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<title>Clover 4 assembly | Clover</title><meta name="description" content="Clover Drone Kit">
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aria-label="Safety tips"><!--[--><!--]--> Safety tips <!--[--><!--]--></a><!----></li><li><p tabindex="0" class="sidebar-item sidebar-heading active collapsible">Assembly <span class="down arrow"></span></p><!--[--><ul style="" class="sidebar-item-children"><!--[--><li><a href="/clover-vuepress/en/assembly.html" class="sidebar-item" aria-label="Clover drone assembly"><!--[--><!--]--> Clover drone assembly <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/assemble_4_2.html" class="sidebar-item" aria-label="Clover 4.2 assembly"><!--[--><!--]--> Clover 4.2 assembly <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/assemble_4_2_ws.html" class="sidebar-item" aria-label="Clover 4 assembly"><!--[--><!--]--> Clover 4 assembly <!--[--><!--]--></a><!----></li><li><a aria-current="page" href="/clover-vuepress/en/assemble_4.html" class="router-link-active router-link-exact-active router-link-active sidebar-item active" aria-label="Clover 4 assembly"><!--[--><!--]--> Clover 4 assembly <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/assemble_3.html" class="sidebar-item" aria-label="Assembly of Clover 3"><!--[--><!--]--> Assembly of Clover 3 <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/assemble_2.html" class="sidebar-item" aria-label="Clover 2 construction kit assembly instruction"><!--[--><!--]--> Clover 2 construction kit assembly instruction <!--[--><!--]--></a><!----></li><!--]--></ul><!--]--></li><li><p tabindex="0" class="sidebar-item sidebar-heading collapsible">Configuration <span class="right arrow"></span></p><!--[--><ul style="display:none;" class="sidebar-item-children"><!--[--><li><a href="/clover-vuepress/en/setup.html" class="sidebar-item" aria-label="Initial setup"><!--[--><!--]--> Initial setup <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/calibration.html" class="sidebar-item" aria-label="Sensor calibration"><!--[--><!--]--> Sensor calibration <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/radio.html" class="sidebar-item" aria-label="RC setup"><!--[--><!--]--> RC setup <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/rc_flysky_a8s.html" class="sidebar-item" aria-label="Using Flysky FS-A8S"><!--[--><!--]--> Using Flysky FS-A8S <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/modes.html" class="sidebar-item" aria-label="Flight modes"><!--[--><!--]--> Flight modes <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/power.html" class="sidebar-item" aria-label="Power setup"><!--[--><!--]--> Power setup <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/failsafe.html" class="sidebar-item" aria-label="Failsafe configuration"><!--[--><!--]--> Failsafe configuration <!--[--><!--]--></a><!----></li><!--]--></ul><!--]--></li><li><p tabindex="0" class="sidebar-item sidebar-heading collapsible">Manual flight <span class="right arrow"></span></p><!--[--><ul style="display:none;" class="sidebar-item-children"><!--[--><li><a href="/clover-vuepress/en/flight.html" class="sidebar-item" aria-label="Flight"><!--[--><!--]--> Flight <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/flight_exercises.html" class="sidebar-item" aria-label="Drone control exercises"><!--[--><!--]--> Drone control exercises <!--[--><!--]--></a><!----></li><!--]--></ul><!--]--></li><li><p tabindex="0" class="sidebar-item sidebar-heading collapsible">Working with Raspberry Pi <span class="right arrow"></span></p><!--[--><ul style="display:none;" class="sidebar-item-children"><!--[--><li><a href="/clover-vuepress/en/raspberry.html" class="sidebar-item" aria-label="Raspberry Pi"><!--[--><!--]--> Raspberry Pi <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/image.html" class="sidebar-item" aria-label="Raspberry Pi image"><!--[--><!--]--> Raspberry Pi image <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/wifi.html" class="sidebar-item" aria-label="Connecting to Clover via Wi-Fi"><!--[--><!--]--> Connecting to Clover via Wi-Fi <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/connection.html" class="sidebar-item" aria-label="Connecting Raspberry Pi to the flight controller"><!--[--><!--]--> Connecting Raspberry Pi to the flight controller <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/gcs_bridge.html" class="sidebar-item" aria-label="Using QGroundControl via Wi-Fi"><!--[--><!--]--> Using QGroundControl via Wi-Fi <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/ssh.html" class="sidebar-item" aria-label="SSH access to Raspberry Pi"><!--[--><!--]--> SSH access to Raspberry Pi <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/cli.html" class="sidebar-item" aria-label="Command line interface"><!--[--><!--]--> Command line interface <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/selfcheck.html" class="sidebar-item" aria-label="Automatic check"><!--[--><!--]--> Automatic check <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/web_video_server.html" class="sidebar-item" aria-label="Viewing images from cameras"><!--[--><!--]--> Viewing images from cameras <!--[--><!--]--></a><!----></li><!--]--></ul><!--]--></li><li><p tabindex="0" class="sidebar-item sidebar-heading collapsible">Programming <span class="right arrow"></span></p><!--[--><ul style="display:none;" class="sidebar-item-children"><!--[--><li><a href="/clover-vuepress/en/programming.html" class="sidebar-item" aria-label="Programming"><!--[--><!