{ "projectName": "HMAA-UAV", "approach": "# HMAA-UAV Project Guide\n\n## Overview\nThe HMAA-UAV is an Authority-Governed UAV Platform designed for operation in contested environments, featuring trust-governed flight and recovery-driven autonomy. Key subsystems include a robust carbon fiber frame, a Cube Orange+ flight controller for flight decisions, an AI companion computer for explainable autonomy, and comprehensive sensor suite for advanced perception and digital twin monitoring.\n\n## Assumptions\n* **Power Source:** 6S 8000mAh LiPo battery (22.2V nominal).\n* **Environment:** Contested environments, requiring robust EMI shielding and redundant systems.\n* **Skill Level:** Intermediate to advanced hardware and software engineering skills for assembly, configuration, and flight.\n* **Tools:** Standard drone building tools (soldering iron, hex drivers, multimeters, 3D printer access).\n* **Software:** ArduPilot firmware, ROS/PX4 integration for companion computer, MAVLink for communication.\n\n## Action Items\n- [ ] 3D print all custom mounts (pixhawk_cube_mount_enclosure, rgb_camera_mount, gps_mast_mount, optical_flow_sensor_mount, lipo_battery_tray, antenna_mount_telemetry_wifi, esc_holders_3d_printed).\n- [ ] Assemble quadcopter_frame_450_650mm with landing_gear_skids using m3_screws_10mm.\n- [ ] Mount power_distribution_board to the frame using m3_nylon_standoffs_10mm.\n- [ ] Install esc_motor_upgraded_0-3, securing ESCs with esc_holders_3d_printed and cable_ties_small.\n- [ ] Wire main power harness: lipo_battery_6s_8000mah → inline_fuse_100a → power_distribution_board using power_connectors_wiring (XT90).\n- [ ] Connect all ESCs to power_distribution_board and flight_controller_cube_orange_plus (MAIN OUT 1-4).\n- [ ] Integrate flight_controller_cube_orange_plus into pixhawk_cube_mount_enclosure and mount to frame with m3_nylon_standoffs_10mm.\n- [ ] Install AI companion computer_jetson_orin_nx with jetson_cooling_fan and connect to flight_controller_cube_orange_plus (TELEM2) and its dedicated BEC (bec_for_jetson).\n- [ ] Mount and connect all sensors (upgraded_gps_module, secondary_gps_module, barometer_sensor, optical_flow_sensor, upgraded_primary_camera, thermal_camera, upgraded_lidar_sensor, uwb_localization_module, radar_altimeter, secondary_imu) to the flight controller and/or companion computer, ensuring proper vibration isolation and EMI suppression with ferrite_cores_emi.\n- [ ] Connect RC receiver, kill switch, and telemetry radios.\n- [ ] Perform pre-flight checks: power validation, motor direction, sensor calibration, and radio setup.\n- [ ] Install propellers_15_inch_main and conduct initial hover tests.\n\n## Assembly Key Points\n\n| Component A | Component B | Key Considerations ", "nodes": [ { "id": "barometer_sensor", "name": "External Barometer Sensor", "type": "sensor", "category": "electrical", "quantity": 1, "estimatedCost": 7, "purchaseUrl": "https://www.amazon.com/s?k=bmp280+module", "description": "Measures atmospheric pressure for altitude estimation.", "dimensions": "11.5x10x2.5mm", "pins": [ "SCL", "SDA", "VCC", "GND" ], "productName": "BMP280 Module", "amazonUrl": "https://www.amazon.com/s?k=BMP280%20Module&linkCode=ll2&tag=3e8hardware-20&linkId=4ccf4163514d07f9bf547ac1c23fd3e0&language=en_US&ref_=as_li_ss_tl", "imageUrl": "https://imgs.search.brave.com/dZcUsP8aAsJEuPRgvwwtAwcqPu6PiEWp-V4jy67VdHc/rs:fit:500:0:1:0/g:ce/aHR0cHM6Ly9tLm1l/ZGlhLWFtYXpvbi5j/b20vaW1hZ2VzL0kv/NTFtNHFGa0wyR0wu/anBn", "boundingBox": { "width": 11.5, "height": 2.5, "depth": 10 }, "position3d": { "x": 10, "y": 200, "z": -10 } }, { "id": "optical_flow_sensor", "name": "Optical Flow Sensor", "type": "sensor", "category": "electrical", "quantity": 1, "estimatedCost": 35, "purchaseUrl": "https://www.amazon.com/s?k=pmw3901+optical+flow+sensor", "description": "Estimates ground velocity using visual patterns for precise indoor or low-altitude flight.", "dimensions": "30x20x10mm", "pins": [ "SPI_SCK", "SPI_MISO", "SPI_MOSI", "SPI_CS", "VCC", "GND" ], "productName": "PMW3901 Optical Flow Module", "amazonUrl": "https://www.amazon.com/s?k=PMW3901%20Optical%20Flow%20Module&linkCode=ll2&tag=3e8hardware-20&linkId=4ccf4163514d07f9bf547ac1c23fd3e0&language=en_US&ref_=as_li_ss_tl", "imageUrl": "https://imgs.search.brave.com/hkmcieLadsouG9duu6Fe-MquKEYKBa9Dc3NDhJ-GwCo/rs:fit:500:0:1:0/g:ce/aHR0cHM6Ly9tLm1l/ZGlhLWFtYXpvbi5j/b20vaW1hZ2VzL0kv/NjE4WVU1akpIekwu/anBn", "boundingBox": { "width": 30, "height": 10, "depth": 20 }, "position3d": { "x": 0, "y": 80, "z": 50 } }, { "id": "power_distribution_board", "name": "Power Distribution Board", "type": "power", "category": "electrical", "quantity": 1, "estimatedCost": 20, "purchaseUrl": "https://www.amazon.com/s?k=quadcopter+power+distribution+board+with+bec", "description": "Distributes power from the main battery to all components and provides regulated voltage outputs.", "dimensions": "50x50x10mm", "pins": [ "Battery_IN_POS", "Battery_IN_NEG", "ESC_OUT_0_POS", "ESC_OUT_0_NEG", "ESC_OUT_1_POS", "ESC_OUT_1_NEG", "ESC_OUT_2_POS", "ESC_OUT_2_NEG", "ESC_OUT_3_POS", "ESC_OUT_3_NEG", "BEC_5V_OUT", "BEC_12V_OUT" ], "productName": "Matek Systems PDB-XT60", "amazonUrl": "https://www.amazon.com/s?k=Matek%20Systems%20PDB-XT60&linkCode=ll2&tag=3e8hardware-20&linkId=4ccf4163514d07f9bf547ac1c23fd3e0&language=en_US&ref_=as_li_ss_tl", "imageUrl": "https://imgs.search.brave.com/kKJsi86Wsh-NvjW9EKZy2GasakWIn-4CF1AhjZ2fDkY/rs:fit:500:0:1:0/g:ce/aHR0cHM6Ly9pbWcu/Z2tiY2RuLmNvbS9z/My9wLzIwMTYtMDYt/MDQvbWF0ZWstcGRi/LXh0NjAtcG93ZXIt/ZGlzdHJpYnV0aW9u/LWJvYXJkLXctLWJl/Yy01di0tLTEydi0y/b3otY29wcGVyLWZv/ci1yYy1tdWx0aXJv/dG9ycy0xNTcxOTgx/Mjk2NTAzLmpwZw", "boundingBox": { "width": 50, "height": 10, "depth": 50 }, "position3d": { "x": 0, "y": 195, "z": 0 } }, { "id": "quadcopter_frame_450_650mm", "name": "Quadcopter Frame", "type": "structural", "category": "mechanical", "quantity": 1, "estimatedCost": 65, "purchaseUrl": "https://www.amazon.com/s?k=450-650mm+quadcopter+carbon+fiber+frame", "description": "Carbon fiber quadcopter frame, 450-650mm wheelbase, for main structural support.", "dimensions": "480x480x100mm", "material": "Carbon Fiber", "productName": "Generic 500mm Carbon Fiber Quadcopter Frame", "amazonUrl": "https://www.amazon.com/s?k=Generic%20500mm%20Carbon%20Fiber%20Quadcopter%20Frame&linkCode=ll2&tag=3e8hardware-20&linkId=4ccf4163514d07f9bf547ac1c23fd3e0&language=en_US&ref_=as_li_ss_tl", "boundingBox": { "width": 480, "height": 100, "depth": 480 }, "position3d": { "x": 0, "y": 140, "z": 0 } }, { "id": "landing_gear_skids", "name": "Landing Gear Skids", "type": "structural", "category": "mechanical", "quantity": 1, "estimatedCost": 15, "purchaseUrl": "https://www.amazon.com/s?k=quadcopter+landing+gear", "description": "Durable landing gear skids to protect drone components on landing.", "dimensions": "200x50x80mm", "material": "Plastic/Carbon Fiber Composite", "productName": "Quadcopter Landing Gear Set", "amazonUrl": "https://www.amazon.com/s?k=Quadcopter%20Landing%20Gear%20Set&linkCode=ll2&tag=3e8hardware-20&linkId=4ccf4163514d07f9bf547ac1c23fd3e0&language=en_US&ref_=as_li_ss_tl", "boundingBox": { "width": 200, "height": 80, "depth": 50 }, "position3d": { "x": 0, "y": 40, "z": 0 } }, { "id": "pixhawk_cube_mount_enclosure", "name": "Pixhawk/Cube FC Enclosure", "type": "3d_printed", "category": "mechanical", "quantity": 1, "estimatedCost": 3, "purchaseUrl": "https://www.amazon.com/s?k=3d+printing+service", "description": "3D-printed protective enclosure and mounting bracket for the Pixhawk/Cube flight controller.", "dimensions": "80x60x30mm", "material": "PETG", "printSettings": "Infill: 30%, Layer Height: 0.2mm, Material: