Vertical Robotics Competition
  • Welcome to VRC!
  • Before We Get Started
    • Phase I Overview
    • Helpful Links
  • Primary Goal: Assembly and Configuration
    • VRC Drone Kit Contents
    • VRC Drone Assembly
      • Arms and Motors
      • Landing Gear, PDB, and Rails
      • ESCs, FC Power Module, and Receiver
      • Flight Controller Enclosure
      • Mounting the Flight Controller
      • Top Plate and Arms
      • FC and ESC Wiring
      • Propeller Adapters
    • RC Transmitter Setup
      • Basic Usage
      • Binding the RC Receiver
      • Setting the Output Mode
      • Setting Up Channels on the RC Transmitter
      • Setting Up Failsafe
    • FC Setup and Calibration w/ QGC
      • PX4 Firmware
      • Airframe
      • Sensors
      • Radio
      • Flight Modes and Kill Switch
      • Power
      • Safety
      • Motor Test
  • Sphero RVR
    • RVR Assembly
    • RVR Programming
  • Battery
    • Overview
    • Charging
    • Storage
  • Checkpoint #1: Flight Test
    • Before You Fly
    • Flight Test
    • After You Fly
  • SECONDARY GOAL: PCC
    • Laptop Setup
      • Setting Up Windows
      • Install Git Bash
      • Clone the VRC Repo
      • Install Anaconda
      • Install VS Code
      • Install SD Card Formatter
      • Install Balena Etcher
      • Install PuTTY
      • Install QGroundControl
    • Peripheral Control Computer (PCC)
      • Physical Assembly
      • Video Tutorial: Flash & Test PCC
      • Flash the PCC
      • Test the PCC
  • Overachiever Goal
    • Vehicle Management Computer (VMC) Setup
      • Preparing the Jetson
      • Flashing the SD Card
      • First Boot
  • 3D Printing Project
    • Project Overview
    • Sr. Design Project
    • Rotor Guards
  • Diving Deeper
    • Control Loops
    • Glossary
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  • Vibration Damped FC Mount
  • Mounting the FC

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  1. Primary Goal: Assembly and Configuration
  2. VRC Drone Assembly

Mounting the Flight Controller

Before we put the last parts of the frame together, we should install some components on the top plate.

PreviousFlight Controller EnclosureNextTop Plate and Arms

Last updated 4 years ago

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Vibration Damped FC Mount

First, the FC mount should be assembled. It's a small carbon fiber part and it should come with four black vibration-damping rubbers. You should put these rubber dampers through the corner holes of the mount as seen below.

The rubber dampers can be a challenge to work with. Don't hesitate to use force and pinch them with your fingers to push them through. You can also wet them a bit so they "glide" through the holes.

If you continue to have problems one suggestion is to use the side of the small hex tool to push the dampers into the holes. Be sure to come at the damper from the side and do not poke directly into it.

Now we will install the FC mount to the top plate of the frame. There are four similar holes at the corners of the big gap in the middle of the top plate. You should also put the rubber dampers through these holes, as shown below. Note that they do not exactly align, there will be some tension on the rubbers. This will help dampen the vibrations.

You may be wondering about all this vibration talk. The reason for isolating the FC from vibrations can be best summed up with this quote:

Flight Control boards with in-built accelerometers or gyros are sensitive to vibrations. High vibration levels can cause a range of problems, including reduced flight efficiency/performance, shorter flight times and increased vehicle wear-and-tear. In extreme cases vibration may lead to sensor clipping/failures, possibly resulting in estimation failures and fly-aways.

Mounting the FC

You can mount the FC to the carbon fiber plate with some sticky tape. Similar to how we previously mounted the ESCS, we recommend double-stacking the tape as seen in the photo below.

As we discussed previously, there is a little triangle cutout in the bottom and top plates that represent the front of the frame. Be sure to mount the front of the FC pointing to the front of the top plate as seen in the photo below. The front of the FC is where the SD card is located and the rear has the header pins (labeled PWM).

https://docs.px4.io/v1.9.0/en/assembly/vibration_isolation.html
Top plate and FC mount with rubber dampers installed
Using the small hex tool to push the damper through
Top plate with FC mount
Double-stacked tape ready for FC mounting
FC stuck to carbon plate and ready for wiring