--]--> Programming <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/camera_setup.html" class="sidebar-item" aria-label="Camera setup"><!--[--><!--]--> Camera setup <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/aruco.html" class="sidebar-item" aria-label="ArUco markers"><!--[--><!--]--> ArUco markers <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/aruco_marker.html" class="sidebar-item" aria-label="ArUco marker detection"><!--[--><!--]--> ArUco marker detection <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/aruco_map.html" class="sidebar-item" aria-label="Map-based navigation with ArUco markers"><!--[--><!--]--> Map-based navigation with ArUco markers <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/optical_flow.html" class="sidebar-item" aria-label="Use of Optical Flow"><!--[--><!--]--> Use of Optical Flow <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/simple_offboard.html" class="sidebar-item" aria-label="Autonomous flight"><!--[--><!--]--> Autonomous flight <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/frames.html" class="sidebar-item" aria-label="Coordinate systems (frames)"><!--[--><!--]--> Coordinate systems (frames) <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/snippets.html" class="sidebar-item" aria-label="Code examples"><!--[--><!--]--> Code examples <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/laser.html" class="sidebar-item" aria-label="Working with a laser rangefinder"><!--[--><!--]--> Working with a laser rangefinder <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/leds.html" class="sidebar-item" aria-label="Working with a LED strip"><!--[--><!--]--> Working with a LED strip <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/gpio.html" class="sidebar-item" aria-label="Working with GPIO"><!--[--><!--]--> Working with GPIO <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/sonar.html" class="sidebar-item" aria-label="Working with the ultrasonic distance gage"><!--[--><!--]--> Working with the ultrasonic distance gage <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/camera.html" class="sidebar-item" aria-label="Working with the camera"><!--[--><!--]--> Working with the camera <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/rviz.html" class="sidebar-item" aria-label="Using rviz and rqt"><!--[--><!--]--> Using rviz and rqt <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/autolaunch.html" class="sidebar-item" aria-label="Software autorun"><!--[--><!--]--> Software autorun <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/javascript.html" class="sidebar-item" aria-label="Work with ROS from browser"><!--[--><!--]--> Work with ROS from browser <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/blocks.html" class="sidebar-item" aria-label="Blocks programming for Clover"><!--[--><!--]--> Blocks programming for Clover <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/simulation.html" class="sidebar-item" aria-label="Simulation overview"><!--[--><!--]--> Simulation overview <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/simulation_native.html" class="sidebar-item" aria-label="Native setup"><!--[--><!--]--> Native setup <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/simulation_vm.html" class="sidebar-item" aria-label="Simulation VM setup"><!--[--><!--]--> Simulation VM setup <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/simulation_usage.html" class="sidebar-item" aria-label="Using the simulator"><!--[--><!--]--> Using the simulator <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/simulation_m1.html" class="sidebar-item" aria-label="Running simulator on M1 powered computer"><!--[--><!--]--> Running simulator on M1 powered computer <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/ros.html" class="sidebar-item" aria-label="ROS"><!--[--><!--]--> ROS <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/mavros.html" class="sidebar-item" aria-label="MAVROS"><!--[--><!--]--> MAVROS <!--[--><!--]--></a><!----></li><!--]--></ul><!--]--></li><li><p tabindex="0" class="sidebar-item sidebar-heading collapsible">Supplementary materials <span class="right arrow"></span></p><!--[--><ul style="display:none;" class="sidebar-item-children"><!--[--><li><a href="/clover-vuepress/en/supplementary.html" class="sidebar-item" aria-label="Supplementary materials"><!--[--><!--]--> Supplementary materials <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/coex_pix.html" class="sidebar-item" aria-label="COEX Pix"><!--[--><!--]--> COEX Pix <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/coex_pdb.html" class="sidebar-item" aria-label="COEX PDB"><!--[--><!--]--> COEX PDB <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/coex_gps.html" class="sidebar-item" aria-label="COEX GPS"><!--[--><!--]--> COEX GPS <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/auto_setup.html" class="sidebar-item" aria-label="Step-by-step guide on autonomous flight with Clover 4"><!--[--><!--]--> Step-by-step guide on autonomous flight with Clover 4 <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/hostname.html" class="sidebar-item" aria-label="Hostname"><!--[--><!--]--> Hostname <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/sitl.html" class="sidebar-item" aria-label="PX4 Simulation"><!--[--><!--]--> PX4 Simulation <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/wall_aruco.html" class="sidebar-item" aria-label="Navigation using vertical ArUco-markers"><!--[--><!