LogoLogo
  • Welcome
  • Vehicle Operation
    • Getting started
    • Auterion Suite
      • Dashboard
      • Fleet Management
        • Vehicles
          • Cloud Features
          • Groups
        • Flights
        • Compliance
      • Manufacturer
        • Service Bulletins
      • Administration
      • User Management
      • Simulations
    • Auterion Mission Control
      • Installation
      • First steps
      • UI Breakdown
        • Navigating between the views
        • Fly View
          • Fly View UI Overview
          • Vehicle status indicator
          • Flight mode selector
          • Quick actions sidebar
          • Connection manager
          • Vehicle Dashboard
          • Flight Map
          • Camera View
          • Monitoring the Flight
          • Flying Manually (RC/Joystick)
          • Flying a Mission
        • Plan View
          • Plan UI Overview
          • Plan tools
            • Mission Menu
            • Waypoint Missions
            • Survey Patterns
              • Area Survey
              • Corridor Scan
          • Mission Summary
          • Mission Editor Tab
            • Start Section
            • Mission Section
            • End Section
            • Extras
          • Terrain visualization
          • GeoFence
          • Rally Points
        • Quick Vehicle Menu
          • Pre-Flight Checklist
          • Connectivity
        • Photo Gallery
        • Settings
        • Pilot Login
      • Useful resources
        • Mission Planning
          • Mission Cloud Sync
          • Terrain Following
          • Import Geo-Awareness data or KML overlays
        • Maps and Custom Overlays
          • Using Offline Maps
          • Importing GeoPDF overlays
        • Track GCS as Smart Asset in Suite
        • Live PX4 Log Streaming
        • Monitor Local Flights with ADS-B
        • GPS Denied Workflow
        • Windows Crash Logs Analysis
        • Screen Recordings
    • Remote Controllers
      • Skynav Remote Controller
        • Installing Mission Control
        • Joystick and Button Mapping
        • Using LTE for Online Maps in the Field
        • Advanced Radio Settings
        • Drop Guards and Chest Strap
        • Unit Serial Number
    • Settings & Maintenance
      • Vehicle Setup
      • WiFi Setup
      • Compass Calibration
      • Safety Setup
      • Joystick Setup
      • Vehicle Web UI
      • Software Update
      • Remote ID
        • How Remote ID works
        • Remote ID indicators in AMC
        • Frequently Asked Questions
    • Precise Flight
  • App development
    • Getting Started
      • Development environment Setup
      • Connecting to a device
      • Application Development
    • App Framework
      • Building your First App
      • Apps API
      • Sensor Data
      • Video Streams
      • Photos
      • Hardware Peripherals
      • Persistent Storage
      • MAVLink
      • Native Docker Compose
      • App Parameters
      • Log App Data to Auterion Suite
        • How to log Time Series Data
        • How to log basic Text Output
      • How to store an App's Binary Data on Skynode
      • User Web Interfaces
      • Build Arguments
      • Debugging apps with SSH
      • Debugging Apps with gdb
      • PX4 Messages in ROS 2
      • DDS / ROS2 Configuration
      • Structuring Applications with Multiple Services
    • Auterion SDK
      • Installation
      • Write Your First App
      • SDK API
      • Flight Mode API
        • Flight Mode API
        • Dynamics in Body Frame
        • Dynamics in Local Frame
        • Go-To in Local Frame
      • System State API
      • Peripheral Actuator Control API
      • Camera API
      • Navigation Input API
        • Global Navigation
        • Local Navigation
