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Link fixes galore (#25151)
This commit is contained in:
Hamish Willee
@@ -1,14 +1,13 @@
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# Reptile Dragon 2 (RD2) Build
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The Reptile Dragon 2 is a twin motor RC airplane specifically designed for efficient FPV [(first person view)](https://en.wikipedia.org/wiki/First-person_view_(radio_control)) flying.
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Being specific for FPV, the RD2 is optimized for easy mounting of cameras, sensors, logic electronics, large batteries, antennas, and other payload components which would be found on a typical FPV airplane.
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The Reptile Dragon 2 is a twin motor RC airplane specifically designed for efficient FPV [(first person view)](<https://en.wikipedia.org/wiki/First-person_view_(radio_control)>) flying.
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Being specific for FPV, the RD2 is optimized for easy mounting of cameras, sensors, logic electronics, large batteries, antennas, and other payload components which would be found on a typical FPV airplane.
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This emphasis on payload makes this airplane an ideal candidate for a PX4 installation.
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## Overview
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The goal of this build was to create an efficient, long endurance FPV platform to be used for general PX4 testing and development.
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@@ -26,7 +25,7 @@ Key airframe features:
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- Side "T" antenna mounts
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- Rear electronics tray
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- Front facing "action cam" cutout
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- Front facing FPV camera cutout
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- Front facing FPV camera cutout
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- Removable wings
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- Low stall speed
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- Gentle handling
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@@ -56,12 +55,12 @@ Key build features
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- [ExpressLRS Matek Diversity RX](http://www.mateksys.com/?portfolio=elrs-r24)
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- [5V BEC](https://www.readymaderc.com/products/details/rmrc-3a-power-regulator-5-to-6-volt-ubec)
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- [6s2p 18650 LiIon flight battery](https://www.upgradeenergytech.com/product-page/6s-22-2v-5600mah-30c-dark-lithium-liion-drone-battery) (select XT60 connector)
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- [Custom designed 3D printed parts](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/fw/reptile_dragon_2/rd2_3d_printed_parts.zip)
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- [Custom designed 3D printed parts](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/fw/reptile_dragon_2/rd2_3d_printed_parts.zip)
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- ARK6X carrier mount
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- Holybro Pixhawk 5x carrier mount
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- FPV pod and camera mount
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- Pitot static probe "plug" adapter
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- [Custom designed power distribution PCB](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/fw/reptile_dragon_2/xt30_power_distro_pcb.zip)
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- [Custom designed power distribution PCB](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/fw/reptile_dragon_2/xt30_power_distro_pcb.zip)
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- Misc hardware: M3 hardware (standoffs, washers, O-rings, bolts), M2.5 nylon standoffs and screws, XT30 connectors, hot glue, heatshrink, Molex Microfit connectors
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- Silicone wiring (14awg for high current, 16awg for low current, 22awg for low power and signals)
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@@ -133,7 +132,7 @@ Just get it close enough to 90 degrees, and the remaining offset will be removed
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## GPS/Compass Module Mounting
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The GPS/Compass should be mounted in the rear electronics shelf included with the RD2.
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The GPS/Compass should be mounted in the rear electronics shelf included with the RD2.
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This location is far aft of power wiring (and anything else that might cause magnetic disturbances), which makes for an ideal location for the GPS/compass module
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@@ -143,7 +142,6 @@ Then use the nylon M3 hardware to attach it to the rear electronics shelf.
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Two of the three required holes are already coincidentally located in the electronics tray, so I used a marker and a drill to mark and drill the third hole.
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## FPV Pod
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### FPV Pod Assembly
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@@ -163,7 +161,7 @@ Use the servo tester to center the servo.
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Attach the camera carrier servo horn directly to the top of the servo and secure it with the included screw.
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Secure the DJI FPV camera into the carrier with the two side screws.
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To finish the FPV pod assembly, install the Caddx Vista to the back of the pod using long M2 bolts, 1mm standoffs, and nylock nuts.
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To finish the FPV pod assembly, install the Caddx Vista to the back of the pod using long M2 bolts, 1mm standoffs, and nylock nuts.
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@@ -205,7 +203,6 @@ Finally, the ARK6X was installed on top of the mount.
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### Holybro 5X Carrier (Optional)
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An alternative carrier board is the Holybro Pixhawk 5X carrier.
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@@ -232,7 +229,6 @@ The images above show the fully completed and connected Holybro 5X carrier insta
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## Electrical
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### Battery Power Distribution
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@@ -248,7 +244,6 @@ The servo power BEC is also shown in this image.