--]--> Navigation using vertical ArUco-markers <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/calibratePID.html" class="sidebar-item" aria-label="Configuring the PID coefficients"><!--[--><!--]--> Configuring the PID coefficients <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/models.html" class="sidebar-item" aria-label="Model files for parts"><!--[--><!--]--> Model files for parts <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/ros-install.html" class="sidebar-item" aria-label="ROS Melodic package installation and setup"><!--[--><!--]--> ROS Melodic package installation and setup <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/camera_calibration.html" class="sidebar-item" aria-label="Camera calibration"><!--[--><!--]--> Camera calibration <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/zerotire_vpn.html" class="sidebar-item" aria-label="Creating a virtual network ZeroTier One and connecting to it"><!--[--><!--]--> Creating a virtual network ZeroTier One and connecting to it <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/4g.html" class="sidebar-item" aria-label="Multi-copter control with 4G communication"><!--[--><!--]--> Multi-copter control with 4G communication <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/jetson_nano.html" class="sidebar-item" aria-label="Clover and Jetson Nano"><!--[--><!--]--> Clover and Jetson Nano <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/rc.html" class="sidebar-item" aria-label="Controlling Clover from a smartphone"><!--[--><!--]--> Controlling Clover from a smartphone <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/network.html" class="sidebar-item" aria-label="Configuring Wi-Fi"><!--[--><!--]--> Configuring Wi-Fi <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/uart.html" class="sidebar-item" aria-label="UART interface"><!--[--><!--]--> UART interface <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/parameters.html" class="sidebar-item" aria-label="PX4 Parameters"><!--[--><!--]--> PX4 Parameters <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/flight_logs.html" class="sidebar-item" aria-label="PX4 Logs and Topics"><!--[--><!--]--> PX4 Logs and Topics <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/firmware.html" class="sidebar-item" aria-label="Pixhawk / Pixracer firmware flashing"><!--[--><!--]--> Pixhawk / Pixracer firmware flashing <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/mavlink.html" class="sidebar-item" aria-label="MAVLink"><!--[--><!--]--> MAVLink <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/test_connection.html" class="sidebar-item" aria-label="How to use a multimeter?"><!--[--><!--]--> How to use a multimeter? <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/radioerrors.html" class="sidebar-item" aria-label="Possible radio failures"><!--[--><!--]--> Possible radio failures <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/esc_firmware.html" class="sidebar-item" aria-label="Flashing ESCs using BLHeliSuite"><!--[--><!--]--> Flashing ESCs using BLHeliSuite <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/arduino.html" class="sidebar-item" aria-label="Controlling the copter from Arduino"><!--[--><!--]--> Controlling the copter from Arduino <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/gps.html" class="sidebar-item" aria-label="Connecting GPS"><!--[--><!--]--> Connecting GPS <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/ir_sensors.html" class="sidebar-item" aria-label="Working with IR sensors on Raspberry Pi 3"><!--[--><!--]--> Working with IR sensors on Raspberry Pi 3 <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/fpv_clover_4_2.html" class="sidebar-item" aria-label="Installing and configuring FPV equipment"><!--[--><!--]--> Installing and configuring FPV equipment <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/fpv.html" class="sidebar-item" aria-label="Installation of FPV"><!--[--><!--]--> Installation of FPV <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/magnetic_grip.html" class="sidebar-item" aria-label="Assembling and setting up the electromagnetic gripper"><!--[--><!--]--> Assembling and setting up the electromagnetic gripper <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/mechanical_grip.html" class="sidebar-item" aria-label="Assembling and setting up a mechanical gripper"><!--[--><!--]--> Assembling and setting up a mechanical gripper <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/trainer_mode.html" class="sidebar-item" aria-label="FlySky Trainer mode settings"><!--[--><!--]--> FlySky Trainer mode settings <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/tinning.html" class="sidebar-item" aria-label="Blanching"><!--[--><!--]--> Blanching <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/connectortypes.html" class="sidebar-item" aria-label="Types of power connectors"><!--[--><!--]--> Types of power connectors <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/4in1.html" class="sidebar-item" aria-label="Connecting 4 in 1 ESCs"><!--[--><!--]--> Connecting 4 in 1 ESCs <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/tb.html" class="sidebar-item" aria-label="Soldering safety"><!--[--><!--]--> Soldering safety <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/leds_old.html" class="sidebar-item" aria-label="Working with a LED strip on Raspberry 3"><!--[--><!--]--> Working with a LED strip on Raspberry 3 <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/contributing.html" class="sidebar-item" aria-label="Contribution to Clover"><!--[--><!