===== Raspberry Pi and Camera =====

We use the [[https://www.raspberrypi.org/products/raspberry-pi-zero-w/|Raspberry Pi Zero W]] with the [[https://www.raspberrypi.org/products/camera-module-v2|Raspberry Camera v2]]. The camera is mounted in
the [[https://cad.onshape.com/documents/23ec05703011cd53e3c6b8e1/w/8d98882fff32ec1e039ce0df/e/78db55b2eaec4a20a8812a5c|Camera Pipe]].

=== Camera in Pipe ===

  * Seal the camera with Elastosil. Use the pink dispenser needle with 0.58mm diameter
  * Add the [[https://www.berrybase.de/raspberry-pi-co/raspberry-pi-zero/kabel-adapter/flexkabel-f-252-r-raspberry-pi-zero-und-kameramodul?number=RPIZ-FLEX-15|15cm Pi Zero camera cable]]
  * Fix the camera cable connector with hotmelt
  * Fix the camera with the four [[https://minischrauben.com/blech-holzschrauben-linsenkopf--44770.html|1,7 x 4mm screws]]


=== Raspberry UART / Power Cable ===

The [[https://www.raspberrypi.org/documentation/usage/gpio/|Raspberry 40 pin header]] must be connected to the PixRacer Telem2 and the power supply from the power module.


  * Cut one 6inch (152mm) JST-GH Cable in the middle
  * Cut 4 parts 140mm of the yellow cable
  * Remove 8 mm of the isolation of the JST-GH and the yellow cables on one side
  * Make a Y cable by putting the JST-GH and two yellow cables together with the white solder sleeve. (Heat level 5-6)
  * Make two of the above cables
  * One of the two yellow cables will go to the right side Pi where there are connected with a Harwin M20 connector.
  * Remove 3-4 mm isolation of the one of the yellow cables
  * Crimp a Harwin M20 connector to the cable with the Harwin crimp tool. Use the 26-28 AWG slot.
  * Push the cable through until you can barely see the copper - then crimp.

The [[https://docs.px4.io/v1.9.0/en/assembly/quick_start_pixracer.html|PixRacer Wiring Quickstart]] shows the 6 pin Telem1 and Telem2 connector wiring. We only need GND, TX and RX. GND and RX will be connected with the Y-Cable. In that image the yellow connector is the PixRacer TX port which goes to the Pi RX port. So the Y-Cable is connected to GND and the yellow pin marked "RX".

  * Connect the Y cables to the 6-Pin JST-GH connector. One to GND, the other one to the pin marked "RX"
  * Take an 8-inch JST-GH cable and remove the connector at one side. Remove 5mm of the isolation at the other.
  * Put this cable in the JST-GH connector at the location marked "TX". This is the UART RX port of the PixRacer.
{{ :pixacer-pinlayout_telem1.jpg?direct&200 |}}

Now the power connections from the PowerModule are left. 

  * Take two 6-inch JST-GH cables and remove the connector at one side
  * Crimp the Harwin M20 connector at that side
  * Insert the JST-GH Cables in pin 1 and 3 of the JST-GH 4 pin power connector
{{ ::powermodule-pinlayout_5v.jpg?direct&200 |}}

To mark the cables use colored heating tube.

{{ ::pizerow-pinlayout.png?direct |}}