> For the complete documentation index, see [llms.txt](https://gryfn.gitbook.io/gryfn-hardware/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://gryfn.gitbook.io/gryfn-hardware/support/gobi-user-manual/integration.md).

# Integration

The following pages contain dedicated instructions for integrating necessary components for GOBI with a variety of sufficiently tested aircraft.

GRYFN Gobi integrates the Freefly Smart Dovetail for both mechanical mounting and electrical connection on all aircraft integrations. Developed by Freefly, in conjunction with Pixhawk, to become the new standard for payload mounting with Pixhawk Payload Bus interfaces, used on nearly all Pixhawk and Ardupilot based flight controllers. 

Please see Freefly's own words below, but do note that this dovetail is not hotswappable. Therefore, the payload should be attached to the aircraft before being powered, and not removed from the aircraft until after power is turned off.

{% hint style="danger" %}
No hotswap protection. Do not mate or demate Smart Dovetail while the aircraft is powered.

If the payload has even modest capacitance or other inrush current the connector contacts on both aircraft and payload side will be eroded.
{% endhint %}

***

## Mounting Parameters

In the table below, you can find the nominal IMU to Antenna lever arms that should be set in the configuration of the SBG Quanta Micro.

<table><thead><tr><th width="184.99993896484375">AIRCRAFT</th><th width="191.3333740234375">ANTENNA 1 (X, Y, Z)</th><th width="190.3333740234375">ANTENNA 2 (X, Y, Z)</th><th>CENTER OF GRAVITY (X, Y, Z)</th></tr></thead><tbody><tr><td><p>Inspired Flight IF1200</p><p>     <em>A1: Front Left</em></p><p>     <em>A2: Rear Right</em><br>     <em>Mast: 8"</em></p></td><td>0.196, -0.079, -0.453</td><td>-0.089, 0.086, -0.453</td><td>0.053, 0.003, -0.235</td></tr><tr><td>Inspired Flight IF800<br>     <em>A1: Rear Left</em><br>     <em>A2: Rear Right</em><br>     <em>Mast: 6"</em></td><td>-0.260, -0.301, -0.326</td><td>-0.260, 0.307, -0.326</td><td>-0.041, 0.003, -0.178</td></tr><tr><td>Freefly Alta X<br>     <em>A1: Front Right 1/4</em><br>     <em>A2: Rear Right 1/4</em><br>     <em>Mast: Alta X</em></td><td>0.170, 0.173, -0.281</td><td>-0.134, 0.137, -0.281</td><td>0.036, 0.003, -0.183</td></tr><tr><td>DJI M350<br>     <em>A1: Rear Left</em><br>     <em>A2: Rear Right</em><br>     <em>Mast: 6"</em></td><td>-0.199, -0.297, -0.293</td><td>-0.199, 0.303, -0.293</td><td>0.049, 0.003, -0.136</td></tr></tbody></table>

***

## Mounting

<figure><img src="https://1859480457-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F0x7fEbqbQH6LOaUlQlgY%2Fuploads%2F5uAYqRc5fjyF1A75ZS0l%2Fgobi_orientation.png?alt=media&amp;token=bfcee938-34b6-4315-9dec-9740339b5f26" alt=""><figcaption></figcaption></figure>

{% hint style="info" %}
LiDAR is the back of the remote sensing chassis.
{% endhint %}

### Pixhawk Standard Payload Bus

<table><thead><tr><th width="105">STEP</th><th>ACTION</th></tr></thead><tbody><tr><td>1</td><td>Release payload clamp mechanism from aircraft</td></tr><tr><td>2</td><td>Slide payload dovetail into dovetail mount until it clicks into place</td></tr><tr><td>3</td><td>Lock the payload clamp mechanism</td></tr><tr><td>4</td><td>Connect GNSS antenna cables to correct positions (A1 - Top; A2 - Bottom)</td></tr><tr><td>5</td><td>Attach GNSS antennae *and masts*</td></tr></tbody></table>

### Freefly Toad in the Hole

<table><thead><tr><th width="105">STEP</th><th>ACTION</th></tr></thead><tbody><tr><td>1</td><td>Release payload clamp mechanism from GOBI</td></tr><tr><td>2</td><td>Snap payload onto aircraft-side mount until it clicks into place</td></tr><tr><td>3</td><td>Rotate GOBI until it aligns with center of aircraft</td></tr><tr><td>4</td><td>Lock the payload clamp mechanism</td></tr><tr><td>5</td><td>Connect power cable to top of GOBI</td></tr><tr><td>6</td><td>Connect GNSS antenna cables to correct positions (A1 - Top; A2 - Bottom)</td></tr></tbody></table>