--]--> Contribution to Clover <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/packages.html" class="sidebar-item" aria-label="COEX packages repository"><!--[--><!--]--> COEX packages repository <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/migrate20.html" class="sidebar-item" aria-label="Migration to version 0.20"><!--[--><!--]--> Migration to version 0.20 <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/migrate22.html" class="sidebar-item" aria-label="Migration to version 0.22"><!--[--><!--]--> Migration to version 0.22 <!--[--><!--]--></a><!----></li><!--]--></ul><!--]--></li><li><p tabindex="0" class="sidebar-item sidebar-heading collapsible">Events <span class="right arrow"></span></p><!--[--><ul style="display:none;" class="sidebar-item-children"><!--[--><li><a href="/clover-vuepress/en/events.html" class="sidebar-item" aria-label="Events"><!--[--><!--]--> Events <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/copterhack2022.html" class="sidebar-item" aria-label="CopterHack 2022"><!--[--><!--]--> CopterHack 2022 <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/copterhack2021.html" class="sidebar-item" aria-label="CopterHack 2021"><!--[--><!--]--> CopterHack 2021 <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/copterhack2019.html" class="sidebar-item" aria-label="Copter Hack 2019"><!--[--><!--]--> Copter Hack 2019 <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/copterhack2018.html" class="sidebar-item" aria-label="Copter Hack 2018"><!--[--><!--]--> Copter Hack 2018 <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/copterhack2017.html" class="sidebar-item" aria-label="Copter Hack 2017"><!--[--><!--]--> Copter Hack 2017 <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/video_contest.html" class="sidebar-item" aria-label="Contest for the best educational video on assembly and configuration"><!--[--><!--]--> Contest for the best educational video on assembly and configuration <!--[--><!--]--></a><!----></li><li><a href="/clover-vuepress/en/educational_contests.html" class="sidebar-item" aria-label="Educational contests"><!--[--><!--]--> Educational contests <!--[--><!--]--></a><!----></li><!--]--></ul><!--]--></li><!--]--></ul><!--[--><!--]--></aside><!--]--><!--[--><main class="page"><!--[--><!--]--><div class="theme-default-content"><!--[--><h1 id="clover-4-assembly" tabindex="-1"><a class="header-anchor" href="#clover-4-assembly" aria-hidden="true">#</a> Clover 4 assembly</h1><img src="/clover-vuepress/assets/clover_assembly.632348bc.png" width="900" class="zoom center"><h2 id="frame-base-assembly" tabindex="-1"><a class="header-anchor" href="#frame-base-assembly" aria-hidden="true">#</a> Frame base assembly</h2><div class="custom-container tip"><p class="custom-container-title">TIP</p><p>To increase the strength of the frame, you can print on a 3D printer or cut on a laser cutter reinforcing pads.</p></div><ol><li><p>Mount the reinforcement pads on the stiffening ribs if you have them. Proceed without them if you don't.</p><img src="/clover-vuepress/assets/frame_assembly_1.e54f62c7.png" width="300" class="zoom border center"></li><li><p>Align two carbon stiffening ribs using the center notch.</p><div class="image-group"><img src="/clover-vuepress/assets/frame_assembly_2.4965037c.png" width="300" class="zoom border"><img src="/clover-vuepress/assets/frame_assembly_3.6f15c94c.png" width="300" class="zoom border"></div></li><li><p>Install the top carbon deck using notches as guides.</p><div class="image-group"><img src="/clover-vuepress/assets/frame_assembly_4.9ee0c7c7.png" width="300" class="zoom border"><img src="/clover-vuepress/assets/frame_assembly_5.7cf85e8b.png" width="300" class="zoom border"></div></li><li><p>Place self-locking steel nuts into the slots in reinforcement plates and tighten the assembly with M3x8 screws.</p></li></ol><h2 id="installing-motors" tabindex="-1"><a class="header-anchor" href="#installing-motors" aria-hidden="true">#</a> Installing motors</h2><ol><li><p>Unbox the motors.</p></li><li><p>Shorten the motor wires using wire strippers or side cutters:</p><ul><li>Cut wires to 30 mm.</li><li>Strip 5 mm of insulation while taking care to not damage the cores</li></ul><img src="/clover-vuepress/assets/motor_1.2b7b6fb7.png" width="300" class="zoom border center"><ul><li>Twist the cores.</li><li><a href="/clover-vuepress/en/tinning.html" class="">Tin the wires</a>. You may want to use tweezers to hold the wire.</li></ul></li><li><p>Place the motor on the support arm.</p></li><li><p>Use hexagonal M3x5 screws to attach the motor to its arm.</p><img src="/clover-vuepress/assets/motor_2.6ac0b6c7.png" width="300" class="zoom border center"></li></ol><p>Perform these actions for each motor.</p><h2 id="frame-assembly" tabindex="-1"><a class="header-anchor" href="#frame-assembly" aria-hidden="true">#</a> Frame assembly</h2><ol><li><p>Install the support arms on the frame base according to their rotation direction. Use notches as guides.</p><img src="/clover-vuepress/assets/motor_3.2d034d5b.png" width="300" class="zoom border center"><blockquote><p><strong>Hint</strong> Note the motor nut colors when installing the arms. Motors with red nuts should be placed on the front right and back left arms, with black ones - on the front left and back right arms.</p></blockquote></li><li><p>Attach the arms to the frame base using 8 M3x8 screws, 6 steel nuts, and 2 15 mm spacers.