PETG", "amazonUrl": "https://www.amazon.com/s?k=Pixhawk%2FCube%20FC%20Enclosure&linkCode=ll2&tag=3e8hardware-20&linkId=4ccf4163514d07f9bf547ac1c23fd3e0&language=en_US&ref_=as_li_ss_tl", "boundingBox": { "width": 80, "height": 30, "depth": 60 }, "position3d": { "x": 0, "y": 225, "z": 0 } }, { "id": "rgb_camera_mount", "name": "RGB Camera Mount", "type": "3d_printed", "category": "mechanical", "quantity": 1, "estimatedCost": 1.5, "purchaseUrl": "https://www.amazon.com/s?k=3d+printing+service", "description": "Adjustable 3D-printed mount for the RGB camera, attachable to the main frame.", "dimensions": "40x35x30mm", "material": "PLA", "printSettings": "Infill: 20%, Layer Height: 0.2mm, Material: PLA", "amazonUrl": "https://www.amazon.com/s?k=RGB%20Camera%20Mount&linkCode=ll2&tag=3e8hardware-20&linkId=4ccf4163514d07f9bf547ac1c23fd3e0&language=en_US&ref_=as_li_ss_tl", "boundingBox": { "width": 40, "height": 30, "depth": 35 }, "position3d": { "x": 0, "y": 180, "z": 250 } }, { "id": "gps_mast_mount", "name": "GPS Mast and Mount", "type": "3d_printed", "category": "mechanical", "quantity": 1, "estimatedCost": 2, "purchaseUrl": "https://www.amazon.com/s?k=3d+printing+service", "description": "3D-printed foldable mast and base for mounting the GPS module above the drone frame.", "dimensions": "120x20x20mm", "material": "PLA", "printSettings": "Infill: 25%, Layer Height: 0.2mm, Material: PLA", "amazonUrl": "https://www.amazon.com/s?k=GPS%20Mast%20and%20Mount&linkCode=ll2&tag=3e8hardware-20&linkId=4ccf4163514d07f9bf547ac1c23fd3e0&language=en_US&ref_=as_li_ss_tl", "boundingBox": { "width": 20, "height": 120, "depth": 20 }, "position3d": { "x": 0, "y": 260, "z": -180 } }, { "id": "optical_flow_sensor_mount", "name": "Optical Flow Sensor Mount", "type": "3d_printed", "category": "mechanical", "quantity": 1, "estimatedCost": 1, "purchaseUrl": "https://www.amazon.com/s?k=3d+printing+service", "description": "Small 3D-printed mount for the optical flow sensor, positioning it for ground tracking.", "dimensions": "30x25x15mm", "material": "PLA", "printSettings": "Infill: 20%, Layer Height: 0.2mm, Material: PLA", "amazonUrl": "https://www.amazon.com/s?k=Optical%20Flow%20Sensor%20Mount&linkCode=ll2&tag=3e8hardware-20&linkId=4ccf4163514d07f9bf547ac1c23fd3e0&language=en_US&ref_=as_li_ss_tl", "boundingBox": { "width": 30, "height": 15, "depth": 25 }, "position3d": { "x": 0, "y": 90, "z": 50 } }, { "id": "lipo_battery_tray", "name": "LiPo Battery Tray", "type": "3d_printed", "category": "mechanical", "quantity": 1, "estimatedCost": 3, "purchaseUrl": "https://www.amazon.com/s?k=3d+printing+service", "description": "3D-printed tray to securely hold the LiPo battery, attaching to the drone frame.", "dimensions": "150x60x30mm", "material": "PETG", "printSettings": "Infill: 30%, Layer Height: 0.2mm, Material: PETG", "amazonUrl": "https://www.amazon.com/s?k=LiPo%20Battery%20Tray&linkCode=ll2&tag=3e8hardware-20&linkId=4ccf4163514d07f9bf547ac1c23fd3e0&language=en_US&ref_=as_li_ss_tl", "boundingBox": { "width": 150, "height": 30, "depth": 60 }, "position3d": { "x": 0, "y": 95, "z": -120 } }, { "id": "antenna_mount_telemetry_wifi", "name": "Antenna Mounts (Telemetry/WiFi)", "type": "3d_printed", "category": "mechanical", "quantity": 2, "estimatedCost": 0.75, "purchaseUrl": "https://www.amazon.com/s?k=3d+printing+service", "description": "Small 3D-printed holders for telemetry and WiFi antennas, ensuring optimal orientation.", "dimensions": "20x15x15mm", "material": "PLA", "printSettings": "Infill: 20%, Layer Height: 0.2mm, Material: PLA", "amazonUrl": "https://www.amazon.com/s?k=Antenna%20Mounts%20(Telemetry%2FWiFi)&linkCode=ll2&tag=3e8hardware-20&linkId=4ccf4163514d07f9bf547ac1c23fd3e0&language=en_US&ref_=as_li_ss_tl", "boundingBox": { "width": 20, "height": 15, "depth": 15 }, "position3d": { "x": 150, "y": 180, "z": 150 } }, { "id": "esc_holders_3d_printed", "name": "ESC Holders", "type": "3d_printed", "category": "mechanical", "quantity": 4, "estimatedCost": 0.5, "purchaseUrl": "https://www.amazon.com/s?k=3d+printing+service", "description": "3D-printed holders to secure Electronic Speed Controllers (ESCs) to the drone arms.", "dimensions": "30x20x10mm", "material": "PLA", "printSettings": "Infill: 20%, Layer Height: 0.2mm, Material: PLA", "amazonUrl": "https://www.amazon.com/s?k=ESC%20Holders&linkCode=ll2&tag=3e8hardware-20&linkId=4ccf4163514d07f9bf547ac1c23fd3e0&language=en_US&ref_=as_li_ss_tl", "boundingBox": { "width": 30, "height": 10, "depth": 20 }, "position3d": { "x": 200, "y": 120, "z": 200 } }, { "id": "m3_screws_10mm", "name": "M3x10mm Screws", "type": "misc", "category": "mechanical", "quantity": 30, "estimatedCost": 0.05, "purchaseUrl": "https://www.amazon.com/s?k=m3x10mm+screws", "description": "Assorted M3x10mm screws for general component mounting.", "dimensions": "M3x10mm", "material": "Steel", "productName": "M3 Hex Socket Head Cap Screws", "amazonUrl": "https://www.amazon.com/s?k=M3%20Hex%20Socket%20Head%20Cap%20Screws&linkCode=ll2&tag=3e8hardware-20&linkId=4ccf4163514d07f9bf547ac1c23fd3e0&language=en_US&ref_=as_li_ss_tl" }, { "id": "m3_screws_20mm", "name": "M3x20mm Screws", "type": "misc", "category": "mechanical", "quantity": 10, "estimatedCost": 0.07, "purchaseUrl": "https://www.amazon.com/s?k=m3x20mm+screws", "description": "M3x20mm screws for securing thicker components or through-holes.", "dimensions": "M3x20mm", "material": "Steel", "productName": "M3 Hex Socket Head Cap Screws", "amazonUrl": "https://www.amazon.com/s?k=M3%20Hex%20Socket%20Head%20Cap%20Screws&linkCode=ll2&tag=3e8hardware-20&linkId=4ccf4163514d07f9bf547ac1c23fd3e0&language=en_US&ref_=as_li_ss_tl" }, { "id": "m3_nylon_standoffs_10mm", "name": "M3x10mm Nylon Standoffs", "type": "misc", "category": "mechanical", "quantity": 12, "estimatedCost": 0.1, "purchaseUrl": "https://www.amazon.com/s?k=m3x10mm+nylon+standoffs", "description": "Nylon standoffs for mounting PCBs like the flight controller and PDB, providing electrical isolation.", "dimensions": "M3x10mm", "material": "Nylon", "productName": "M3x10mm Nylon Standoff Kit", "amazonUrl": "https://www.amazon.com/s?k=M3x10mm%20Nylon%20Standoff%20Kit&linkCode=ll2&tag=3e8hardware-20&linkId=4ccf4163514d07f9bf547ac1c23fd3e0&language=en_US&ref_=as_li_ss_tl" }, { "id": "m3_nylon_standoffs_20mm", "name": "M3x20mm Nylon Standoffs", "type": "misc", "category": "mechanical", "quantity": 8, "estimatedCost": 0.12, "purchaseUrl": "https://www.amazon.com/s?k=m3x20mm+nylon+standoffs", "description": "Taller nylon standoffs for components requiring more clearance, like the Jetson Orin NX.", "dimensions": "M3x20mm", "material": "Nylon", "productName": "M3x20mm Nylon Standoff Kit", "amazonUrl": "https://www.amazon.com/s?k=M3x20mm%20Nylon%20Standoff%20Kit&linkCode=ll2&tag=3e8hardware-20&linkId=4ccf4163514d07f9bf547ac1c23fd3e0&language=en_US&ref_=as_li_ss_tl" }, { "id": "m3_nuts", "name": "M3 Nuts", "type": "misc", "category": "mechanical", "quantity": 40, "estimatedCost": 0.03, "purchaseUrl": "https://www.amazon.com/s?k=m3+nuts", "description": "Standard M3 nuts for securing bolts and screws.", "dimensions": "M3", "material": "Steel", "productName": "M3 Hex Nuts", "amazonUrl": "https://www.amazon.com/s?k=M3%20Hex%20Nuts&linkCode=ll2&tag=3e8hardware-20&linkId=4ccf4163514d07f9bf547ac1c23fd3e0&language=en_US&ref_=as_li_ss_tl" }, { "id": "m3_washers", "name": "M3 Washers", "type": "misc", "category": "mechanical", "quantity": 40, "estimatedCost": 0.02, "purchaseUrl": "https://www.amazon.com/s?k=m3+washers", "description": "M3 washers to distribute load and prevent damage.", "dimensions": "M3", "material": "Steel", "productName": "M3 Flat