      • Visual Tracking API
    • Simulation
      • Virtual Skynode
        • Simulation-Gazebo Reference
        • Simulation-AirSim Reference
        • Connecting from other Computers
        • Resetting Virtual Skynode
        • Multiple Virtual Skynodes on single machine
      • Physical Skynode
    • Resources
      • Cross Compilation - Faster Builds
      • Auterion CLI Reference
      • Troubleshooting
      • App Tutorial
      • Skynode Vision Kit S
        • Set up the Vision Kit
        • Install and test a simple vision app
    • Legacy app workflow
      • App Development
      • MAVLink
      • Using the App Template
      • Example Applications
        • Autopilot Telemetry (C++)
        • Autopilot Telemetry (Python)
        • Photo Gallery
  • Hardware Integration
    • Getting started
      • Required Sensors
      • Wiring Skynode to the Vehicle
      • Actuators Setup
      • Sensors Setup
        • Set Orientations
        • Compass Calibration
        • Gyroscope calibration
        • Accelerometer calibration
        • Level horizon calibration
        • Airspeed calibration
      • Bench Test
      • Tuning
      • Creating Airframe Configurations for APX4
    • Skynode
      • Skynode X
      • Skynode ENT/GOV
      • Skynode X Integration and Development Kit
        • Get Skynode ready
        • Power Skynode
        • Register Skynode
        • Connect Skynode to AMC
        • Sensors and Peripherals
        • Next steps
      • Payloads
        • Generic USB Webcams (UVC)
        • Workswell Wiris Pro
        • Trillium HD40-LV
        • NextVision Gimbals (with TRIP2)
        • Sony Alpha a7R IV
        • Phase One iXM-100
        • Gremsy Gimbals
      • Connectivity
        • USB-C Network Connection
        • WiFi
        • LTE Setup
        • SIYI MK15
        • Microhard Data Link
        • Data Link Wiring
        • Silvus Data Link
        • Doodle Labs Data Link
        • Custom Data Link
        • Ethernet Interface Configuration
      • Skynode LED Meanings
      • Troubleshooting
      • Legacy DSM/DSMX Support
      • Peripherals
        • Power Module
        • 12S Power Module
        • Pixhawk Adapter Board
        • Pixhawk Payload Bus
        • Data Link Module
        • PX4 F9P GPS
        • Freefly RTK GPS
        • Airspeed Sensor
        • LIDAR
        • USB camera
        • See3CAM_24CUG
    • Skynode S
      • Datasheet
      • Interfaces
      • Basic Vehicle Integration
      • Add LTE to Skynode S
      • Skynode S LED status indicator
      • Skynode S flight logs
    • AI Node
      • Datasheet
      • Evaluation Kit
        • Power AI Node
        • Wiring AI Node to Skynode
        • Internet sharing with Skynode
        • Activate AI Node on Suite
      • Dimensions and CAD model
      • Interfaces
      • Connectivity
        • USB Network Connection
        • Serial Debug Connection
        • AI Node as Network Bridge
        • Standalone Internet Access
      • Updating AuterionOS
    • Advanced Airframe Integration
      • Custom power setup
      • Wiring without Breakout Boards
      • Gripper Integration
        • Setting up Payload Delivery with Gripper
      • ESC Calibration
      • Camera Calibration
        • Camera Calibration on a Computer
        • Camera Calibration on Skynode
      • Serial Port Configuration
    • Flight controller customization
      • AMC's Advanced Mode
      • Flight Controller Shell
      • Micro XRCE-DDS
    • AuterionOS Customization
      • OEM Tools Installation
      • Adding SSH keys
      • Changing the Root Password
      • Modifying Environment Variables
      • Pre-install Applications
      • Suite Manufacturer Tools
    • AuterionOS System Guide
      • Introduction