</p><div class="image-group"><img src="/clover-vuepress/assets/motor_4.88acd045.png" width="300" class="zoom border"><img src="/clover-vuepress/assets/motor_5.016029d0.png" width="300" class="zoom border"></div></li></ol><h2 id="preparing-the-power-distribution-board" tabindex="-1"><a class="header-anchor" href="#preparing-the-power-distribution-board" aria-hidden="true">#</a> Preparing the power distribution board</h2><ol><li><a href="/clover-vuepress/en/tinning.html" class="">Tin</a> the pads on the power distribution board.</li><li>Check the board for shorts using a multimeter: <ul><li>Set your multimeter to the Continuity Test mode.</li><li>Ensure your multimeter works by connecting the probes to each other. The multimeter should beep.</li><li>Connect one of the probes to the <strong>«+»</strong> pad and the other to <strong>«-»/GND</strong>. If there is a short circuit, the multimeter will beep.</li></ul></li></ol><h2 id="mounting-the-pdb" tabindex="-1"><a class="header-anchor" href="#mounting-the-pdb" aria-hidden="true">#</a> Mounting the PDB</h2><ol><li><p>Attach four 6 mm standoffs on the top carbon deck using M3x6 screws.</p><div class="image-group"><img src="/clover-vuepress/assets/pdb_1.edca9ea5.png" width="300" class="zoom border"><img src="/clover-vuepress/assets/pdb_2.92ad32bd.png" width="300" class="zoom border"></div></li><li><p>Place the PDB on the standoffs.</p><img src="/clover-vuepress/assets/pdb_3.8e62483d.png" width="300" class="zoom border center"></li><li><p>Make sure the arrow on the PDB is pointing in the same direction as the arrow on the top carbon deck.</p></li></ol><h2 id="soldering-the-speed-controllers-and-the-bec" tabindex="-1"><a class="header-anchor" href="#soldering-the-speed-controllers-and-the-bec" aria-hidden="true">#</a> Soldering the speed controllers and the BEC</h2><ol><li><p>Solder the motor wires to the electronic speed controllers (ESCs).</p></li><li><p>Solder the ESC power wires to the power distribution board (<strong><font color="red">red</font></strong> to <strong>«+»</strong>, <strong>black</strong> to <strong>«-»</strong>).</p><div class="image-group"><img src="/clover-vuepress/assets/esc_bec_1.905dac47.png" width="300" class="zoom border"><img src="/clover-vuepress/assets/esc_bec_2.09f33a96.png" width="300" class="zoom border"></div></li><li><p>Solder power wires of the battery elimination circuit in parallel to one of the ESC power wires (<strong><font color="red">red</font></strong> to <strong>«+»</strong>, <strong>black</strong> to <strong>«-»</strong>).</p><div class="image-group"><img src="/clover-vuepress/assets/esc_bec_3.2d340d72.png" width="300" class="zoom border"><img src="/clover-vuepress/assets/esc_bec_4.34cc4d11.png" width="300" class="zoom border"></div></li><li><p>Check the board for shorts using a multimeter.</p></li></ol><h3 id="setting-up-pwm-mode-on-rc" tabindex="-1"><a class="header-anchor" href="#setting-up-pwm-mode-on-rc" aria-hidden="true">#</a> Setting up PWM mode on RC</h3><p>Turn on your transmitter using the <strong>POWER</strong> slider. If the RC transmitter is locked, place all controls in their neutral position:</p><ol><li><p>Left stick should be in the <strong>lower center position</strong>.</p></li><li><p>Right stick should be <strong>centered</strong>.</p></li><li><p>The switches (A, B, C, D) should be in the <strong>top position</strong>.</p><img src="/clover-vuepress/assets/base.28e34a2e.png" alt="Neutral control state" class="zoom center" width="500"></li></ol><p>Make sure the transmitter operates in the PWM mode:</p><ol><li>Power down the receiver.</li><li>Hold down the "OK" button to enter the menu.</li><li>Select the "System setup" option, press "OK" to enter the submenu.</li><li>Select "RX Setup" option.</li><li>Select "Output mode".</li><li>Make sure the "PWM" option is selected.</li><li>Save settings by holding the "Cancel" button.</li></ol><h3 id="binding-the-rc-transmitter-and-receiver" tabindex="-1"><a class="header-anchor" href="#binding-the-rc-transmitter-and-receiver" aria-hidden="true">#</a> Binding the RC transmitter and receiver</h3><ol><li><p>Turn off the RC transmitter with the <strong>POWER</strong> slider.</p></li><li><p>Connect the RC receiver to the 5 V BEC output. Connect the black wire into one of the bottom pins and the red wire to one of the central pins.</p></li><li><p>Place the binding jumper on the B/VCC output.</p></li><li><p>Connect the battery pack.</p></li><li><p>The LED on the RC receiver should start to blink.</p><div class="image-group"><img src="/clover-vuepress/assets/rc_binding_1.73b27798.png" width="300" class="zoom border"><img src="/clover-vuepress/assets/rc_binding_2.f608785d.png" width="300" class="zoom border"></div></li><li><p>Hold down the <strong>BIND KEY</strong> on the RC transmitter.</p></li><li><p>Turn on the RC transmitter while holding the <strong>BIND KEY</strong></p><img src="/clover-vuepress/assets/binding.fd13b8dd.png" class="zoom border center" width="500"></li><li><p>Wait for the <strong>RXBind ok</strong> message on the RC transmitter</p></li><li><p>Disconnect the binding jumper.</p></li><li><p>The LED on the RC receiver should be lit continuously.</p></li></ol><h3 id="checking-the-motor-rotation-direction" tabindex="-1"><a class="header-anchor" href="#checking-the-motor-rotation-direction" aria-hidden="true">#</a> Checking the motor rotation direction</h3><p>Motors with <strong><font color="red">red</font></strong> nuts should rotate <strong>counterclockwise</strong>, the ones with <strong>black</strong> nuts should rotate <strong>clockwise</strong>. Correct rotation direction should also be printed on the motors. You can use a servo tester or your RC transmitter and receiver to check rotation direction.