Integration with Pre-existing Airframe
The OcPoC Zynq Mini, (Referred to as OcPoC) is meant to be a near drop-in replacement for the Pixhawk, albeit with a lot more power, I/O, and a full Linux distro on-board. This document is meant to help you through installing OcPoC onto your airframe.
OcPoC uses the same connectors as the Dronecode Standard - JST-GH, both 4 and 6 pin connectors.
Afixing to an airframe
Just like the Pixhawk, the OcPoC contains it's own suite of flight sensors, particularly two Inertial Measurement Units (IMU), which have their own gyroscopes, accelerometers, and magnetometers. The unit is therefore very sensitive to high vibration environments typical when attached to an airframe. For best performance, we recommended using a vibration damping mount - such as this damping plate - and a section of double-sided foam mounting tape to fix the OcPoC to the airframe.
Connecting PWM based ESCs
Connect your ESCs (from the motors) to the OcPoC following the motor numbering convention for your flight software - e.g. Ardupilot and PX4.
We recommend using a Futaba style 3-pin to XT-60 connector for connecting directly to batteries because the XT-60 is polarity sensitive. The OcPoC can directly connect to 2S - 6S LiPo batteries (up to 30 V DC, Minimum 5 V DC). The OcPoC has an internal ADC which will monitor battery voltage for you.
RC Receivers for Boot files Pre-October 2017
Before our October 2017 release, SBUS were plugged into the Pin 16, labeled rc in on the OcPoC, and PPM receivers plugged into Pin 15 (immediate left) of the SBUS location.
RC Receivers for Boot files Post-October 2017
SBUS and PPM can be plugged into the Pin 16.
The dedicated GPS port for non-triplex-enabled systems is Port 6. For triplex-enabled systems, GPS is plugged into Ports: 6, 7, and 9.
Your telemetry module goes into port 4.
Controller Area Network (CAN)
Alright, the meat and potatoes of functionality expansion: CAN. CAN goes into Port 3. Using CAN, and the Aerotenna CAN Hub, or a breakout/bus/rail, you can control many CAN devices - particularly multiple μSharp Patch Radars for object detection and avoidance.
Updated over 5 years ago