mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-17 06:33:35 +08:00
Move PX4 Guide source into /docs (#24490)
* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
This commit is contained in:
Hamish Willee
co-authored by
Ramon Roche
Ramon Roche
parent
8e6d2ebe4a
commit
88d623bedb
@@ -0,0 +1,20 @@
|
||||
# DIY Builds (Multicopter)
|
||||
|
||||
Do-it-yourself (DIY) builds describe how to assemble a vehicle from parts that are sourced separately.
|
||||
|
||||
::: info
|
||||
[Kits](../frames_multicopter/kits.md) provide a gentler introduction to building a drone, and should be considered if you are just starting out!
|
||||
|
||||
Note that some parts used in the builds linked below may no longer be available.
|
||||
Consider it part of the challenge to find adequate replacement parts!
|
||||
:::
|
||||
|
||||
At the easier end of the scale of DIY builds are those that take an existing RC vehicle and graft on a flight controller.
|
||||
At the harder end of the scale are "unique" vehicles where some parts may be fabricated using a 3D printer.
|
||||
Somewhere in the middle are builds that use separate but readily available components: frame, motors, ESC, propellers, flight controller, and so on.
|
||||
|
||||
DIY Builds:
|
||||
|
||||
- [Omnicopter (KakuteH7)](../frames_multicopter/omnicopter.md)
|
||||
- [DJI F450 (CUAV v5+)](../frames_multicopter/dji_f450_cuav_5plus.md)
|
||||
- [DJI F450 (CUAV v5 nano)](../frames_multicopter/dji_f450_cuav_5nano.md)
|
||||
@@ -0,0 +1,230 @@
|
||||
# DJI FlameWheel 450 + CUAV V5 nano Build
|
||||
|
||||
This topic provides full instructions for building the kit and configuring PX4 using *QGroundControl*.
|
||||
|
||||
Key information
|
||||
|
||||
- **Frame:** DJI F450
|
||||
- **Flight controller:** [CUAV V5 nano](../flight_controller/cuav_v5_nano.md)
|
||||
- **Assembly time (approx.):** 90 minutes (45 minutes for frame, 45 minutes autopilot installation/configuration)
|
||||
|
||||
|
||||
|
||||
## Bill of materials
|
||||
|
||||
The components needed for this build are:
|
||||
- Flight controller: [CUAV V5 nano](https://store.cuav.net/shop/v5-nano/):
|
||||
- GPS: [CUAV NEO V2 GPS](https://store.cuav.net/index.php?id_product=97&id_product_attribute=0&rewrite=cuav-new-ublox-neo-m8n-gps-module-with-shell-stand-holder-for-flight-controller-gps-compass-for-pixhack-v5-plus-rc-parts-px4&controller=product&id_lang=1)
|
||||
- Power Module
|
||||
- Frame: [DJI F450](https://www.amazon.com/Flame-Wheel-Basic-Quadcopter-Drone/dp/B00HNMVQHY)
|
||||
- Propellers: [DJI Phantom Built-in Nut Upgrade Propellers 9.4x5](https://www.masterairscrew.com/products/dji-phantom-built-in-nut-upgrade-propellers-in-black-mr-9-4x5-prop-set-x4-phantom)
|
||||
- Battery: [Turnigy High Capacity 5200mAh 3S 12C Lipo Pack w/XT60](https://hobbyking.com/en_us/turnigy-high-capacity-5200mah-3s-12c-multi-rotor-lipo-pack-w-xt60.html?___store=en_us)
|
||||
- Telemetry: [Holybro Transceiver Telemetry Radio V3](../telemetry/holybro_sik_radio.md)
|
||||
- RC Receiver: [FrSky D4R-II 2.4G 4CH ACCST Telemetry Receiver](https://www.banggood.com/FrSky-D4R-II-2_4G-4CH-ACCST-Telemetry-Receiver-for-RC-Drone-FPV-Racing-p-929069.html?cur_warehouse=GWTR)
|
||||
- Motors: [DJI E305 2312E Motor (960kv,CW)](https://www.amazon.com/DJI-E305-2312E-Motor-960kv/dp/B072MBMCZN)
|
||||
- ESC: Hobbywing XRotor 20A APAC Brushless ESC 3-4S For RC Multicopters
|
||||
|
||||
|
||||
In addition, we used an FrSky Taranis controller.
