Design of Arm

The arm had 3 iterations as follows, the latest iteration had clearances for props, movement of arm and other wires. Find the following images for reference

Converting Solidworks file to URDF

Use the inbuilt Solidworks to URDF file converter tool. Refer to the following tool and documentation

sw_urdf_exporter - ROS Wiki

Servo

Model: TowerPro MG958 ****Product: https://robu.in/product/towerpro-mg958-digital-high-torque-metal-gear-servo-motor/

The following mount was 3D printed to attach the servo. The CAD file can be found on Github.

Pixhawk and Connections

Firmware used: Ardupilot 4.4.1 https://firmware.ardupilot.org/Copter/stable-4.4.1/

GPS used: Here3+ https://docs.cubepilot.org/user-guides/here-3/here-3-manual

Receiver: https://robu.in/product/frsky-x8r-8-16ch-full-duplex-telemetry-receiver/?gad_source=1&gclid=Cj0KCQjwir2xBhC_ARIsAMTXk86LFH_d8dMwj_QDcTOiBa1o25Csve-l98IXMFC5Pte5gZPA3SwedsYaAu6pEALw_wcB

Radio transmitter: https://robu.in/product/radiomaster-boxer-radio-controller-cc2500-version/?gad_source=1&gclid=Cj0KCQjwir2xBhC_ARIsAMTXk85JACQlIJ2Xzrvvw_LfMB1RMSFb6dMrAqhSQS77pSCsoXEINTrAIoEaAjG2EALw_wcB

GPS Parameters

Connect the 4 pin CAN cable connector to CAN1 or CAN2 port on the flight controller.

Power the flight controller and connect it to Mission Planner. Go to "Config/Tuning > Full Parameter List" and modify the following parameters: