcePin": "A1", "targetPin": "Telemetry 2 UART TX", "voltage": "3.3V" }, { "source": "txb0108_level_shifter", "target": "raspberry_pi_5_companion_computer", "type": "data", "sourcePin": "B1", "targetPin": "UART RX", "voltage": "5V" }, { "source": "holybro_pdb", "target": "mini_5v_buck_converter", "type": "power", "sourcePin": "Battery input", "targetPin": "IN+", "voltage": "14.8V" }, { "source": "mini_5v_buck_converter", "target": "status_led_ring", "type": "power", "sourcePin": "OUT+", "targetPin": "Power", "voltage": "5V" }, { "source": "txb0108_level_shifter", "target": "raspberry_pi_5_companion_computer", "type": "data", "sourcePin": "B2", "targetPin": "UART TX", "voltage": "5V" }, { "source": "pixhawk_6x_flight_controller", "target": "txb0108_level_shifter", "type": "data", "sourcePin": "Telemetry 2 UART RX", "targetPin": "A2", "voltage": "3.3V" }, { "source": "mini_5v_buck_converter", "target": "status_led_ring", "type": "power", "sourcePin": "OUT-", "targetPin": "Ground", "voltage": "0V" }, { "source": "raspberry_pi_5_companion_computer", "target": "txb0108_level_shifter", "type": "power", "sourcePin": "GPIO", "targetPin": "VCCB", "voltage": "5V" }, { "source": "pixhawk_6x_flight_controller", "target": "txb0108_level_shifter", "type": "power", "sourcePin": "Telemetry 2 UART", "targetPin": "VCCA", "voltage": "3.3V" }, { "source": "raspberry_pi_5_companion_computer", "target": "lora_sx1276_module", "type": "data", "sourcePin": "GPIO 25", "targetPin": "SPI", "voltage": "3.3V" }, { "source": "raspberry_pi_5_companion_computer", "target": "atecc608b_secure_element", "type": "data", "sourcePin": "GPIO 2", "targetPin": "I2C", "voltage": "3.3V" }, { "source": "mini_5v_buck_converter", "target": "status_led_ring", "type": "power", "sourcePin": "OUT+", "targetPin": "Power", "voltage": "5V" }, { "source": "mini_5v_buck_converter", "target": "status_led_ring", "type": "power", "sourcePin": "OUT-", "targetPin": "Ground", "voltage": "0V" }, { "source": "txb0108_level_shifter", "target": "pixhawk_6x_flight_controller", "type": "data", "sourcePin": "A1", "targetPin": "Telemetry 2 UART TX", "voltage": "3.3V" }, { "source": "txb0108_level_shifter", "target": "pixhawk_6x_flight_controller", "type": "data", "sourcePin": "A2", "targetPin": "Telemetry 2 UART RX", "voltage": "3.3V" }, { "source": "txb0108_level_shifter", "target": "raspberry_pi_5_companion_computer", "type": "data", "sourcePin": "B1", "targetPin": "UART RX", "voltage": "5V" }, { "source": "txb0108_level_shifter", "target": "raspberry_pi_5_companion_computer", "type": "data", "sourcePin": "B2", "targetPin": "UART TX", "voltage": "5V" }, { "source": "txb0108_level_shifter", "target": "pixhawk_6x_flight_controller", "type": "data", "sourcePin": "A1", "targetPin": "Telemetry 2 UART TX", "voltage": "3.3V" }, { "source": "txb0108_level_shifter", "target": "raspberry_pi_5_companion_computer", "type": "data", "sourcePin": "B1", "targetPin": "UART RX", "voltage": "5V" }, { "source": "txb0108_level_shifter", "target": "raspberry_pi_5_companion_computer", "type": "data", "sourcePin": "B2", "targetPin": "UART TX", "voltage": "5V" }, { "source": "pixhawk_6x_flight_controller", "target": "txb0108_level_shifter", "type": "data", "sourcePin": "Telemetry 2 UART RX", "targetPin": "A2", "voltage": "3.3V" }, { "source": "mini_5v_buck_converter", "target": "status_led_ring", "type": "power", "sourcePin": "OUT-", "targetPin": "Ground", "voltage": "0V" }, { "source": "mini_5v_buck_converter", "target": "status_led_ring", "type": "power", "sourcePin": "OUT+", "targetPin": "Power", "voltage": "5V" } ], "mechanicalConnections": [ { "label": "mounts onto", "source": "pixhawk_6x_tray", "target": "vibration_dampers_kit" }, { "label": "isolated mounting onto centre plate", "source": "holybro_x500_v2_frame_kit", "target": "vibration_dampers_kit" }, { "label": "secures battery to bottom plate", "source": "holybro_x500_v2_frame_kit", "target": "hook_and_loop_battery_strap" }, { "label": "used for various component attachments", "source": "holybro_x500_v2_frame_kit", "target": "general_mounting_hardware_kit" }, { "label": "mounts onto top plate", "source": "holybro_x500_v2_frame_kit", "target": "gps_module_mast" }, { "label": "mounts onto top plate (rear)", "source": "holybro_x500_v2_frame_kit", "target": "lora_antenna_mount" }, { "label": "mounts