# HMAA-UAV Project Guide

## Overview
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.

## Assumptions
*   **Power Source:** 6S 8000mAh LiPo battery (22.2V nominal).
*   **Environment:** Contested environments, requiring robust EMI shielding and redundant systems.
*   **Skill Level:** Intermediate to advanced hardware and software engineering skills for assembly, configuration, and flight.
*   **Tools:** Standard drone building tools (soldering iron, hex drivers, multimeters, 3D printer access).
*   **Software:** ArduPilot firmware, ROS/PX4 integration for companion computer, MAVLink for communication.

## Action Items
- [ ] 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).
- [ ] Assemble quadcopter_frame_450_650mm with landing_gear_skids using m3_screws_10mm.
- [ ] Mount power_distribution_board to the frame using m3_nylon_standoffs_10mm.
- [ ] Install esc_motor_upgraded_0-3, securing ESCs with esc_holders_3d_printed and cable_ties_small.
- [ ] Wire main power harness: lipo_battery_6s_8000mah → inline_fuse_100a → power_distribution_board using power_connectors_wiring (XT90).
- [ ] Connect all ESCs to power_distribution_board and flight_controller_cube_orange_plus (MAIN OUT 1-4).
- [ ] Integrate flight_controller_cube_orange_plus into pixhawk_cube_mount_enclosure and mount to frame with m3_nylon_standoffs_10mm.
- [ ] 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).
- [ ] 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.
- [ ] Connect RC receiver, kill switch, and telemetry radios.
- [ ] Perform pre-flight checks: power validation, motor direction, sensor calibration, and radio setup.
- [ ] Install propellers_15_inch_main and conduct initial hover tests.

## Assembly Key Points

| Component A                         | Component B                           | Key Considerations