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Sentinel Drone Functional Description

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Table of contents

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


Sentinel High-Level Specs

Flight Specs

Take-off Weight1347g (1011g without battery)
Diagonal Size480mm
Flight Time> 20 minutes
Payload Capacity1kg
MotorsHolybro 2216-880kv Motors
PropellersQTY. 4, 10 inch / 254mm
FrameHolybro S500 V2 Frame Kit
ESCsModalAI VOXL 4-in-1 ESC V2
Maximum Speed5m/s per PX4 setting
Maximum Height122m per PX4 setting
Geographic Limits SystemPX4 Geo Fencing
GPSUblox Neo-M8N module
Power ModuleModalAI Power Module v3 - 5V/6A
Fail SafePX4 Safety Configuration
BatteryGens Ace 5000mAh, or any 3S battery with XT60 connector

Processing Specs

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 image sensors)
ConnectionsUSB 3.1 Hub
Additional I/O2 GPIO
I2C, 4 SPI
Video TransmissionWi-Fi (2.4GHz or 5GHz) or Cellular (multi-band, carrier dependent)
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
TensorFlow Lite
ROS 1 / ROS 2
RB5 Flight SDK hosted by ModalAI
Developer ConnectivityQGroundControl
ADB (Android Debug Bridge)

Radio Specifications

Remote ControlSpektrum DSMX Receiver (2.4GHz)  
Wi-Fi6 (Wi-Fi 802.11 a/b/g/n/ac/ax)2.4GHz / 5.8GHz175mW / 83mWFCC
5G Cellular (Optional) Quectel RM502Q-AE)5G NR bands worldwide (n1/n2/n3/n5/n7/n8/n12/n20/n25/ n28/n38/n40/n41/n48/n66/n71/n77/n78/n79) FCC
5G Cellular (Optional) Sierra Wireless EM9291)5G NR Sub-6 (n1,n2,n3,n5,n7,n8,n12,n13,n14,n18,n20,n25,n26,n28,n29,n30,n38,n39,n40,n41,n46,n48,n66,n70,n71,n75,n76,n77,n78,n79) FCC

Drone Dimensions

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.


View in fullsize Sentinel-Labeled-1


View in fullsize Sentinel-Labeled-2


View in fullsize Sentinel-Labeled-3


View in fullsize Sentinel-Labeled-4

Sentinel Mechanical Drawings

Sentinel 2D Drone Dimension Drawings


Sentinel 3D STEP

3D STEP Sentinel

Sub-component Dimensions

PCBH x W x DWeightDrawings
VOXL 2 Autopilot (M0054)70mm x 36mm16g3D STEP
ModalAI 5G Modem Carrier Board (M0067 or M0090)67.5 x 36 x 10mm12.8g2D Drawing
Quectel RM502Q-AE52× 30 × 2.3mm8.7gMechanical 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 Dongle

Sentinel PX4 Tuning Parameters

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

Sentinel Motor Configuration

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


Sentinel 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