</p><img src="/clover-vuepress/assets/props_rotation.447fe737.png" width="400" class="zoom border center"><ol><li>Disconnect the battery pack and power down the transmitter.</li><li>Connect the signal wires from the ESC to CH3 pins on the output. The white wire should go to the top pin, the black one should go to the bottom one.</li><li>Power on the transmitter. Make sure the left stick is in the bottom position.</li><li>Connect the battery pack.</li><li>Slowly move the left stick up until the motor starts to spin.</li></ol><p>If the motor rotation direction is wrong, switch any two motor wires.</p><div class="custom-container tip"><p class="custom-container-title">TIP</p><p>You can also change motor direction by reprogramming the speed controllers. The process is described <a href="/clover-vuepress/en/esc_firmware.html" class="">in the ESC firmware flashing article</a>.</p></div><p>Do this for each motor.</p><h3 id="switching-the-transmitter-back-to-ppm-mode" tabindex="-1"><a class="header-anchor" href="#switching-the-transmitter-back-to-ppm-mode" aria-hidden="true">#</a> Switching the transmitter back to PPM mode</h3><p>The flight controller expects PPM signal from your RC gear. Switch your transmitter back to PPM before flight.</p><ol><li>Make sure the receiver is not powered.</li><li>Hold down the "OK" button to enter the menu.</li><li>Select the "System setup" option, press "OK" to enter the submenu.</li><li>Select "RX Setup" option.</li><li>Select "Output mode".</li><li>Make sure the "PPM" option is selected.</li><li>Save settings by holding the "Cancel" button.</li></ol><h2 id="mounting-the-flight-controller-plate" tabindex="-1"><a class="header-anchor" href="#mounting-the-flight-controller-plate" aria-hidden="true">#</a> Mounting the flight controller plate</h2><ol><li><p>Attach four 6 mm standoffs on top of PDB.</p><img src="/clover-vuepress/assets/fcu_1.828aecc5.png" width="300" class="zoom border center"></li><li><p>Connect the flight controller power cable to the PDB.</p><img src="/clover-vuepress/assets/fcu_2.0917ce79.png" width="300" class="zoom border center"></li><li><p>Place the polycarbonate plate on the standoffs and fix them with plastic nuts.</p><img src="/clover-vuepress/assets/fcu_3.524a8387.png" width="300" class="zoom border center"></li></ol><h2 id="mounting-the-flight-controller" tabindex="-1"><a class="header-anchor" href="#mounting-the-flight-controller" aria-hidden="true">#</a> Mounting the flight controller</h2><ol><li><p>Insert the microSD card into your flight controller.</p><img src="/clover-vuepress/assets/pixracer_sdcard.7f6b6166.png" width="300" class="zoom border center"></li><li><p>Align the flight controller so that the arrows on the controller and on the top carbon deck point in the same direction.</p><img src="/clover-vuepress/assets/fcu_4.c39fe912.png" width="300" class="zoom border center"></li><li><p>Attach the flight controller to the flight controller plate using 3M double-sided adhesive pads.</p></li><li><p>Connect the power cable to the <strong>"POWER"</strong> input of the flight controller.</p><div class="image-group"><img src="/clover-vuepress/assets/fcu_5.0264b60c.png" width="300" class="zoom border"><img src="/clover-vuepress/assets/fcu_6.e733b3cb.png" width="300" class="zoom border"></div></li><li><p>Attach four 40 mm aluminum spacers to the top carbon deck using M3x10 screws.</p><div class="image-group"><img src="/clover-vuepress/assets/fcu_7.10a0c2e9.png" width="300" class="zoom border"><img src="/clover-vuepress/assets/fcu_8.f24c8106.png" width="300" class="zoom border"></div></li><li><p>Connect signal wires to the flight controller as shown in these pictures:</p><div class="image-group"><img src="/clover-vuepress/assets/motor_conenction.7af456b1.png" width="300" class="zoom border"><img src="/clover-vuepress/assets/fcu_9.18968820.png" width="300" class="zoom border"></div></li><li><p>Attach two 15 mm spacers to the top carbon deck using M3x8 screws.</p><div class="image-group"><img src="/clover-vuepress/assets/fcu_10.a6483211.png" width="300" class="zoom border"><img src="/clover-vuepress/assets/raspberry_1.02072cab.png" width="300" class="zoom border"></div></li><li><p>Attach two 15 mm spacers to the top carbon deck and the front arms using M3x10 screws (this was already described in the "Frame Assembly" section, p. 2).</p></li></ol><h2 id="mounting-the-led-strip-ring" tabindex="-1"><a class="header-anchor" href="#mounting-the-led-strip-ring" aria-hidden="true">#</a> Mounting the LED strip ring</h2><ol><li><p>Bend the polycarbonate strip into a ring and use the locks to fix it in this shape.</p></li><li><p>Fix the ring on the frame using appropriate notches.</p><div class="image-group"><img src="/clover-vuepress/assets/led_1.a1f51eda.png" width="300" class="zoom border"><img src="/clover-vuepress/assets/led_2.45e14e54.png" width="300" class="zoom border"></div></li></ol><h2 id="installing-the-raspberry-pi" tabindex="-1"><a class="header-anchor" href="#installing-the-raspberry-pi" aria-hidden="true">#</a> Installing the Raspberry Pi</h2><ol><li><p>Insert your microSD card <a href="/clover-vuepress/en/image.html" class="">with our image</a> into the Raspberry Pi</p><img src="/clover-vuepress/assets/rpi_sdcard.1a63866f.png" width="300" class="zoom border center"></li><li><p>Attach the Raspberry Pi using four standoffs.</p><img src="/clover-vuepress/assets/raspberry_2.de7f830d.png" width="300" class="zoom border center"></li><li><p>Route the BEC wires through the channel in the top carbon deck.