LAB VEK AI2 User manual

Build guide VEK AI2
*Some photos will be outdated,
Top and lower plate
Motor mount

Install motors
Install rear tire

Install the tire mount + tire
(There is a new version, shorter, and not shiny)
Install the stand offs

Install PixHawk 2
(installing the PixHawk2 please consider: a)the space for the Futaba RX b)GPS cable )
Install Futaba receiver (Or compatible)
Connect to RCIN.
Secure the Receiver cables/stripes.

Install the ZED camera
If J120 connect the camera to the upper USB 3.0 the lower one is only 2.0.
(Need a 3D printed mount from James)
NEW 3D mount STL File ----> https://drive.google.com/drive/folders/1iGhS3ghEFBZzviefrbMJ0nGmAPaU8aV8?usp=sharing
This is the OLD 3D printer ZED mount, but for mounting purposes is OK
TX1 + carrying board.
There are 2 variations of the carrying board:
1- J120 board
2- Macnica board

J120 board installation + H bridge board.
In the right photo we can see:
-Left cable is power
-Center bottom is: motor cables
-Top Left, power cable for the J120
-Top Right, UART cable (need to be connected to UART 1)
After need to connect the PWM signal to the PixHawk 2 FC (Channel 1 and 3)

Install battery stripe + battery pads.
Next need to install power module for PixHawk
*There is also a second solution where the PixHawk 2 power module is inside the VEK, the
build looks cleaner in the outside.

Macnica Carrying Board.
Bottom Part, 8 pin connector is Power,
Bottom part, 6 PIN UART 2 connect to motor driver bard.

Install the GPS.
(There is a long 40cm cable upstairs/ Remember ARMING_REQUIRE=0)

Install the TX1 Software:
Use the latest ISO image:
https://drive.google.com/file/d/1x3YBFgBJL2xZZQC_vzUzO8s-m05hZZFJ/view
Here is a guide how to flash it:
https://elinux.org/Jetson/TX1_Cloning
(Careful ---> USE JetPack 3.0 please, other version may not work with this image)
PixHawk 2 Firmware:
-Use the latest APM Rover 3.2
Parameter list for 3.2 ----->
https://github.com/ArduPilot/ardupilot/blob/master/Tools/Frame_params/eLAB_VEK_AI_Rover.para
m
-Mission Planner needs to be updated. (Even if it says it's updated) do this:
Mission Planner
Press Ctrl+F
Activate the option: "Param gen" and wait 30 sec. to refresh all the setting in the Mission
Planner.
Start Mission Planner again
-To confirm that the update is OK check:
Mission Planner---> Initial setup ---> Servo Output
On the column "Function" the names have to appear.
(Throttle Left / Throttle Right)

Mission Planner Tuning
Safety Switch:
The Rovers we send to Honda just armed with the GPS safety Switch.
Need to change that on the Full parameter file to deactivate the normal arming procedure with the
Futaba controller.
Full Parameter List ---> ARMING_REQUIRE=0
VEK AI2 Motors:
The motors from the VEK AI2 require calibration. The motors center is 1500 or = to 0.
To calibrate the motors just spin forward and input the value in the TRIM. After that is also good to
TRIM backwards, lowering the number in small steps.

Setup from Randy.
THROTTLE LEFT=1520
THROTTLE_RIGHT=1533