      • Flashing PX4 Binary and Vehicle Config
      • Building and Flashing PX4 Firmware
      • SSH Access
      • Filesystem and partitions
      • Environment Variables Reference
      • Types of AuterionOS Images
      • Mavlink Routing and Endpoints
      • Packaging AuterionOS Image
    • Additional Resources
      • Remote ID
        • How Remote ID works
        • Vehicle Serial Number
        • Communication Diagram
        • Remote ID configuration
        • How Auterion tested
      • Auto-Tuning
  • Release Notes
    • APX4
      • APX4 3.2
        • APX4 3.2.1
      • APX4 3.1
        • APX4 3.1.1
        • APX4 3.1.0
      • APX4 3.0
        • APX4 3.0.8
        • APX4 3.0.5
      • APX4 2.7
        • APX4 2.7.37
        • APX4 2.7.25
        • APX4 2.7.20
        • APX4 2.7.12
        • APX4 2.7.7
        • APX4 2.7.6
      • APX4 2.6
        • APX4 2.6.1
      • APX4 2.5
        • APX4 2.5.14
        • APX4 2.5.13
        • APX4 2.5.8
        • APX4 2.5.7
        • APX4 2.5.5
        • APX4 2.5.4
        • APX4 2.5.0
      • APX4 2.4
        • APX4 2.4.2
        • APX4 2.4.1
      • APX4 2.3
        • APX4 2.3.0
      • APX4 2.2
        • APX4 2.2.2
        • APX4 2.2.0
      • APX4 2.1
        • APX4 2.1.1
        • APX4 2.1.0
      • APX4 2.0
        • APX4 2.0.2
        • APX4 2.0.0
    • AuterionOS
      • AOS for AI Node
        • AI Node AOS 1.1.0
        • AI Node AOS 1.0.2
        • AI Node AOS 1.0.0
        • AI Node AOS 0.7.0
        • AI Node AOS 0.6.1
        • AI Node AOS 0.6.0
        • AI Node AOS 0.5.0
        • AI Node AOS 0.4.0
      • AOS for Skynode
        • AOS 3.7
          • AOS 3.7.14
          • AOS 3.7.9
        • AOS 3.6
          • AOS 3.6.14
        • AOS 3.5
          • AOS 3.5.13
        • AOS 3.3
          • AOS 3.3.9
        • AOS 3.2
          • AOS 3.2.9
        • AOS 2.19
          • AOS 2.19.14
        • AOS 2.15
          • AOS 2.15.10
          • AOS 2.15.7
        • AOS 2.12
          • AOS 2.12.8
        • AOS 2.10
          • AOS 2.10.2
        • AOS 2.8
          • AOS 2.8.1
        • AOS 2.7
          • AOS 2.7.15
        • AOS 2.6
          • AOS 2.6.1
        • AOS 2.5
          • AOS 2.5.14
          • AOS 2.5.13
          • AOS 2.5.8
          • AOS 2.5.7
          • AOS 2.5.5
          • AOS 2.5.4
          • AOS 2.5.0
        • AOS 2.4
          • AOS 2.4.1
        • AOS 2.3
          • AOS 2.3.0
        • AOS 2.2
          • AOS 2.2.2
          • AOS 2.2.0
        • AOS 2.1
          • AOS 2.1.1
          • AOS 2.1.0
        • AOS 2.0
          • AOS 2.0.2
          • AOS 2.0.0
    • Auterion Mission Control
      • AMC 1.34
        • AMC 1.34.19
        • AMC 1.34.14
      • AMC 1.33
        • AMC 1.33.13
      • AMC 1.32
        • AMC 1.32.7
      • AMC 1.30
        • AMC 1.30.17
      • AMC 1.29
        • AMC 1.29.7
      • AMC 1.26
        • AMC 1.26.8
      • AMC 1.22
        • AMC 1.22.3
      • AMC 1.19
        • AMC 1.19.5
      • AMC 1.18
        • AMC 1.18.3-1
        • AMC 1.18.3
      • AMC 1.17
        • AMC 1.17.10
        • AMC 1.17.9
      • AMC 1.15
        • AMC 1.15.0
      • AMC 1.14
        • AMC 1.14.6
        • AMC 1.14.0
      • AMC 1.13
      • AMC 1.12
      • AMC 1.11
      • AMC 1.10
        • AMC 1.10.1
        • AMC 1.10.0
      • AMC 1.9
        • AMC 1.9.1
        • AMC 1.9.0
      • AMC 1.8
    • Hardware
      • Skynode Rev 11 (Jan 2022)
Powered by GitBook
On this page
  • Connecting a PWM-controlled Gripper
  • Compatibility checks
  • Connect the PWM cable to Pixhawk Adapter Board
  • Writing a Mixer for the Gripper
  • Gripper Mixer for the AUX output
  • Custom Mixer for Gripping Mechanism
  • Notes on loading the Mixer
  1. Hardware Integration
  2. Advanced Airframe Integration