Washers", "amazonUrl": "https://www.amazon.com/s?k=M3%20Flat%20Washers&linkCode=ll2&tag=3e8hardware-20&linkId=4ccf4163514d07f9bf547ac1c23fd3e0&language=en_US&ref_=as_li_ss_tl" }, { "id": "lipo_battery_strap", "name": "LiPo Battery Strap", "type": "misc", "category": "mechanical", "quantity": 2, "estimatedCost": 1.5, "purchaseUrl": "https://www.amazon.com/s?k=lipo+battery+strap+velcro", "description": "Velcro strap for extra security to hold the LiPo battery in its tray.", "dimensions": "20x250x2mm", "material": "Velcro/Nylon", "productName": "LiPo Battery Strap", "amazonUrl": "https://www.amazon.com/s?k=LiPo%20Battery%20Strap&linkCode=ll2&tag=3e8hardware-20&linkId=4ccf4163514d07f9bf547ac1c23fd3e0&language=en_US&ref_=as_li_ss_tl" }, { "id": "cable_ties_small", "name": "Small Cable Ties", "type": "misc", "category": "mechanical", "quantity": 50, "estimatedCost": 0.01, "purchaseUrl": "https://www.amazon.com/s?k=small+zip+ties", "description": "Small cable ties for cable management and securing light components.", "dimensions": "2.5x100mm", "material": "Nylon", "productName": "Assorted Cable Ties", "amazonUrl": "https://www.amazon.com/s?k=Assorted%20Cable%20Ties&linkCode=ll2&tag=3e8hardware-20&linkId=4ccf4163514d07f9bf547ac1c23fd3e0&language=en_US&ref_=as_li_ss_tl" }, { "id": "backup_telemetry_radio", "name": "Backup Telemetry Radio", "type": "module", "category": "electrical", "quantity": 1, "estimatedCost": 75, "purchaseUrl": "https://www.sparkfun.com/products/18974", "description": "Independent backup 915MHz RF link for redundant command and control, connects to the companion computer.", "productName": "SparkFun Transceiver Breakout - RFM95W LoRa", "amazonUrl": "https://www.amazon.com/s?k=SparkFun%20Transceiver%20Breakout%20-%20RFM95W%20LoRa&linkCode=ll2&tag=3e8hardware-20&linkId=4ccf4163514d07f9bf547ac1c23fd3e0&language=en_US&ref_=as_li_ss_tl", "imageUrl": "https://imgs.search.brave.com/-8l86GPo_CYW3t8pogUqPX36CNlMvADTn8_-_IeQKbo/rs:fit:500:0:1:0/g:ce/aHR0cHM6Ly93d3cu/YmVycnliYXNlLmF0/L21lZGlhL2FiLzVi/LzFiLzE3Mjk1Njg3/ODcvQWRhZnJ1aXRS/Rk05NVdMb1JhUmFk/aW9UcmFuc2NlaXZl/ckJyZWFrb3V0ODY4/b2RlcjkxNU1Iei0x/MjYxMzYud2VicD90/cz0xNzUwODY0MDYz", "boundingBox": { "width": 30, "height": 10, "depth": 20 }, "position3d": { "x": 50, "y": 210, "z": -80 } }, { "id": "wifi_module_debug", "name": "Wi-Fi Debug Module", "type": "module", "category": "electrical", "quantity": 1, "estimatedCost": 15, 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"https://www.amazon.com/s?k=SparkFun%20GNSS-RTK-SMA%20Antenna&linkCode=ll2&tag=3e8hardware-20&linkId=4ccf4163514d07f9bf547ac1c23fd3e0&language=en_US&ref_=as_li_ss_tl", "imageUrl": "https://imgs.search.brave.com/vjlaDrIvdm1wBW1z1ploNeuPhC5CBv_mhp0xrASbppM/rs:fit:500:0:1:0/g:ce/aHR0cHM6Ly9jZG4x/MS5iaWdjb21tZXJj/ZS5jb20vcy0zZmQz/bWQxZ2hzL2ltYWdl/cy9zdGVuY2lsLzUw/MHg2NTkvcHJvZHVj/dHMvMzU2NzAvMjAz/OTIvS0lULTE4Mjky/X18yNjQyNC4xNzE4/ODY3NTg4LmpwZz9j/PTI", "boundingBox": { "width": 50, "height": 10, "depth": 50 }, "position3d": { "x": 0, "y": 320, "z": -180 } }, { "id": "avionics_bus_current_sensor", "name": "Avionics Bus Current Sensor", "type": "sensor", "category": "electrical", "quantity": 1, "estimatedCost": 25, "purchaseUrl": "https://supplier-link-pending/avionics-current-sensor", "productName": "Holybro PM07 Power Module", "amazonUrl": "https://www.amazon.com/s?k=Holybro%20PM07%20Power%20Module&linkCode=ll2&tag=3e8hardware-20&linkId=4ccf4163514d07f9bf547ac1c23fd3e0&language=en_US&ref_=as_li_ss_tl", "imageUrl": "https://imgs.search.brave.com/nfKYg8XZHN9p0YogGtB6rWY4sq1fwO7gGj0dpdd5-eU/rs:fit:500:0:1:0/g:ce/aHR0cHM6Ly9yY2Ry/b25lLnRvcC9jZG4v/c2hvcC9maWxlcy9T/ZWU3ODY4ZWE0MDk1/NDA3OWJiODMxMWNi/ODFlODAwMTM1Lmpw/Zz92PTE3MTI1OTUw/MDEmd2lkdGg9MTQ0/NQ", "boundingBox": { "width": 25, "height": 8, "depth": 20 }, "position3d": { "x": 25, "y": 205, "z": 45 } }, { "id": "propulsion_bus_current_sensor", "name": "Propulsion Bus Current Sensor", "type": "sensor", "category": "electrical", "quantity": 1, "estimatedCost": 35, "purchaseUrl": "https://supplier-link-pending/propulsion-current-sensor", "productName": "Matek Systems AP_PERIPH CAN-L4-BM", "amazonUrl": "https://www.amazon.com/s?k=Matek%20Systems%20AP_PERIPH%20CAN-L4-BM&linkCode=ll2&tag=3e8hardware-20&linkId=4ccf4163514d07f9bf547ac1c23fd3e0&language=en_US&ref_=as_li_ss_tl", "imageUrl": "https://imgs.search.brave.com/W5r8BKdg1SzOaOniXVxUBAu6RBIjL7whKkceEO0XqKM/rs:fit:500:0:1:0/g:ce/aHR0cHM6Ly9weXJv/ZHJvbmUuY29tL2Nk/bi9zaG9wL3Byb2R1/Y3RzL2ZfNDhjMTVi/MWUtNTc0NS00ZWMz/LWI5OWQtYTg2NzJm/NjEwNzYyXzcwMHg3/MDAucG5nP3Y9MTY1/ODQ0MzM2OQ", "boundingBox": { "width": 30, "height": 8, "depth": 25 }, "position3d": { "x": -25, "y": 205, "z": 45 } }, { "id": "propellers_15_inch_main", "name": "15-inch Propellers (Set of 4)", "type": "mechanism", "category": "mechanical", "quantity": 4, "estimatedCost": 15, "purchaseUrl": "https://supplier-link-pending/15-inch-propellers-set", "description": "Main set of four 15x5.5 carbon fiber propellers (2 CW, 2 CCW) for primary propulsion.", "productName": "1555 Carbon Fiber Propellers", "amazonUrl": "https://www.amazon.com/s?k=1555%20Carbon%20Fiber%20Propellers&linkCode=ll2&tag=3e8hardware-20&linkId=4ccf4163514d07f9bf547ac1c23fd3e0&language=en_US&ref_=as_li_ss_tl", "boundingBox": { "width": 380, "height": 10, "depth": 380 }, "position3d": { "x": 210, "y": 175, "z": 210 } }, { "id": "propellers_15_inch_spare", "name": "Spare 15-inch Propellers (Set of 2)", "type": "mechanism", "category": "mechanical", "quantity": 2, "estimatedCost": 15, "purchaseUrl": "https://supplier-link-pending/15-inch-propellers-set", "description": "Spare set of two 15x5.5 carbon fiber propellers (1 CW, 1 CCW).", "productName": "1555 Carbon Fiber Propellers", "amazonUrl": "https://www.amazon.com/s?k=1555%20Carbon%20Fiber%20Propellers&linkCode=ll2&tag=3e8hardware-20&linkId=4ccf4163514d07f9bf547ac1c23fd3e0&language=en_US&ref_=as_li_ss_tl", "boundingBox": { "width": 380, "height": 10, "depth": 380 }, "position3d": { "x": 0, "y": 50, "z": -250 } }, { "id": "power_connectors_wiring", "name": "XT60/XT90 Connectors and Wiring", "type": "misc", "category": "electrical", "quantity": 1, "estimatedCost": 25, "purchaseUrl": "https://supplier-link-pending/xt-connectors-wire-kit", "description": "Kit including XT90 and XT60 connectors, 12AWG and 16AWG silicone wire, and heat shrink tubing for creating the power distribution harness.", "productName": "XT90/XT60 Power Connector and Wire Kit", "amazonUrl": "https://www.amazon.com/s?k=XT90%2FXT60%20Power%20Connector%20and%20Wire%20Kit&linkCode=ll2&tag=3e8hardware-20&linkId=4ccf4163514d07f9bf547ac1c23fd3e0&language=en_US&ref_=as_li_ss_tl", "imageUrl": "https://imgs.search.brave.com/hl8diI4hAl3LQXcktQgB_UItBjHmqm8UqK4tRGrdrxI/rs:fit:500:0:1:0/g:ce/aHR0cHM6Ly9tLm1l/ZGlhLWFtYXpvbi5j/b20vaW1hZ2VzL0kv/NDF5Y1IxVFRJdUwu/anBn", "research": { "specs": [ { "label": "XT60 Current Rating", "value": "60A" }, { "label": "XT90 Current Rating", "value": "90A" }, { "label": "Connector Material", "value": "High-temp nylon with gold-plated spring pins/sockets" }, { "label": "XT60 Durability", "value": "300+ mating cycles" }, { "label": "XT90 Durability", "value": "500+ mating cycles" }, { "label": "XT60 Voltage Drop (at 50A)", "value": "0.35V" }, { "label": "XT90 Voltage Drop (at 50A)", "value": "0.21V" }, { "label": "Wire Gauges Included", "value": "12AWG and 16AWG silicone wire" }, { "label": "Safety Features", "value": "Anti-reverse polarity design, fireproof material, avoids wire exposure, XT90 has 40% stronger locking mechanism" } ], "sourcing": [ { "vendor": "DigiKey", "url": "https://www.digikey.com/en/products/detail/sparkfun-electronics/PRT-10474/8258064", "note": "XT60 Connectors Male/Female Pair (SparkFun