Sentinel Drone Functional Description
Table of contents
High-Level Specs
| Specification | Sentinel Reference Drone |
|---|---|
| Take-off Weight | 1347g |
| Size | 480mm |
| Flight Time | ~ 24 minutes |
| Payload Capacity | 1kg |
| Motors | Sunnysky 2216-880kv Motors |
| Propellers | 10 inch / 254mm |
| Frame | Holybro S500 V2 Frame Kit |
| ESCs | ModalAI VOXL 4in1 ESC V2 |
| Maximum Speed | 5m/s per PX4 setting |
| CPU | Qualcomm QRB5165 |
| Sensors | TDK ICM-42688-P IMU TDK ICP-10100 Barometer GPS/Magnetometer (Holybro) |
| Image Sensors | Tracking Sensor - Global Shutter VGA High-resolution 4k30 Front and Rear Stereo - Global Shutter VGA 6x 4-lane MIPI-CSI2 (Up to 7 cameras) |
| Connections | USB 3.1 Hub USB-C OTG |
| Additional I/O | 2 GPIO I2C, 4 SPI |
| Communications Options | 5G Add-On (with Quectel RM502Q-AE) WiFi 4G LTE |
| Remote Control | Spektrum DSMX Receiver (2.4GHz) |
| Video Transmission | Wi-Fi (2.4GHz or 5GHz) or Cellular (multi-band, carrier dependent) |
| Power Module | ModalAI Power Module v3 - 5V/6A |
| Battery | 3S with XT60 Connector |
| Expansions | ModalAI 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-Ons | 5G modem add-on with USB 3.1 Hub SD Card add-on Gigabit Ethernet add-on with USB 3.1 Hub |
| Open Software Packages | Ubuntu 18.04 Linux Kernel 4.19 OpenCV TensorFlow Lite ROS 1 / ROS 2 RB5 Flight SDK hosted by ModalAI |
| Developer Connectivity | QGroundControl RViz ADB (Android Debug Bridge) |
Drone Dimensions
| Component | Specification |
|---|---|
| Motor to Motor | 334mm x 334mm x 133mm |
| Fully Extended Propellers | 591mm x 591mm x 187mm |
Vehicle Components
The following images give an overview of the vehicle components.
Front
Side
Top
Bottom
Mechanical Drawings
2D Drone Dimension Drawings
3D STEP
Sub-component Dimensions
todo
| PCB | H x W x D | Weight | Drawings |
|---|---|---|---|
| VOXL 2 Autopilot (M0054) | 70mm x 36mm | 16g | 3D STEP |
| ModalAI 5G Modem Carrier Board (M0067 or M0090) | 67.5 x 36 x 10mm | 12.8g | 2D Drawing 3D STEP |
| Quectel RM502Q-AE | 52× 30 × 2.3mm | 8.7g | Mechanical Drawing |
| Landing Skids | 3D STEP | ||
| Landing Skid Mount | 3D STEP |
Core Components Part Numbers
Reference Drone Part Numbers
| ModalAI Part Number | Description |
|---|---|
| MRB-D0006-4-V1-C11-M3 | Sentinel Reference drone with Microhard Carrier Board |
| MRB-D0006-4-V1-C11-M7 | Sentinel Reference drone with 5G Modem (Quectel) |
| MRB-D0006-4-V1-C11-M13 | Sentinel 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.
Connectivity for Remote Operation
| Connectivity Option | Use Case | Details |
|---|---|---|
| Spektrum R/C | Manual remote control of the vehicle | Configure |
| WiFi | Short range (~100m) IP connectivity for debug and nearby flights | Setup |
| 5G LTE | Long Range, BVLOS operation | Setup |