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### Servo Power
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Because the Holybro carrier does not include an onboard servo power supply, an external ["BEC"](https://en.wikipedia.org/wiki/Battery_eliminator_circuit) is used to provide power to the servos.
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@@ -260,15 +255,15 @@ The output of the BEC can be plugged into any unused servo output (I chose IO ou
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Bullet connectors were soldered to 16awg leads, which were then soldered to each phase output on each ESC.
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Heatshrink was shrunk over the finished ESCs and the bullet connectors from the ESCs were connected to their respective motors.
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Heatshrink was shrunk over the finished ESCs and the bullet connectors from the ESCs were connected to their respective motors.
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Motor direction depends on the order of the motor leads connected to the ESC.
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For now, take a guess on each side. If either motor is spinning the wrong way, the direction can be swapped by swapping any two connections.
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For now, take a guess on each side. If either motor is spinning the wrong way, the direction can be swapped by swapping any two connections.
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Correct motor direction will be checked in the final preflight checks.
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### Servos & ESC Signal Leads
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Servos were wired to the FMU out port in the order left aileron, right aileron, left ESC, right ESC, elevator, rudder, FPV pan.
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Servos were wired to the FMU out port in the order left aileron, right aileron, left ESC, right ESC, elevator, rudder, FPV pan.
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::: info
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[DSHOT ESC](../peripherals/dshot.md#wiring-connections) were used (not PWM as for the servos).
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@@ -293,7 +288,7 @@ A custom cable was made to connect the ELRS RX to the JST GH `TELEM2` port of th
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The other end of the cable was terminated to a Dupont connector to connect to the standard spaced headers on the ELRS RX.
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The ELRS RX was connected to the cable, and then heatshrink was used to secure the two together.
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The ELRS RX was connected to the cable, and then heatshrink was used to secure the two together.
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@@ -318,7 +313,7 @@ You can't use prebuilt PX4 release (or main) firmware for this vehicle, as it de
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These require some custom configuration to enable.
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First, follow [this guide to setup a development environment](../dev_setup/dev_env.md ) and [this guide to get the PX4 source code](../dev_setup/building_px4.md).
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First, follow [this guide to setup a development environment](../dev_setup/dev_env.md) and [this guide to get the PX4 source code](../dev_setup/building_px4.md).
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Once a build environment has been setup, open a terminal and `cd` into the `PX4-Autopilot` directory.
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To launch the [PX4 board config tool (`menuconfig`)](../hardware/porting_guide_config.md#px4-menuconfig-setup) run:
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@@ -366,8 +361,7 @@ make ark_fmu-v6x_default upload
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This param file contains the custom PX4 parameter configuration for this build, including radio setup, tuning and sensor config.
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Load the file via QGC using the instructions at [Parameters> Tools](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/parameters.html#tools) (QGC User Guide).
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- [Snapshot of PX4 airframe params](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/fw/reptile_dragon_2/reptile_dragon_2_params.params)
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- [Snapshot of PX4 airframe params](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/fw/reptile_dragon_2/reptile_dragon_2_params.params)
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You may need to modify some parameters for your build
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In particular you should check:
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@@ -421,18 +415,17 @@ I recommend checking the following items:
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- Airspeed calibration
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- Level horizon calibration
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- Check control surface deflection
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- Right stick -> Right aileron goes up, left aileron goes down
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- Left stick -> Left aileron goes up, right aileron goes down
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- Stick back -> elevator goes up
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-Stick forward -> elevator goes down
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- Left rudder -> Rudder goes left
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- Right rudder -> Rudder goes right
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- Right stick -> Right aileron goes up, left aileron goes down
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- Left stick -> Left aileron goes up, right aileron goes down
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- Stick back -> elevator goes up
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-Stick forward -> elevator goes down
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- Left rudder -> Rudder goes left
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- Right rudder -> Rudder goes right
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- Check Px4 inputs (in `stabilized mode`)
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- Roll right -> Right Aileron goes down
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- Roll left -> Left aileron goes down
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- Pitch up -> Elevator goes down
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- Pitch down -> Elevator goes up
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- Roll right -> Right Aileron goes down
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- Roll left -> Left aileron goes down
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- Pitch up -> Elevator goes down
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- Pitch down -> Elevator goes up
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## First Flight
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@@ -28,12 +28,12 @@ Key airframe features:
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Key Build Features:
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* Easy overall build with minimal airframe setup