PRT-10474)", "price": "$2.50" }, { "vendor": "DigiKey", "url": "https://www.digikey.com/en/products/detail/dfrobot/FIT0587/9559254", "note": "XT90 Male/Female Bullet Connector (DFRobot FIT0587)", "price": "$3.90" }, { "vendor": "Mouser", "url": "https://www.mouser.com/ProductDetail/DFRobot/FIT0588?qs=w/v1CP2dgqqgLwNcYqYWgQ%3D%3D", "note": "High Quality Gold Plated XT90 Male & Female Bullet Connector (DFRobot FIT0588)" }, { "vendor": "SparkFun", "url": "https://www.sparkfun.com/products/10474", "note": "XT60 Connectors - Male/Female Pair", "price": "$2.50" }, { "vendor": "Amazon", "url": "https://www.amazon.com/TMH-Adapter-Connector-Silicone-Battery/dp/B0DNT2R5JN", "note": "TMH 70 Pcs T-Plug / EC3 / EC5 / XT60 / XT90 Male and Female Adapter Connector Plug with Silicone Wire + Heat Shrink Tube" }, { "vendor": "AliExpress", "url": "https://sequremall.com/products/xt60-xt90-high-current-silicone-wire-connector", "note": "XT60 / XT90 high current silicone wire connector (Sequre)", "price": "Varies by option" }, { "vendor": "Alibaba", "url": "https://www.alibaba.com/trade/search?keyword=XT90+XT60+connector+wire+kit", "note": "Search results for XT90/XT60 power connector and wire kit" } ], "summary": "This kit includes XT90 and XT60 power connectors, 12AWG and 16AWG silicone wire, and heat shrink tubing, ideal for creating power distribution harnesses in high-current applications. XT60 connectors are rated for 60A, while XT90 connectors handle 90A, making them popular in RC hobbies, drones, and electric vehicles due to their reliability, ease of solderability, and safety features like anti-reverse polarity and fireproof materials. The XT90 offers superior durability and lower voltage drop compared to the XT60.", "alternatives": [ { "name": "XT30 Connectors", "reason": "Suitable for lower current applications (up to 30A), offering a smaller footprint." }, { "name": "XT150 Connectors", "reason": "For very high current applications (up to 150A), where XT90 is insufficient." }, { "name": "Deans Connectors (T-Plug)", "reason": "Another popular connector type for RC hobbies, though often considered less robust and harder to solder than XT series connectors, and generally lower current rating." } ], "cadFileUrls": [], "datasheetUrl": "", "documentationUrls": [ { "title": "XT30, XT60, XT90, & Deans Connector Comparison - DigiKey TechForum", "url": "https://forum.digikey.com/t/xt30-xt60-xt90-deans-connector-comparison/34551" }, { "title": "Meet the Connector: XT Connectors - ConnectorSupplier", "url": "https://connectorsupplier.com/meet-the-connector-xt-connectors/" }, { "title": "XT60 vs XT90 Battery Connectors: Industrial and EV Guide - UfineBattery", "url": "https://www.ufinebattery.com/blog/xt60-vs-xt90-battery-connector-comparison/" } ], "examples": [ { "title": "DIY Power Distribution Harness for Drones/UAVs", "url": "https://www.ufinebattery.com/blog/xt60-vs-xt90-battery-connector-comparison/", "description": "Explains the use of XT60 and XT90 connectors in drones, EVs, and industrial devices, providing context for creating custom power harnesses." }, { "title": "Dual Battery Discharge Balancer Kit (XT90)", "url": "https://electricallwheel.com/products/60a-dual-battery-discharge-balancer-kit-12awg-xt90-connector-xt90-xt60-adapters-m-f", "description": "Demonstrates a practical application of XT90 and XT60 adapters for safely running two batteries in parallel for extended range and balanced power output in e-bikes or similar projects." }, { "title": "RC ESC Lipo Battery Motor Connections", "url": "https://www.amazon.com/TMH-Adapter-Connector-Silicone-Battery/dp/B0DNT2R5JN", "description": "Illustrates how a kit with various connectors and wires can be used to provide flexibility and convenience in connecting different battery types and customizing battery setups for RC devices." } ] } }, { "id": "ai_companion_computer_jetson_orin_nx", "name": "AI Companion Computer", "type": "module", "category": "electrical", "quantity": 1, "estimatedCost": 599, "purchaseUrl": "https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-orin/", "productName": "NVIDIA Jetson Orin NX 16GB Module", "amazonUrl": "https://www.amazon.com/s?k=NVIDIA%20Jetson%20Orin%20NX%2016GB%20Module&linkCode=ll2&tag=3e8hardware-20&linkId=4ccf4163514d07f9bf547ac1c23fd3e0&language=en_US&ref_=as_li_ss_tl", "imageUrl": "https://imgs.search.brave.com/Zy1IaIaH6Ii_TgfcAFPmcr-o_jL25jRaVgeTM6hhvwo/rs:fit:0:180:1:0/g:ce/aHR0cHM6Ly93d3cu/cm9ib3RzaG9wLmNv/bS9jZG4vc2hvcC9m/aWxlcy9hYWI1MDQ4/NF8xNTAwcHgud2Vi/cD92PTE3NjcwOTg0/OTkmd2lkdGg9MTAw", "boundingBox": { "width": 100, "height": 30, "depth": 80 }, "position3d": { "x": 0, "y": 200, "z": 80 } }, { "id": "inline_fuse_100a", "name": "Main Power Inline Fuse", "type": "misc", "category": "electrical", "quantity": 1, "estimatedCost": 5, "purchaseUrl": "https://www.digikey.com/en/products/detail/littelfuse-inc/0498100.MXT/777322", "description": "100A inline fuse for the main battery connection to protect against overcurrent events.", "productName": "Littelfuse MAXI 100A Fuse", "amazonUrl": "https://www.amazon.com/s?k=Littelfuse%20MAXI%20100A%20Fuse&linkCode=ll2&tag=3e8hardware-20&linkId=4ccf4163514d07f9bf547ac1c23fd3e0&language=en_US&ref_=as_li_ss_tl", "imageUrl": "https://imgs.search.brave.com/p8rQ6ZYnPm-2FqTUrKHjBjbhY4RWRRSqbDczP1lgXik/rs:fit:500:0:1:0/g:ce/aHR0cHM6Ly9yZXhl/bC1jZG4uY29tL3By/b2R1Y3RzL2xpdHRl/bGZ1c2VzbWFydGds/b3dtYXhpZ2xvLmpw/Zz9pPUQ2NDA5RjUx/LTFGMkYtNEQzRC04/RDU3LTgyQzA2RTlE/QkM5NiZmPTQyMA" }, { "id": "ferrite_cores_emi", "name": "Ferrite Cores for EMI Suppression", "type": "misc", "category": "electrical", "quantity": 4, "estimatedCost": 1.5, "purchaseUrl": "https://www.digikey.com/en/products/detail/kemet/ESD-R-25D-1/4291129", "description": "Clip-on ferrite cores for power and data lines to reduce electromagnetic interference.", "productName": "KEMET ESD-R-25D-1", "amazonUrl": "https://www.amazon.com/s?k=KEMET%20ESD-R-25D-1&linkCode=ll2&tag=3e8hardware-20&linkId=4ccf4163514d07f9bf547ac1c23fd3e0&language=en_US&ref_=as_li_ss_tl", "imageUrl": "https://imgs.search.brave.com/EMC6SmibQJLVozyQev_hmoMq2KW-wyfILlEjeiMvKKE/rs:fit:500:0:1:0/g:ce/aHR0cHM6Ly9jZThk/YzgzMmMuY2xvdWRp/bWcuaW8vdjcvX2Nk/bl8vRUIvMTYvQjAv/MDAvMC83NDU5MThf/MS5qcGc_d2lkdGg9/NjQwJmhlaWdodD00/ODAmd2F0PTEmd2F0/X3VybD1fdG1lLXdy/a18vdG1lX25ldy5w/bmcmd2F0X3NjYWxl/PTEwMHAmY2lfc2ln/bj1lY2M5NDZlMGU3/NjIzMzYwMjczMDI3/NDA5Y2ViOTEwNWZi/N2FkYTg0", "research": { "specs": [ { "label": "Type", "value": "Solid Toroidal Ferrite Core" }, { "label": "Inner Diameter (ID)", "value": "14.00mm (0.551\")" }, { "label": "Outer Diameter (OD)", "value": "26.00mm (1.024\")" }, { "label": "Length/Thickness", "value": "15.00mm (0.591\")" }, { "label": "Material Options (Series)", "value": "Manganese Zinc (MnZn), Nickel Zinc (NiZn) materials like S18H, S15H, 10H, 7H, 5H, 1400L, 700L" }, { "label": "Application", "value": "EMI suppression on round cables" }, { "label": "Form Factor", "value": "Free Hanging" } ], "sourcing": [ { "vendor": "DigiKey", "url": "https://www.digikey.com/en/products/detail/kemet/ESD-R-25/4290918", "price": "$2.25" }, { "vendor": "RS", "url": "https://mt.rsdelivers.com/product/kemet/esd-r-25d/kemet-ferrite-ring-for-use-with-round-cables/8119036P", "note": "RS Stock No.: 811-9036P" }, { "vendor": "Mouser", "url": "https://www.mouser.com/datasheet/2/212/1/KEM_E5001_ESD_R-1102243.pdf", "note": "Mouser lists the datasheet, product page not found in results for specific part." }, { "vendor": "Amazon", "url": "https://www.amazon.com/s?k=KEMET+ESD-R-25D-1" }, { "vendor": "AliExpress", "url": "https://www.aliexpress.com/w/wholesale-KEMET-ESD-R-25D-1.html" } ], "summary": "The KEMET ESD-R-25D-1 is a solid toroidal ferrite core designed for electromagnetic