Gripper Integration

This document describes how to integrate the gripper

PreviousWiring without Breakout BoardsNextSetting up Payload Delivery with Gripper

Last updated 1 year ago

This documentation is for the drone manufacturer / OEM.

Grippers are a commonly used mechanism for UAV delivery applications. Although there are multiple types of interfaces (e.g. PWM, ) for different products in the market, the most commonly used interface is PWM. The integration of PWM controlled gripper hardware is explained in the following section.

Note on Package Delivery:

If you would like to use the Gripper for package delivery, please follow the Setting up Payload Delivery with Gripper documentation after completing the integration of the gripper hardware.

Connecting a PWM-controlled Gripper

For grippers actuated via PWM signal, the cabling comprises of three lines: Power, Ground and Signal. A typical connector is shown in the image below:

In the image above the wire colors have the following meanings:

Wire color
Purpose

Brown

Ground

Red

Power

Yellow

PWM Signal

Compatibility checks

Before proceeding, double-check the following requirements:

Connect the PWM cable to Pixhawk Adapter Board

Make sure to connect the ground and signal pins correctly to the adapter board and rely on the G-V-S labels printed on the PCB.

Power Supply

This is done by using one of the PWM pinouts to connect to the power source via the Power and Ground lines.

Writing a Mixer for the Gripper

Mixers will no longer be required starting with APX4 version 2.6. The mixer instructions in this section therefore only apply to APX4 2.5.6 (or later, under APX4 2.5.x releases), which has the Package Delivery & Gripper feature.

Gripper Mixer for the AUX output

gripper.aux.mix
# AUX1 pin is used for Payload deploy (Gripper / Winch)
# It uses 'Control Group 6 (Payload), channel 0' to avoid conflict with other flight controls
# More about control group 6: https://docs.px4.io/v1.13/en/concept/mixing.html#control-group-6-first-payload
# Read more about Summing mixer here: https://docs.px4.io/v1.13/en/concept/mixing.html#summing-mixer
M: 1
O:      10000  10000      0 -10000  10000
S: 1 4  10000  10000      0 -10000  10000

Above is a copy of the Auterion PX4's pre-existing gripper mixer (gripper.aux.mix). As indicated by its name, this mixer is only available on AUX outputs.

To enable this mixer, add the following line to your airframe file. This will automatically utilize the gripper.aux.mix file and load it as a AUX mixer:

1300000_my_custom_airframe
# Configure the Gripper Mixer for AUX channels for Payload delivery feature
set MIXER_AUX gripper

With the above setting, AUX1 pin will provide the PWM (1000 ~ 2000 us Pulse-Width) output for the Gripper mechanism.

Custom Mixer for Gripping Mechanism

Here is an example of a custom mixer and airframe file that will use AUX3 as an output for the Gripper mechanism:

gripper_custom.aux.mix
# AUX1 pin is not used, use Null mixer (Z)
Z:
# AUX2 pin is not used, use Null mixer (Z)
Z:

# AUX3 pin is used for Payload deploy (Gripper / Winch)
# It uses 'Control Group 6 (Payload), channel 0' to avoid conflict with other flight controls
# More about control group 6: https://docs.px4.io/v1.13/en/concept/mixing.html#control-group-6-first-payload
# Read more about Summing mixer here: https://docs.px4.io/v1.13/en/concept/mixing.html#summing-mixer
M: 1
O:      10000  10000      0 -10000  10000
S: 1 4  10000  10000      0 -10000  10000
1300000_my_custom_airframe
# Configure the Gripper Mixer for AUX channels for Payload delivery feature
set MIXER_AUX gripper_custom

Notes on loading the Mixer

Although mentioned above already, there are 2 crucial steps to getting the mixer loaded properly and working.

Without going through these steps above, your mixer won't work as intended

Signal line voltage level: Check the datasheet of your gripper mechanism to find the voltage level of the signal line. And make sure this is compatible with the voltage level of the pins, exposed on the Pixhawk Adapter Board. As of writing, the FMU pins have 3.3V logic level, so gripper should not drive the signal line above 3.3V!

Power requirements of gripper: Check the mechanism's datasheet for the power-line voltage level requirements. Based on the voltage the gripper can be either connected directly to the and use the battery voltage, or connected to a separate 5V line. Alternatively a custom voltage regulator can also be used to output any other voltage required.

If your gripper mechanism receives power through the power line of PWM cable (which is the most cases), you must supply the power to the Power line of the PWM pinouts of the Pixhawk Adapter Board from the source chosen as .

AUX refers to the output from the FMU controller rather than the IO controller. For more information, refer to the .

In case you want to use a different pin than AUX1, or a MAIN output for gripping mechanism, you will need to modify the mixer yourself. Take a look at the section on to see how.

Then modify the mixer and airframe files accordingly to map the delivery mechanism to the correct output. For further information visit the for understanding how summing mixer works, the mixer needed for the gripper mechanism.

The mixer needs to be loaded in the airframe file as described in .

And then it must be uploaded to the vehicle as described here: .

Power module
PX4's Mixer documentation
described above
CAN
#loading-the-custom-mixer-through-an-airframe-file
#getting-your-airframe-file-and-mixer-on-skynode
mixer documentation
writing a custom mixer
Example of a high-load gripper mechanism
Example of a typical PWM connector to the Gripper mechanism
Example of how a gripper PWM lines get connected to the PAB
FMU