</p><img src="/clover-vuepress/assets/raspberry_3.7b48bfe9.png" width="300" class="zoom border center"></li><li><p>Connect the BEC outputs according to the following image:</p><img src="/clover-vuepress/assets/raspberry_4.aca03088.png" width="300" class="zoom border center"></li></ol><h2 id="installing-the-led-strip-on-the-led-strip-ring" tabindex="-1"><a class="header-anchor" href="#installing-the-led-strip-on-the-led-strip-ring" aria-hidden="true">#</a> Installing the LED strip on the LED strip ring</h2><ol><li><p>Check wires on the strip (and solder them on if they're missing)</p><div class="image-group"><img src="/clover-vuepress/assets/led_3.1acdb44b.png" width="300" class="zoom border"><img src="/clover-vuepress/assets/led_4.ef7614ca.png" width="300" class="zoom border"></div></li><li><p>Attach the LED strip to the ring using the adhesive layer on the strip. Use zip ties to fix it in place.</p><img src="/clover-vuepress/assets/led_5.27f19fe1.png" width="300" class="zoom border center"></li></ol><h2 id="connecting-the-led-strip-to-raspberry-pi" tabindex="-1"><a class="header-anchor" href="#connecting-the-led-strip-to-raspberry-pi" aria-hidden="true">#</a> Connecting the LED strip to Raspberry Pi</h2><ol><li><p>Power the LED strip from a separate BEC. Connect the <strong>«+»</strong> and <strong>«-»</strong> leads to <strong>5v</strong> and <strong>Ground</strong> respectively.</p><div class="image-group"><img src="/clover-vuepress/assets/led_6.26c0f36f.png" width="300" class="zoom border"><img src="/clover-vuepress/assets/led_7.5ba90525.png" width="300" class="zoom border"></div></li><li><p>Connect the <strong>D</strong> lead to GPIO21 (consult the <a href="/clover-vuepress/en/leds.html" class="">relevant article</a> for more information).</p><img src="/clover-vuepress/assets/led_8.c0758d48.png" width="300" class="zoom border center"></li></ol><h2 id="installing-the-camera-cable" tabindex="-1"><a class="header-anchor" href="#installing-the-camera-cable" aria-hidden="true">#</a> Installing the camera cable</h2><ol><li>Open the slot connector by lifting the T-clip.</li><li>Insert the ribbon cable.</li><li>Press the T-clip down to secure the cable.</li></ol><img src="/clover-vuepress/assets/raspberry_5.9b2556b0.png" width="300" class="zoom border center"><h2 id="mounting-the-lower-deck-periphery" tabindex="-1"><a class="header-anchor" href="#mounting-the-lower-deck-periphery" aria-hidden="true">#</a> Mounting the lower deck periphery</h2><ol><li><p>Prepare the laser rangefinder by soldering leads to it.</p></li><li><p>Use four 2x5 self-tapping screws to secure the camera.</p><blockquote><p><strong>Warning</strong> Make sure the screws don't touch any components on the camera PCB! Otherwise the camera may not function properly.</p></blockquote></li><li><p>Mount the laser rangefinder on the lower deck using two M3x8 screws and steel nuts.</p><div class="image-group"><img src="/clover-vuepress/assets/lower_deck_1.0b1e0251.png" width="300" class="zoom border"><img src="/clover-vuepress/assets/lower_deck_2.9f289c09.png" width="300" class="zoom border"></div></li><li><p>Attach RC receiver to the lower deck using 3M double-sided adhesive pads.</p><img src="/clover-vuepress/assets/lower_deck_3.41f7604f.png" width="300" class="zoom border center"></li><li><p>Mount the lower deck assembly using four M3x10 screws.</p><img src="/clover-vuepress/assets/lower_deck_4.c387239e.png" width="300" class="zoom border center"></li><li><p>Connect the camera ribbon cable to the camera.</p></li><li><p>Connect the laser rangefinder to the Raspberry Pi using the following pinout:</p><ul><li>Connect <strong>VCC</strong> to pin 1 (<strong>3v3</strong>)</li><li>Connect <strong>GND</strong> to pin 9 (<strong>Ground</strong>)</li><li>Connect <strong>SDA</strong> to pin 3 (<strong>GPIO2</strong>)</li><li>Connect <strong>SCL</strong> to pin 5 (<strong>GPIO3</strong>)</li></ul><img src="/clover-vuepress/assets/lower_deck_5.c1e53056.png" width="300" class="zoom border center"></li></ol><h2 id="mounting-the-landing-gear" tabindex="-1"><a class="header-anchor" href="#mounting-the-landing-gear" aria-hidden="true">#</a> Mounting the landing gear</h2><ol><li><p>Attach 8 landing gear pieces using M3x10 screws and steel nuts.</p><div class="image-group"><img src="/clover-vuepress/assets/landing_gear_1.a8f6f86c.png" width="300" class="zoom border"><img src="/clover-vuepress/assets/landing_gear_2.a84e0cb0.png" width="300" class="zoom border"></div></li><li><p>Attach dampening pads to the landing gear pieces using M3x10 screws and steel nuts.</p><img src="/clover-vuepress/assets/landing_gear_3.28953476.png" width="300" class="zoom border center"></li></ol><h2 id="connecting-the-cables" tabindex="-1"><a class="header-anchor" href="#connecting-the-cables" aria-hidden="true">#</a> Connecting the cables</h2><ol><li><p>Connect RC cable to the <strong>RCIN</strong> port on the flight controller.</p><img src="/clover-vuepress/assets/radio_2.a82a206d.png" width="300" class="zoom border center"></li><li><p>Connect RC cable to RC receiver.</p><div class="image-group"><img src="/clover-vuepress/assets/radio_1.10a50d94.png" width="300" class="zoom border"><img src="/clover-vuepress/assets/radio_3.2935d55b.png" width="300" class="zoom border"></div></li></ol><h2 id="mounting-the-propeller-guards" tabindex="-1"><a class="header-anchor" href="#mounting-the-propeller-guards" aria-hidden="true">#</a> Mounting the propeller guards</h2><ol><li><p>Assemble the lower part of the guards using twelve M3x10 screws and twelve 40 mm plastic spacers.