interference (EMI) suppression on round cables. It features an inner diameter of 14.00mm, an outer diameter of 26.00mm, and a length of 15.00mm, making it suitable for a variety of power and data lines. The core is part of the ESD-R series, which offers options in Manganese Zinc and Nickel Zinc materials for effective noise reduction across different frequency ranges." } }, { "id": "vibration_dampers_lidar", "name": "LiDAR Vibration Dampers", "type": "misc", "category": "mechanical", "quantity": 4, "estimatedCost": 2, "purchaseUrl": "https://www.getfpv.com/lumenier-m3-anti-vibration-motor-soft-mount-silicone-pads-4-pack.html", "description": "Silicone vibration damping balls for isolating the LiDAR sensor from frame vibrations.", "productName": "M3 Anti-Vibration Silicone Dampers", "amazonUrl": "https://www.amazon.com/s?k=M3%20Anti-Vibration%20Silicone%20Dampers&linkCode=ll2&tag=3e8hardware-20&linkId=4ccf4163514d07f9bf547ac1c23fd3e0&language=en_US&ref_=as_li_ss_tl" }, { "id": "jetson_cooling_fan", "name": "Jetson Orin NX Cooling Fan", "type": "misc", "category": "mechanical", "quantity": 1, "estimatedCost": 15, "purchaseUrl": "https://www.seeedstudio.com/Jetson-Orin-Nano-Orin-NX-Official-Cooling-Fan-p-5629.html", "description": "Active cooling fan and heatsink for the Jetson Orin NX to ensure optimal performance under heavy load.", "productName": "NVIDIA Jetson Orin NX/Nano Cooling Fan", "amazonUrl": "https://www.amazon.com/s?k=NVIDIA%20Jetson%20Orin%20NX%2FNano%20Cooling%20Fan&linkCode=ll2&tag=3e8hardware-20&linkId=4ccf4163514d07f9bf547ac1c23fd3e0&language=en_US&ref_=as_li_ss_tl" }, { "id": "secondary_gps_module", "name": "Secondary GPS Module", "type": "sensor", "category": "electrical", "quantity": 1, "estimatedCost": 75, "purchaseUrl": "https://www.cubepilot.org/cube-pilot-ecosystem/here3", "description": "Secondary Here3 GPS module for redundancy and improved navigation reliability.", "productName": "CubePilot Here3 CAN GPS", "amazonUrl": "https://www.amazon.com/s?k=CubePilot%20Here3%20CAN%20GPS&linkCode=ll2&tag=3e8hardware-20&linkId=4ccf4163514d07f9bf547ac1c23fd3e0&language=en_US&ref_=as_li_ss_tl", "imageUrl": "https://imgs.search.brave.com/L6pe-RVn0nAa2benv77nJ58ZmLedLY27VbD86adIerk/rs:fit:500:0:1:0/g:ce/aHR0cHM6Ly93d3cu/cm9ib3RzaG9wLmNv/bS9jZG4vc2hvcC9m/aWxlcy9jdWJlcGls/b3QtaGVyZTMtZ3Bz/LW1vZHVsZS1pc3Rh/bmQtaW1nNy53ZWJw/P3Y9MTcyMDUwNzgy/OSZ3aWR0aD0xMDI0", "boundingBox": { "width": 35, "height": 12, "depth": 35 }, "position3d": { "x": 0, "y": 280, "z": -180 } }, { "id": "bec_for_jetson", "name": "Jetson Power BEC", "type": "power", "category": "electrical", "quantity": 1, "estimatedCost": 25, "purchaseUrl": "https://www.amazon.com/Castle-Creations-010-0004-00-Bec-Regulator/dp/B000MXAR12", "description": "A high-current Battery Eliminator Circuit (BEC) to step down the 6S LiPo voltage (22.2V) to a stable 12V required by the Jetson Orin NX AI companion computer.", "productName": "Castle Creations CC BEC 2.0 Voltage Regulator", "amazonUrl": "https://www.amazon.com/s?k=Castle%20Creations%20CC%20BEC%202.0%20Voltage%20Regulator&linkCode=ll2&tag=3e8hardware-20&linkId=4ccf4163514d07f9bf547ac1c23fd3e0&language=en_US&ref_=as_li_ss_tl", "imageUrl": "https://imgs.search.brave.com/2zT7xYj0v-aZrKpRkJN2UB2LQYzsp8xJWZ2XJ7tc00I/rs:fit:500:0:1:0/g:ce/aHR0cHM6Ly9pLmVi/YXlpbWcuY29tL2lt/YWdlcy9nL2taa0FB/T1N3VGY5WlVwUVUv/cy1sMjI1LmpwZw", "boundingBox": { "width": 40, "height": 15, "depth": 25 }, "position3d": { "x": 0, "y": 190, "z": 130 } } ], "electricalConnections": [ { "source": "power_distribution_board", "target": "barometer_sensor", "type": "power", "label": "Barometer Power", "voltage": "3.3V" }, { "source": "power_distribution_board", "target": "optical_flow_sensor", "type": "power", "label": "Optical Flow Power", "voltage": "5V" }, { "source": "avionics_power_module", "target": "backup_telemetry_radio", "type": "power", "label": "3.3V Power" }, { "source": "avionics_power_module", "target": "secondary_imu", "type": "power", "label": "3.3V Power" }, { "source": "avionics_power_module", "target": "upgraded_primary_camera", "type": "power", "voltage": "5V" }, { "source": "avionics_power_module", "target": "upgraded_gps_module", "type": "power", "voltage": "5V" }, { "source": "avionics_power_module", "target": "uwb_localization_module", "type": "power", "voltage": "5V" }, { "source": "avionics_power_module", "target": "radar_altimeter", "type": "power", "voltage": "12V" }, { "source": "avionics_power_module", "target": "thermal_camera", "type": "power", "voltage": "3.3V" }, { "source": "avionics_power_module", "target": "rc_receiver", "type": "power", "label": "Receiver Power", "voltage": "5V" }, { "source": "remote_kill_switch", "target": "rc_receiver", "type": "data", "label": "Kill Switch Signal", "sourcePin": "Signal", "targetPin": "CH9", "voltage": "5V" }, { "source": "power_distribution_board", "target": "remote_kill_switch", "type": "power", "label": "Power Cutoff Control", "voltage": "22.2V (6S)" }, { "source": "flight_controller_cube_orange_plus", "target": "barometer_sensor", "type": "data", "label": "External Barometer", "sourcePin": "I2C2", "targetPin": "SDA/SCL", "voltage": "3.3V" }, { "source": "flight_controller_cube_orange_plus", "target": "secondary_imu", "type": "data", "label": "Secondary IMU", "sourcePin": "SPI1", "targetPin": "SPI", "voltage": "3.3V" }, { "source": "flight_controller_cube_orange_plus", "target": "uwb_localization_module", "type": "data", "label": "UWB Position", "sourcePin": "SERIAL4", "targetPin": "UART_TX/RX", "voltage": "3.3V" }, { "source": "flight_controller_cube_orange_plus", "target": "remote_kill_switch", "type": "data", "label": "Kill Switch Signal", "sourcePin": "AUX OUT 1", "targetPin": "Signal", "voltage": "5V" }, { "source": "avionics_power_module", "target": "upgraded_lidar_sensor", "type": "power", "label": "12V Power", "voltage": "12V" }, { "source": "gnss_antenna", "target": "upgraded_gps_module", "type": "data", "label": "RF Signal", "protocol": "RF" }, { "source": "ai_companion_computer_jetson_orin_nx", "target": "upgraded_primary_camera", "type": "data", "label": "Camera Feed", "protocol": "MIPI CSI-2" }, { "source": "thermal_camera", "target": "ai_companion_computer_jetson_orin_nx", "type": "data", "label": "Thermal Video", "protocol": "USB" }, { "source": "wifi_module_debug", "target": "ai_companion_computer_jetson_orin_nx", "type": "data", "label": "Debug/Comms", "protocol": "USB" }, { "source": "uwb_localization_module", "target": "ai_companion_computer_jetson_orin_nx", "type": "data", "label": "Positioning Data", "protocol": "USB" }, { "source": "backup_telemetry_radio", "target": "ai_companion_computer_jetson_orin_nx", "type": "data", "label": "Backup Telemetry", "protocol": "UART" }, { "source": "backup_telemetry_radio", "target": "flight_controller_cube_orange_plus", "type": "data", "sourcePin": "UART", "targetPin": "TELEM3", "voltage": "5V" }, { "source": "avionics_power_module", "target": "avionics_bus_current_sensor", "type": "power", "label": "Avionics Bus Supply", "voltage": "12V" }, { "source": "avionics_bus_current_sensor", "target": "flight_controller_cube_orange_plus", "type": "power", "label": "Avionics Power", "sourcePin": "OUT", "targetPin": "POWER1", "voltage": "12V" }, { "source": "power_distribution_board", "target": "propulsion_bus_current_sensor", "type": "power", "label": "Propulsion Bus Supply", "voltage": "22.2V" }, { "source": "propulsion_bus_current_sensor", "target": "flight_controller_cube_orange_plus", "type": "power", "label": "Propulsion Power Monitor", "sourcePin": "OUT", "targetPin": "POWER2", "voltage": "22.2V" }, { "source": "rc_receiver", "target": "flight_controller_cube_orange_plus", "type": "data", "label": "SBUS