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* Easy access to Pixhawk USB and debug connector
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* [First Person View (FPV)](https://en.wikipedia.org/wiki/First-person_view_(radio_control)) with camera pan mount
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- Easy overall build with minimal airframe setup
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- Easy access to Pixhawk USB and debug connector
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- [First Person View (FPV)](<https://en.wikipedia.org/wiki/First-person_view_(radio_control)>) with camera pan mount
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* Air data provided by wing slung pitot static pod
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* Long flight times (with Liion battery option > 24 minutes)
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- Air data provided by wing slung pitot static pod
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- Long flight times (with Liion battery option > 24 minutes)
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## Parts List
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@@ -47,7 +47,7 @@ Key Build Features:
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- [Caddx Vista FPV air unit](https://caddxfpv.com/products/caddx-vista-kit)
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- [DJI FPV Goggles](https://www.dji.com/fpv)
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- [ExpressLRS Matek Diversity RX](http://www.mateksys.com/?portfolio=elrs-r24)
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- [Custom designed 3D printed parts](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/fw/turbo_timber_evolution/3d_printed_parts.zip)
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- [Custom designed 3D printed parts](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/fw/turbo_timber_evolution/3d_printed_parts.zip)
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- Pixhawk 4 Mini mount and top GPS mount
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- FPV pod and camera mount
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- Pitot static pod and wing hardpoint hanger
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@@ -105,7 +105,7 @@ After the first flight, the lid was hot glued in place.
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## Flight Computer Installation
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A custom mount for the PX4 Mini was designed and 3d printed (see [3D printed parts](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/fw/turbo_timber_evolution/3d_printed_parts.zip) for all parts).
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A custom mount for the PX4 Mini was designed and 3d printed (see [3D printed parts](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/fw/turbo_timber_evolution/3d_printed_parts.zip) for all parts).
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This mount was carefully designed to use internal foam mold features of the stock TTE airframe to be securely attached and well aligned.
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The mount consists of two parts in a double-decker configuration, bolted together with M3 threaded standoffs.
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The bottom mount carries the Pixhawk and attaches to the airframe while the top mount carries the GPS and ExpressLRS RX.
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@@ -123,7 +123,7 @@ The bottom mount carries the Pixhawk and attaches to the airframe while the top
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First, the Pixhawk 4 Mini was placed in the lower mount.
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Hot glue was added to rigidly connect the fcu to the mount with two zipties providing additional security.
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The standoff mounts for the upper mount were installed, and the bolts securely tightened.
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Once the lower mount is installed, these screws are inaccessible, so attention was paid to making sure they were tightt enough so they cannot back out.
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Once the lower mount is installed, these screws are inaccessible, so attention was paid to making sure they were tightt enough so they cannot back out.
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## Electrical
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@@ -132,7 +132,7 @@ Once the lower mount is installed, these screws are inaccessible, so attention w
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The Holybro power module was wired inline with the ESC.
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A spare 16awg power lead was also broken out, terminated to an XT30.
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This spare lead will be used to provide power to the Caddx Vista FPV unit, but could also be connected to a splitter to power more peripherals.
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Power for the servo and lighting will be provided by the "BEC" power supply in the ESC.
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Power for the servo and lighting will be provided by the "BEC" power supply in the ESC.
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@@ -159,7 +159,7 @@ Access to the Pixhawk 4 Mini requires removal of the upper mount.
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While this isn't too difficult, it was a consideration for wanting to streamline debugging in the field.
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A short right angle USB micro extension was used to allow easy access to the Pixhawk 4 Mini's USB interface.
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The USB-A end of this cable was left dangling in the battery bay.
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Similarly, a JST PH to std spaced headers adapter was made, and it was also left easily accessible in the battery bay.
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Similarly, a JST PH to std spaced headers adapter was made, and it was also left easily accessible in the battery bay.
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### Peripherals
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@@ -203,7 +203,6 @@ I use full flaps on landing to slow the otherwise slippery airframe.
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### Performance
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- Stall speed (no flaps): 14MPH indicated
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@@ -227,7 +226,7 @@ I use full flaps on landing to slow the otherwise slippery airframe.
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### Parameter File
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[Snapshot of PX4 airframe params](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/fw/turbo_timber_evolution/tteparams.params)
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[Snapshot of PX4 airframe params](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/fw/turbo_timber_evolution/tteparams.params)
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This param file contains the custom PX4 parameter config for this build, including radio setup, tuning and sensor config.
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The param file can be loaded via QGC using the instructions at [Parameters> Tools ](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/parameters.html#tools) (QGC User Guide).
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