</p><img src="/clover-vuepress/assets/propeller_guards_1.093dc8fc.png" width="300" class="zoom border center"></li><li><p>Assemble the top part using twelve M3x10 screws.</p><img src="/clover-vuepress/assets/propeller_guards_2.872d7394.png" width="300" class="zoom border center"></li><li><p>Attach the assembly to the drone using four M3x10 screws and steel nuts.</p><div class="image-group"><img src="/clover-vuepress/assets/propeller_guards_3.4806a516.png" width="300" class="zoom border"><img src="/clover-vuepress/assets/propeller_guards_4.57bf49ba.png" width="300" class="zoom border"></div></li></ol><h2 id="mounting-the-top-deck" tabindex="-1"><a class="header-anchor" href="#mounting-the-top-deck" aria-hidden="true">#</a> Mounting the top deck</h2><ol><li><p>Attach the battery holder to the top deck with four M3x8 screws and steel nuts.</p></li><li><p>Thread the battery strap through the slots in the deck.</p></li><li><p>Attach the top deck using four M3x10 screws.</p><img src="/clover-vuepress/assets/upper_deck_1.bb1d4f9a.png" width="300" class="zoom border center"></li><li><p>Connect the flight controller to the Raspberry Pi using retractable USB cable.</p><div class="image-group"><img src="/clover-vuepress/assets/usb_connection_2.faa138a1.png" width="300" class="zoom border"><img src="/clover-vuepress/assets/usb_connection_3.4307cc32.png" width="300" class="zoom border"></div></li><li><p>Attach the USB cable reel where convenient using 3M double-sided adhesive pads while making sure the cable does not interfere with the propellers.</p><img src="/clover-vuepress/assets/usb_connection_1.b2e30114.png" width="300" class="zoom border center"></li></ol><h2 id="mounting-the-propellers-and-preparing-for-flight" tabindex="-1"><a class="header-anchor" href="#mounting-the-propellers-and-preparing-for-flight" aria-hidden="true">#</a> Mounting the propellers and preparing for flight</h2><p>Perform the quadrotor components setup according to <a href="/clover-vuepress/en/setup.html" class="">the "Configuration" section</a>.</p><div class="custom-container warning"><p class="custom-container-title">WARNING</p><p>Be sure to <strong>not</strong> mount the propellers <strong>until the setup is complete</strong>. Do it only when you are ready to fly.</p></div><p>Attach the propellers according to their rotation direction. The battery should be disconnected during propeller installation.</p><div class="image-group"><img src="/clover-vuepress/assets/final_2.a8f02c93.png" width="300" class="zoom border"><img src="/clover-vuepress/assets/final_3.17b6002f.png" width="300" class="zoom border"></div><h2 id="installing-the-battery" tabindex="-1"><a class="header-anchor" href="#installing-the-battery" aria-hidden="true">#</a> Installing the battery</h2><div class="custom-container warning"><p class="custom-container-title">WARNING</p><p>Make sure all cables are secured and nothing interferes with the propellers!</p></div><p>Check the quadrotor assembly:</p><ul><li>The balance connector should be fixed under the battery strap.</li><li>The ESCs should be zip tied to the frame.</li><li>All wires from the PDB and flight controller should be tucked under a velcro strap wound around aluminum spacers.</li></ul><img src="/clover-vuepress/assets/final_1.058a4f83.png" width="300" class="zoom border center"><p>Be sure to install and setup the voltage indicator before flying, so as not to overdischarge the battery. To configure the indicator, use the button located at its base. The displayed numbers during setup indicate the minimum possible voltage in each <a href="/clover-vuepress/en/glossary.html#battery-cell" class="">cell</a> of the battery, the recommended value is <strong>3.5</strong>.</p><div class="custom-container tip"><p class="custom-container-title">TIP</p><p>Sound indication means that your battery is low and needs to be charged.</p></div><img src="/clover-vuepress/assets/pishalka.acc3647d.png" width="300" class="zoom border center"><div class="custom-container tip"><p class="custom-container-title">TIP</p><p>The drone is ready to fly!</p></div><!--]--></div><footer class="page-meta"><div class="meta-item edit-link"><a class="external-link meta-item-label" href="https://github.com/CopterExpress/clover/edit/master/docs/en/assemble_4.md" rel="noopener noreferrer" target="_blank" aria-label="Edit this page"><!--[--><!--]--> Edit this page <span><svg class="external-link-icon" xmlns="http://www.w3.org/2000/svg" aria-hidden="true" focusable="false" x="0px" y="0px" viewbox="0 0 100 100" width="15" height="15"><path fill="currentColor" d="M18.8,85.1h56l0,0c2.2,0,4-1.8,4-4v-32h-8v28h-48v-48h28v-8h-32l0,0c-2.2,0-4,1.8-4,4v56C14.8,83.3,16.6,85.1,18.8,85.1z"></path><polygon fill="currentColor" points="45.7,48.7 51.3,54.3 77.2,28.5 77.2,37.2 85.2,37.2 85.2,14.9 62.8,14.9 62.8,22.9 71.5,22.9"></polygon></svg><span class="external-link-icon-sr-only">open in new window</span></span><!--[--><!--]--></a></div><!----><!----></footer><nav class="page-nav"><p class="inner"><span class="prev"><a href="/clover-vuepress/en/assemble_4_2_ws.html" class="" aria-label="Clover 4 assembly"><!--[--><!--]--> Clover 4 assembly <!--[--><!--]--></a></span><span class="next"><a href="/clover-vuepress/en/assemble_3.html" class="" aria-label="Assembly of Clover 3"><!--[--><!--]--> Assembly of Clover 3 <!--[--><!--]--></a></span></p></nav><!--[--><!--]--></main><!--]--></div><!----><!--]--></div>
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