Control", "sourcePin": "SBUS_OUT", "targetPin": "DSM/SBUS RC", "voltage": "5V Signal Level" }, { "source": "flight_controller_cube_orange_plus", "target": "optical_flow_sensor", "type": "data", "label": "SPI1 Bus", "sourcePin": "SPI1_SCK, SPI1_MISO, SPI1_MOSI, SPI1_NSS2", "targetPin": "SCK, MISO, MOSI, CS", "voltage": "3.3V Signal Level" }, { "source": "flight_controller_cube_orange_plus", "target": "secondary_gps_module", "type": "data", "label": "GPS2 (UART)", "sourcePin": "GPS2", "targetPin": "UART_TX/RX", "voltage": "3.3V Signal Level" }, { "source": "lipo_battery_6s_8000mah", "target": "inline_fuse_100a", "type": "power", "label": "Main Power", "voltage": "22.2V" }, { "source": "inline_fuse_100a", "target": "power_distribution_board", "type": "power", "label": "Fused Main Power", "voltage": "22.2V" }, { "source": "power_distribution_board", "target": "avionics_power_module", "type": "power", "label": "Avionics Power Feed", "voltage": "22.2V" }, { "source": "ai_companion_computer_jetson_orin_nx", "target": "flight_controller_cube_orange_plus", "type": "data", "label": "MAVLink", "protocol": "MAVLink", "sourcePin": "TELEM2_TX", "targetPin": "TELEM2_RX" }, { "source": "avionics_power_module", "target": "upgraded_telemetry_radio", "type": "power", "label": "5V Power", "sourcePin": "5V_OUT", "targetPin": "VCC", "voltage": "5V" }, { "source": "flight_controller_cube_orange_plus", "target": "esc_motor_upgraded_0", "type": "data", "label": "Motor 1 Signal", "protocol": "DShot600", "sourcePin": "MAIN OUT 1", "targetPin": "Signal" }, { "source": "flight_controller_cube_orange_plus", "target": "esc_motor_upgraded_1", "type": "data", "label": "Motor 2 Signal", "protocol": "DShot600", "sourcePin": "MAIN OUT 2", "targetPin": "Signal" }, { "source": "flight_controller_cube_orange_plus", "target": "esc_motor_upgraded_2", "type": "data", "label": "Motor 3 Signal", "protocol": "DShot600", "sourcePin": "MAIN OUT 3", "targetPin": "Signal" }, { "source": "flight_controller_cube_orange_plus", "target": "esc_motor_upgraded_3", "type": "data", "label": "Motor 4 Signal", "protocol": "DShot600", "sourcePin": "MAIN OUT 4", "targetPin": "Signal" }, { "source": "flight_controller_cube_orange_plus", "target": "ai_companion_computer_jetson_orin_nx", "type": "data", "label": "FCU to CC Link", "protocol": "MAVLink", "sourcePin": "TELEM2", "targetPin": "UART_RX/TX" }, { "source": "ai_companion_computer_jetson_orin_nx", "target": "upgraded_lidar_sensor", "type": "data", "protocol": "Ethernet", "sourcePin": "RJ45", "targetPin": "RJ45" }, { "source": "flight_controller_cube_orange_plus", "target": "upgraded_telemetry_radio", "type": "data", "label": "MAVLink Telemetry", "protocol": "MAVLink", "sourcePin": "TELEM1", "targetPin": "UART" }, { "source": "flight_controller_cube_orange_plus", "target": "upgraded_gps_module", "type": "data", "label": "CAN1 Bus", "protocol": "CAN", "sourcePin": "CAN1", "targetPin": "CAN" }, { "source": "flight_controller_cube_orange_plus", "target": "radar_altimeter", "type": "data", "label": "CAN2 Bus", "protocol": "CAN", "sourcePin": "CAN2", "targetPin": "CAN" }, { "source": "power_distribution_board", "target": "bec_for_jetson", "type": "power", "label": "BEC Input Power", "voltage": "22.2V" }, { "source": "avionics_power_module", "target": "bec_for_jetson", "type": "power", "label": "12V Power In", "voltage": "12V" }, { "source": "bec_for_jetson", "target": "ai_companion_computer_jetson_orin_nx", "type": "power", "voltage": "12V" } ], "mechanicalConnections": [ { "source": "quadcopter_frame_450_650mm", "target": "landing_gear_skids", "label": "mounts to bottom via m3_screws_10mm" }, { "source": "quadcopter_frame_450_650mm", "target": "pixhawk_cube_mount_enclosure", "label": "mounts to bottom plate via m3_nylon_standoffs_10mm" }, { "source": "pixhawk_cube_mount_enclosure", "target": "pixhawk_cube_autopilot", "label": "encloses and mounts via m3_screws_10mm" }, { "source": "quadcopter_frame_450_650mm", "target": "rgb_camera_mount", "label": "attaches to front via m3_screws_10mm" }, { "source": "quadcopter_frame_450_650mm", "target": "gps_mast_mount", "label": "attaches to rear-top via m3_screws_10mm" }, { "source": "quadcopter_frame_450_650mm", "target": "optical_flow_sensor", "label": "attaches to bottom via m3_screws_10mm" }, { "source": "optical_flow_sensor", "target": "optical_flow_sensor", "label": "holds to face ground" }, { "source": "quadcopter_frame_450_650mm", "target": "lipo_battery_tray", "label": "attaches to bottom via m3_screws_10mm" }, { "source": "lipo_battery_tray", "target": "lipo_battery", "label": "holds using lipo_battery_strap" }, { "source": "quadcopter_frame_450_650mm", "target": "antenna_mount_telemetry_wifi", "label": "attaches to arms/frame edges via m3_screws_10mm" }, { "source": "antenna_mount_telemetry_wifi", "target": "wifi_module", "label": "holds antenna" }, { "source": "quadcopter_frame_450_650mm", "target": "esc_holders_3d_printed", "label": "attaches to motor arms via m3_screws_10mm" }, { "source": "esc_holders_3d_printed", "target": "esc_module", "label": "holds with cable_ties_small" }, { "source": "quadcopter_frame_450_650mm", "target": "brushless_dc_motor", "label": "mounts to arms via m3_screws_10mm" }, { "source": "power_distribution_board", "target": "quadcopter_frame_450_650mm", "label": "mounts to center via m3_nylon_standoffs_10mm" }, { "source": "pixhawk_cube_mount_enclosure", "target": "secondary_imu", "label": "Mounted internally" }, { "source": "esc_motor_upgraded_0", "target": "quadcopter_frame_450_650mm" }, { "source": "esc_motor_upgraded_1", "target": "quadcopter_frame_450_650mm" }, { "source": "esc_motor_upgraded_2", "target": "quadcopter_frame_450_650mm" }, { "source": "esc_motor_upgraded_3", "target": "quadcopter_frame_450_650mm" }, { "source": "upgraded_gps_module", "target": "gps_mast_mount" }, { "source": "lipo_battery_strap", "target": "lipo_battery_6s_8000mah" }, { "source": "lipo_battery_tray", "target": "lipo_battery_6s_8000mah" }, { "source": "flight_controller_cube_orange_plus", "target": "pixhawk_cube_mount_enclosure", "label": "Secured within" }, { "source": "pixhawk_cube_mount_enclosure", "target": "quadcopter_frame_450_650mm", "label": "Mounts to frame" }, { "source": "propellers_15_inch_main", "target": "esc_motor_upgraded_0", "label": "Mounts to motor" }, { "source": "propellers_15_inch_main", "target": "esc_motor_upgraded_1", "label": "Mounts to motor" }, { "source": "propellers_15_inch_main", "target": "esc_motor_upgraded_2", "label": "Mounts to motor" }, { "source": "propellers_15_inch_main", "target": "esc_motor_upgraded_3", "label": "Mounts to motor" }, { "source": "ai_companion_computer_jetson_orin_nx", "target": "jetson_cooling_fan", "label": "Mounted On Top" }, { "source": "upgraded_lidar_sensor", "target": "vibration_dampers_lidar", "label": "Mounts Via" }, { "source": "power_connectors_wiring", "target": "lipo_battery_6s_8000mah", "label": "Attaches to" }, { "source": "ferrite_cores_emi", "target": "upgraded_gps_module", "label": "Clamped on power/data lines" }, { "source": "ferrite_cores_emi", "target": "upgraded_telemetry_radio", "label": "Clamped on power/data lines" }, { "source": "ferrite_cores_emi", "target": "ai_companion_computer_jetson_orin_nx", "label": "Clamped on power input line" }, { "source": "ferrite_cores_emi", "target": "lipo_battery_6s_8000mah", "label": "Clamp on Main Battery Lead" }, { "source": "ferrite_cores_emi", "target": "upgraded_gps_module", "label": "Clamp on GPS Cable" }, { "source": "ferrite_cores_emi", "target": "upgraded_telemetry_radio", "label": "Clamp on Telemetry