onto top plate (side)", "source": "holybro_x500_v2_frame_kit", "target": "rpi5_wifi_adapter_mount" }, { "label": "mounts onto top plate (beside Pi 5)", "source": "holybro_x500_v2_frame_kit", "target": "atecc608b_carrier_mount" }, { "label": "mounts onto front (optional)", "source": "holybro_x500_v2_frame_kit", "target": "rpi_camera_module_mount" }, { "label": "mounts onto centre plate perimeter", "source": "holybro_x500_v2_frame_kit", "target": "status_led_ring_mount" }, { "label": "mounts onto top of centre plate", "source": "holybro_x500_v2_frame_kit", "target": "pixhawk_6x_tray" }, { "label": "mounts onto top plate (front)", "source": "holybro_x500_v2_frame_kit", "target": "rpi5_mount" }, { "label": "mounts active cooler to Pi 5 assembly", "source": "rpi5_mount", "target": "rpi_5_active_cooler_mount" }, { "label": "mount", "source": "gps_module_mast", "target": "holybro_m9n_gnss_module" }, { "label": "mount", "source": "lora_antenna_mount", "target": "lora_sx1276_module" }, { "label": "mount", "source": "rpi5_wifi_adapter_mount", "target": "wifi_6_usb_adapter" }, { "label": "mount", "source": "atecc608b_carrier_mount", "target": "atecc608b_secure_element" }, { "label": "mount", "source": "rpi_camera_module_mount", "target": "rpi_camera_module_3" }, { "label": "mount", "source": "status_led_ring_mount", "target": "status_led_ring" }, { "label": "mount", "source": "pixhawk_6x_tray", "target": "pixhawk_6x_flight_controller" }, { "label": "mount", "source": "rpi5_mount", "target": "raspberry_pi_5_companion_computer" }, { "label": "mount", "source": "rpi_5_active_cooler_mount", "target": "rpi_5_active_cooler" }, { "label": "mount", "source": "holybro_2216_kv880_motor_1_mount", "target": "holybro_2216_kv880_motor_1" }, { "label": "mount", "source": "holybro_2216_kv880_motor_2_mount", "target": "holybro_2216_kv880_motor_2" }, { "label": "mount", "source": "holybro_2216_kv880_motor_3_mount", "target": "holybro_2216_kv880_motor_3" }, { "label": "mount", "source": "holybro_2216_kv880_motor_4_mount", "target": "holybro_2216_kv880_motor_4" }, { "label": "mount", "source": "blheli_s_20a_esc_1_mount", "target": "blheli_s_20a_esc_1" }, { "label": "mount", "source": "blheli_s_20a_esc_2_mount", "target": "blheli_s_20a_esc_2" }, { "label": "mount", "source": "blheli_s_20a_esc_3_mount", "target": "blheli_s_20a_esc_3" }, { "label": "mount", "source": "blheli_s_20a_esc_4_mount", "target": "blheli_s_20a_esc_4" }, { "source": "holybro_2216_kv880_motor_1", "target": "1045_propeller_fl", "label": "M5 prop nut" }, { "source": "holybro_2216_kv880_motor_2", "target": "1045_propeller_fr", "label": "M5 prop nut" }, { "source": "holybro_2216_kv880_motor_3", "target": "1045_propeller_rl", "label": "M5 prop nut" }, { "source": "holybro_2216_kv880_motor_4", "target": "1045_propeller_rr", "label": "M5 prop nut" }, { "source": "holybro_x500_v2_frame_kit", "target": "holybro_pdb", "label": "M3 standoffs to bottom plate" }, { "source": "holybro_x500_v2_frame_kit", "target": "blheli_s_20a_esc_1", "label": "Zip-tie to arm" }, { "source": "holybro_x500_v2_frame_kit", "target": "blheli_s_20a_esc_2", "label": "Zip-tie to arm" }, { "source": "holybro_x500_v2_frame_kit", "target": "blheli_s_20a_esc_3", "label": "Zip-tie to arm" }, { "source": "holybro_x500_v2_frame_kit", "target": "blheli_s_20a_esc_4", "label": "Zip-tie to arm" }, { "source": "txb0108_level_shifter", "target": "pixhawk_6x_tray", "label": "M2.5 nylon standoffs" }, { "source": "mini_5v_buck_converter", "target": "holybro_pdb", "label": "double-sided adhesive foam" }, { "source": "txb0108_level_shifter", "target": "m2_5_nylon_standoff_kit", "label": "M2.5 nylon screw" }, { "source": "m2_5_nylon_standoff_kit", "target": "pixhawk_6x_tray", "label": "M2.5 threaded hole" }, { "source": "mini_5v_buck_converter", "target": "holybro_pdb", "label": "High-bond adhesive foam" }, { "source": "swarm_governance_guide_v1", "target": "holybro_x500_v2_frame_kit", "label": "procedural reference" }, { "source": "swarm_governance_guide_v1", "target": "pixhawk_6x_flight_controller", "label": "integration guide" }, { "source": "swarm_governance_guide_v1", "target": "raspberry_pi_5_companion_computer", "label": "software deployment guide" } ], "projectId": "f2a22066-76ab-4f1a-bae6-4b88093dc28e" }