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Sentinel Drone Functional Description

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Table of contents

  1. Sentinel Drone Functional Description
    1. High-Level Specs
      1. Drone Dimensions
      2. Vehicle Components
      3. Front
      4. Side
      5. Top
      6. Bottom
        1. 2D Drone Dimension Drawings
        2. 3D STEP
      7. Sub-component Dimensions
      8. Core Components Part Numbers
        1. Reference Drone Part Numbers
    2. PX4 Tuning Parameters
    3. Motor Configuration
    4. Connectivity for Remote Operation

Sentinel

High-Level Specs

SpecificationSentinel Reference Drone
Take-off Weight1347g
Size480mm
Flight Time> 20 minutes
Payload Capacity1kg
MotorsSunnysky 2216-880kv Motors
Propellers10 inch / 254mm
FrameHolybro S500 V2 Frame Kit
ESCsModalAI VOXL 4in1 ESC V2
Maximum Speed5m/s per PX4 setting
CPUQualcomm QRB5165
SensorsTDK ICM-42688-P IMU
TDK ICP-10100 Barometer
GPS/Magnetometer (Holybro)
Image SensorsTracking Sensor - Global Shutter VGA
High-resolution 4k30
Front and Rear Stereo - Global Shutter VGA
6x 4-lane MIPI-CSI2 (Up to 7 cameras)
ConnectionsUSB 3.1 Hub
USB-C OTG
Additional I/O2 GPIO
I2C, 4 SPI
Communications Options5G Add-On (with Quectel RM502Q-AE)
WiFi
4G LTE
Remote ControlSpektrum DSMX Receiver (2.4GHz)
Video TransmissionWi-Fi (2.4GHz or 5GHz) or Cellular (multi-band, carrier dependent)
Power ModuleModalAI Power Module v3 - 5V/6A
Battery4S with XT60 Connector (6S with expanded battery standoffs)
ExpansionsModalAI Legacy B2B connector for backwards compatibility with 4G add-on, Microhard add-on, USB debug board.
High speed B2B connector for PCIe2, I2C, SPI, UART, GPIO
TDK Chirp Sensor breakout PCBAs for object avoidance capabilities
Optional Expansion Add-Ons5G modem add-on with USB 3.1 Hub
SD Card add-on
Gigabit Ethernet add-on with USB 3.1 Hub
Open Software PackagesUbuntu 18.04
Linux Kernel 4.19
OpenCV
TensorFlow Lite
ROS 1 / ROS 2
RB5 Flight SDK hosted by ModalAI
Developer ConnectivityQGroundControl
RViz
ADB (Android Debug Bridge)

Drone Dimensions

ComponentSpecification
Motor to Motor334mm x 334mm x 133mm
Fully Extended Propellers591mm x 591mm x 187mm

Vehicle Components

The following images give an overview of the vehicle components.

Front

View in fullsize Sentinel-Labeled-1

Side

View in fullsize Sentinel-Labeled-2

Top

View in fullsize Sentinel-Labeled-3

Bottom

View in fullsize Sentinel-Labeled-4

2D Drone Dimension Drawings

rb5-drone-2D-dims.png

3D STEP

3D STEP Sentinel

Sub-component Dimensions

todo

PCBH x W x DWeightDrawings
QC Flight RB5 Mainboard (M0052)50 x 84 x 10.9mm24.8g2D Drawing
3D STEP
ModalAI 5G Modem Carrier Board (M0067 or M0090)67.5 x 36 x 10mm12.8g2D Drawing
3D STEP
Quectel RM502Q-AE52× 30 × 2.3mm8.7gMechanical Drawing
Thundercomm RB5 SOM45 x 56 x 9mm17.7gMechanical Drawing
Landing Skids  3D STEP
Landing Skid Mount  3D STEP

Core Components Part Numbers

Reference Drone Part Numbers

ModalAI Part NumberDescription
MRB-D0006-4-V1-C11-M3Sentinel Reference drone with Microhard Carrier Board
MRB-D0006-4-V1-C11-M7Sentinel Reference drone with 5G Modem (Quectel)
MRB-D0006-4-V1-C11-M13Sentinel Reference drone with 2.4/5ghz WiFi Dongel

PX4 Tuning Parameters

Our engineers have spent a lot of time finely tuning this vehicle, and the parameters are available here

Motor Configuration

The propellers have arrows on them as to which way they should turn. Motor configuration in the image below.

voxl-m500-motor-configuration.png

Connectivity for Remote Operation

Connectivity OptionUse CaseDetails
Spektrum R/CManual remote control of the vehicleConfigure
WiFiShort range (~100m) IP connectivity for debug and nearby flightsSetup
5G LTELong Range, BVLOS operationSetup