Cable" }, { "source": "ferrite_cores_emi", "target": "upgraded_primary_camera", "label": "Clamp on Camera Data/Power Cable" }, { "source": "power_connectors_wiring", "target": "lipo_battery_6s_8000mah", "label": "Attach XT90 Connector" }, { "source": "power_connectors_wiring", "target": "power_distribution_board", "label": "Attach XT90 and XT60 Connectors" }, { "source": "power_connectors_wiring", "target": "esc_motor_upgraded_0", "label": "Attach XT60 Connector" }, { "source": "power_connectors_wiring", "target": "esc_motor_upgraded_1", "label": "Attach XT60 Connector" }, { "source": "power_connectors_wiring", "target": "esc_motor_upgraded_2", "label": "Attach XT60 Connector" }, { "source": "power_connectors_wiring", "target": "esc_motor_upgraded_3", "label": "Attach XT60 Connector" }, { "source": "ferrite_cores_emi", "target": "upgraded_telemetry_radio", "label": "EMI Suppression on Power/Data lines" }, { "source": "ferrite_cores_emi", "target": "upgraded_gps_module", "label": "EMI Suppression on Power/Data lines" }, { "source": "ferrite_cores_emi", "target": "power_connectors_wiring", "label": "EMI Suppression on Main Power Harness" }, { "source": "bec_for_jetson", "target": "quadcopter_frame_450_650mm", "label": "Mounted To Frame" } ], "projectDescription": "The HMAA-UAV is an Authority-Governed UAV Platform designed for operation in contested environments, featuring trust-governed flight and recovery-driven autonomy. Key subsystems include a robust carbon fiber frame, a Cube Orange+ flight controller for flight decisions, an AI companion computer for explainable autonomy, and comprehensive sensor suite for advanced perception and digital twin monitoring.", "originalPrompt": "Authority-Governed Autonomous Drone\n4\nConcept\n\nA UAV where flight autonomy is controlled by HMAA authority states.\n\nHardware\n\nquadcopter frame\n\nNVIDIA Jetson / AI computer\n\nLiDAR + stereo camera\n\nGPS + IMU\n\nRF communication module\n\nGovernance behavior\nSensors → SATA trust engine\n↓\nHMAA authority decision\n↓\nFlight autonomy controller\n↓\nDrone actuation\nExample experiments\nSituation\tSystem response\nGPS spoofing\tauthority drops\nCamera failure\tspeed reduced\nRF jamming\treturn-home mode\nSensor disagreement\thover / safe land -Yes — this is the right one to focus on.\n\nYour Authority-Governed Autonomous Drone should not be “just another AI drone.” It should be:\n\nHMAA-Drone\n\nA drone where every flight decision is gated by trust, authority, and recovery logic.\n\nThat fits your existing platform directly, because your current system already implements:\n\nsensor trust fusion across camera / LiDAR / ToF / IMU / odometry / RF comms\n\nauthority states A3 / A2 / A1 / A0\n\ncommand gating with proposed vs approved action\n\nCARA recovery modes like SAFE_STOP / CRAWL_MODE / RETURN_SAFE / DEG_TELEOP\n\na digital twin and explainable decision trace.\n\nSo the invention is not the drone itself.\n\nThe invention is:\n\nA trust-governed flight autonomy architecture\n\nInstead of this:\n\nPerception → Planner → Flight Controller\n\nyou build this:\n\nPerception\n ↓\nSATA sensor trust engine\n ↓\nHMAA authority governor\n ↓\nCommand gate\n ↓\nFlight controller\n ↓\nCARA recovery / fallback\n\nThat is much stronger for your profile and for EB2-NIW.\n\nWhat makes it different\n\nMost autonomous drones today do:\n\nobstacle avoidance\n\nwaypoint navigation\n\nreturn-to-home\n\nGPS stabilization\n\nBut they usually do not have a formal autonomy governance layer where:\n\ntrust is computed per sensor\n\nfused trust determines authority level\n\nauthority level clamps autonomy\n\nrecovery logic changes mission behavior automatically\n\nYour current platform already shows this logic with weighted trust fusion, authority thresholds, and command clamping.\n\nWhat the drone should do\n\nBuild a drone that can perform:\n\nPhase 1\n\nAuthority-governed autonomous navigation\n\ntakeoff\n\nwaypoint mission\n\nlanding\n\nobstacle-aware pathing\n\nPhase 2\n\nAdversarial resilience\n\nGPS spoofing\n\nvision degradation\n\nRF jamming\n\nIMU drift\n\nLiDAR disagreement\n\nPhase 3\n\nGoverned degradation\nThe drone should not just fail or continue blindly. It should step down:\n\nA3 full authority\n\nA2 restricted authority\n\nA1 minimal authority\n\nA0 revoked authority\n\nAnd each level should enforce different permissions, such as:\n\nAuthority\tDrone behavior\nA3\tfull autonomous mission\nA2\treduced speed, constrained pathing\nA1\thover / limited reposition / safe corridor\nA0\tland or return-safe\nBest invention angle\n\nThe strongest version is:\n\nAuthority-Governed UAV for Contested Environments\n\nThis means the drone is designed for:\n\ndegraded GPS\n\nspoofed sensing\n\ndenied comms\n\nuncertain terrain\n\nmission-risk escalation\n\nThat sounds much more like a national-interest project than a generic robotics build.\n\nCore hardware stack\n\nUse a realistic first version:\n\nAirframe\n\n450–650 mm quadcopter frame\n\nredundant power distribution\n\nvibration-isolated compute mount\n\nFlight stack\n\nPixhawk / Cube autopilot\n\nPX4 or ArduPilot\n\nCompanion compute\n\nNVIDIA Jetson Orin NX or Xavier NX\n\nSensors\n\nstereo or RGB-D camera\n\nLiDAR or lightweight depth sensor\n\nIMU\n\nGPS\n\nbarometer\n\noptical flow\n\ntelemetry radio / RF comms\n\nOptional later\n\nthermal camera\n\nUWB localization\n\nsecond IMU\n\nsecure comms module\n\nSoftware stack\nLow-level\n\nPX4 / ArduPilot\n\nMAVLink\n\nROS 2 bridge\n\nYour layer\n\nSATA sensor trust scoring\n\nHMAA authority state engine\n\ncommand gate proposed vs approved action\n\nCARA recovery behaviors\n\nexplainable flight decision log\n\ndigital twin mission monitor\n\nYour platform already includes the command-gate concept where approved action is clamped below proposed action under degraded trust.\n\nBest experiments for the drone\n\nThese are the most publishable ones:\n\n1. GPS spoofing governance test\n\nGoal: show that false position confidence reduces authority instead of causing unsafe navigation.\n\n2. Camera occlusion test\n\nYour current platform already includes a camera degradation experiment causing trust drop and A3→A2 transition.\nDrone version: partial lens occlusion during waypoint mission.\n\n3. RF jamming test\n\nYour platform already models RF comms degradation and bounded autonomy behavior.\nDrone version: loss of telemetry link triggers controlled degraded mode.\n\n4. IMU drift / sensor disagreement test\n\nShow cross-validation between IMU, GPS, optical flow, and visual odometry.\n\n5. Compound failure test\n\nThis is very important. Your current platform already includes a compound attack concept causing rapid authority collapse and CARA activation.\nDrone version: simultaneous perception loss + RF degradation + localization uncertainty.\n\nWhat CARA should do on the drone\n\nMap your recovery modes into UAV behavior:\n\nINACTIVE → nominal mission\n\nCRAWL_MODE → slow low-risk flight\n\nRETURN_SAFE → fly to safe point\n\nDEG_TELEOP → request assisted control\n\nSAFE_STOP → hover or emergency land depending on altitude/risk\n\nBest final system name\n\nThese are strong names for papers and EB2-NIW framing:\n\nHMAA-Drone\n\nAuthority-Governed UAV\n\nTrusted Autonomy Drone Platform\n\nGoverned Assured Autonomy UAV\n\nContested Environment Authority Drone\n\nThe strongest is probably:\n\nAuthority-Governed UAV Platform (HMAA-UAV)\nWhy this helps your EB2-NIW case\n\nIt supports all three pillars well:\n\nSubstantial merit\n\nAI safety\n\nautonomous aviation\n\ntrusted robotics\n\nresilient autonomy\n\nNational importance\n\ndefense\n\naerospace\n\nemergency response\n\ninfrastructure inspection\n\ncontested-environment autonomy\n\nYou are well positioned\n\nBecause you already built the authority-governed rover/testbed logic with:\n\nfused trust\n\nauthority thresholds\n\nCARA recovery\n\nexplainability\n\ndigital twin monitoring.\n\nThat makes the drone a natural second project, not a random jump.\n\nMy recommendation\n\nBuild it in this order:\n\nVersion 1\n\nIndoor or tethered drone with:\n\nwaypoint flight\n\ntrust scoring\n\nauthority transitions\n\nsafe hover / safe land\n\nVersion 2\n\nOutdoor governed navigation with:\n\nGPS + vision + RF trust fusion\n\nauthority-aware speed and mission limits\n\nVersion 3\n\nAdversarial autonomy drone:\n\nspoofing\n\njamming\n\nsensor disagreement\n\ndigital twin\n\nexplainable decision trace\n\nThat third version is the one that becomes truly Pentagon/NASA-level in framing.\n\nThe one-sentence project definition\n\nDesign and validate an Authority-Governed UAV platform that uses sensor trust fusion, hierarchical autonomy authority states, and recovery-driven command gating to ensure safe operation under degraded or adversarial conditions.\n\nThat is the version I would use.\n\nNext, I can turn this into a full project blueprint with:\nobjective, hardware BOM, software architecture, experiments, paper titles, and EB2-NIW positioning.\n\nyes\n\nGreat. Let’s turn Authority-Governed Autonomous Drone (HMAA-UAV) into a clear project blueprint that strengthens your EB2-NIW case and builds directly on your first HMAA research platform.\n\n🚁 HMAA-UAV\n\nAuthority-Governed Autonomous Drone Platform\n\n1️⃣ Project Objective\n\nDesign and build a trust-governed UAV where every autonomous flight decision is evaluated by:\n\nSensor trust fusion (SATA)\n\nAuthority governance (HMAA)\n\nRecovery logic (CARA)\n\nThe drone must adapt its autonomy level dynamically when sensors degrade or adversarial conditions occur.\n\nGoal:\n\nDemonstrate safe autonomous flight under degraded and adversarial conditions.\n\nThis is a major gap in current UAV autonomy systems.\n\n2️⃣ System Architecture\nCore governance pipeline\nSensor inputs\n↓\nSATA trust evaluation\n↓\nHMAA authority decision\n↓\nCommand gate\n↓\nFlight controller\n↓\nCARA recovery behaviors\n\nThe command gate ensures:\n\nproposed action ≤ authority limits\n\nSo the drone never executes actions beyond allowed autonomy.\n\n3️⃣ Authority Levels\n\nThe drone operates with four authority states.\n\nLevel\tMeaning\tDrone behavior\nA3\tFull autonomy\tmission execution\nA2\tRestricted autonomy\tspeed/area limits\nA1\tMinimal autonomy\thover / slow reposition\nA0\tAuthority revoked\tsafe land / return\n\nAuthority is computed from trust score τ.\n\nExample thresholds:\n\nτ ≥ 0.8 → A3\n0.6 ≤ τ < 0.8 → A2\n0.4 ≤ τ < 0.6 → A1\nτ < 0.4 → A0\n4️⃣ Hardware Architecture\nAirframe\n\n450–650 mm quadcopter\n\ncarbon frame\n\nvibration-isolated compute mount\n\nFlight Controller\n\nPixhawk / Cube autopilot\n\nPX4 or ArduPilot firmware\n\nCompanion Computer\n\nNVIDIA Jetson Orin NX\n\nUbuntu + ROS2\n\nSensors\n\nCore sensors:\n\nRGB camera\n\nLiDAR or depth sensor\n\nIMU\n\nGPS\n\nbarometer\n\noptical flow\n\nOptional advanced sensors:\n\nthermal camera\n\nUWB localization\n\nsecondary IMU\n\nradar altimeter\n\nCommunications\n\ntelemetry radio\n\nWiFi\n\noptional secure comms module\n\n5️⃣ Software Stack\nFlight Layer\n\nPX4 / ArduPilot\n\nMAVLink\n\nMiddleware\n\nROS2\n\nYour Research Layer\nSATA\n\nSensor trust scoring\n\nExample inputs:\n\ncamera confidence\nlidar confidence\nimu stability\ngps consistency\nrf link quality\n\nOutput:\n\ntrust score τ\nHMAA\n\nAuthority decision engine.\n\nτ → authority state\nCommand Gate\nproposed action\n↓\nauthority constraints\n↓\napproved action\n\nExample:\n\nplanner speed = 6 m/s\nauthority limit = 3 m/s\napproved speed = 3 m/s\nCARA Recovery Engine\n\nRecovery behaviors include:\n\nMode\tBehavior\nSAFE_STOP\thover\nCRAWL_MODE\tslow flight\nRETURN_SAFE\treturn to safe waypoint\nDEG_TELEOP\trequest human control\nLAND_SAFE\temergency landing\n6️⃣ Key Experiments\n\nThese are critical for research impact.\n\nExperiment 1\nGPS Spoofing\n\nSimulate false GPS signals.\n\nExpected behavior:\n\nGPS trust ↓\noverall trust ↓\nauthority A3 → A2\ndrone reduces speed\nswitch to visual navigation\nExperiment 2\nCamera Occlusion\n\nPartially block camera.\n\nExpected result:\n\nvision confidence ↓\ntrust fusion ↓\nauthority A3 → A2\nrestricted autonomy\nExperiment 3\nRF Communication Loss\n\nDisable telemetry link.\n\nExpected response:\n\nRF trust ↓\nauthority reduced\nCARA → RETURN_SAFE\nExperiment 4\nSensor Disagreement\n\nIMU vs visual odometry conflict.\n\nSystem response:\n\ntrust inconsistency\nauthority drop\nhover or slow movement\nExperiment 5\nCompound Failure\n\nSimultaneous failures:\n\ndegraded vision\n\nweak GPS\n\nRF loss\n\nExpected:\n\nauthority collapse\nCARA activation\ncontrolled landing\n7️⃣ Digital Twin Monitoring\n\nThe drone should stream telemetry to a digital twin dashboard.\n\nMonitor:\n\ntrust score\n\nauthority level\n\napproved actions\n\nsensor health\n\nrecovery state\n\nExample visualization:\n\ntrust score τ\nauthority level A\nproposed vs approved commands\nsensor confidence map\n\nThis strengthens explainable autonomy.\n\n8️⃣ Research Contributions\n\nThis project introduces:\n\n1️⃣ Authority-governed autonomy\n\nA formal autonomy control framework.\n\n2️⃣ Sensor trust fusion\n\nDecisions based on trust rather than raw perception.\n\n3️⃣ Recovery-driven autonomy\n\nFailures trigger structured recovery behaviors.\n\n4️⃣ Explainable flight decisions\n\nAutonomy decisions are traceable.\n\n9️⃣ Possible Research Papers\n\nThese could strengthen your profile.\n\n1️⃣\nAuthority-Governed Autonomous UAVs for Safe Operation in Degraded Environments\n\n2️⃣\nSensor Trust Fusion for Reliable UAV Autonomy\n\n3️⃣\nCommand-Gated Flight Control Using Hierarchical Authority Architecture\n\n4️⃣\nRecovery-Driven Autonomy for Resilient UAV Systems\n\n5️⃣\nExplainable Autonomy in Safety-Critical UAV Platforms\n\n🔟 Why This Strengthens EB2-NIW\n\nYour case becomes stronger because the project demonstrates:\n\nSubstantial merit\n\nAI safety\n\nautonomous aviation\n\nresilient robotics\n\nNational importance\n\nRelevant to:\n\naerospace\n\ndefense\n\ndisaster response\n\ninfrastructure inspection\n\nYou are well positioned\n\nYou already built:\n\nHMAA architecture\n\ntrust fusion logic\n\nCARA recovery framework\n\nThe drone becomes a real-world validation platform.\n\n🚀 After This Project\n\nThe next major step could be:\n\nHMAA-Swarm\n\nAuthority-governed drone swarm.\n\nor\n\nTrusted Autonomy Lab\n\nMultiple systems:\n\ndrone\n\nrover\n\nrobot arm\n\nall governed by HMAA.\n\nIf you'd like, I can also show you one extremely powerful extension of this idea:\n\n“Contested-Environment Autonomous Drone” — a project much closer to DARPA / NASA autonomy research.", "plan": "- Flight Controller: Pixhawk/Cube autopilot with PX4 or ArduPilot firmware. - Companion Computer: NVIDIA Jetson Orin NX or Xavier NX with Ubuntu + ROS2. - Core Sensors: RGB camera, LiDAR/depth sensor, IMU, GPS, barometer, optical flow. - Actuators: Motors and ESCs for a quadcopter. - Power: Redundant power distribution system. - Airframe: 450–650 mm quadcopter carbon fiber frame with vibration-isolated compute mount. - Communication: Telemetry radio and WiFi. - Optional components: Thermal camera, UWB localization, secondary IMU, radar altimeter, secure comms module.", "notes": [ "Authority-Governed UAV Platform", "Contested Environment", "Vibration-isolated mount", "Trust-governed flight", "Recovery-driven autonomy", "Explainable flight decisions", "Digital twin monitoring" ], "projectId": "050685bd-d924-4246-978a-076eb754d1cf" }