|
||||
You will also need zip ties, double-sided tape, a soldering iron.
|
||||
|
||||
The image below shows both frame and electronic components.
|
||||
|
||||
|
||||
|
||||
|
||||
## Hardware
|
||||
|
||||
### Frame
|
||||
|
||||
This section lists all hardware for the frame.
|
||||
|
||||
Description | Quantity
|
||||
---|---
|
||||
DJI F450 Bottom plate | 1
|
||||
DJI F450 Top plate | 1
|
||||
DJI F450 legs with landing gear | 4
|
||||
M3*8 screws | 18
|
||||
M2 5*6 screws | 24
|
||||
Velcro Battery Strap | 1
|
||||
DJI Phantom Built-in Nut Upgrade Propellers 9.4x5 | 1
|
||||
|
||||
|
||||
|
||||
|
||||
### CUAV v5 nano Package
|
||||
|
||||
This section lists the components in the CUAV v5 nano package.
|
||||
|
||||
Description | Quantity (Default Package) | Quantity (+GPS Package)
|
||||
--- | --- | ---
|
||||
V5 nano flight controller | 1 | 1
|
||||
DuPont Cable | 2 | 2
|
||||
I2C/CAN Cable | 2 | 2
|
||||
ADC 6.6 Cable | 2 | 2
|
||||
SBUS Signal Cable | 1 | 1
|
||||
IRSSI Cable | 1 | 1
|
||||
DSM Signal Cable | 1 | 1
|
||||
ADC 3.3 Cable | 1 | 1
|
||||
Debug Cable | 1 | 1
|
||||
Safety Switch Cable | 1 | 1
|
||||
Voltage & Current Cable | 1 | 1
|
||||
PW-Link Module Cable | 1 | 1
|
||||
Power Module | 1 | 1
|
||||
SanDisk 16GB Memory Card | 1 | 1
|
||||
12C Expansion Board | 1 | 1
|
||||
TTL Plate | 1 | 1
|
||||
NEO GPS | - | 1
|
||||
GPS Bracket | - | 1
|
||||
|
||||
|
||||
### Electronics
|
||||
|
||||
Description | Quantity
|
||||
--- | ---
|
||||
CUAV V5 nano | 1
|
||||
CUAV NEO V2 GPS | 1
|
||||
Holibro Telemetry | 1
|
||||
FrSky D4R-II 2.4G 4CH ACCST Telemetry Receiver | 1
|
||||
DJI E305 2312E Motor (800kv,CW) | 4
|
||||
Hobbywing XRotor 20A APAC Brushless ESC | 4
|
||||
Power Module(Included in the CUAV V5 nano package) | 1
|
||||
Turnigy High Capacity 5200mAh 3S 12C Lipo Pack w/XT60 | 1
|
||||
|
||||
|
||||
### Tools needed
|
||||
|
||||
The following tools are used in this assembly:
|
||||
|
||||
- 2.0mm Hex screwdriver
|
||||
- 3mm Phillips screwdriver
|
||||
- Wire cutters
|
||||
- Precision tweezers
|
||||
- Soldering iron
|
||||
|
||||
|
||||
|
||||
|
||||
## Assembly
|
||||
|
||||
Estimated time to assemble is approximately 90 minutes (about 45 minutes for the frame and 45 minutes installing the autopilot and configuring the airframe.
|
||||
|
||||
1. Attach the 4 arms to the bottom plate using the provided screws.
|
||||
|
||||
|
||||
|
||||
1. Solder ESC (Electronic Speed Controller) to the board, positive (red) and negative (black).
|
||||
|
||||
|
||||
|
||||
1. Solder the Power Module, positive (red) and negative (black).
|
||||
|
||||
|
||||
|
||||
1. Plug in the motors to the ESCs according to their positions.
|
||||
|
||||
|
||||
|
||||
1. Attach the motors to the corresponding arms.
|
||||
|
||||
|
||||
|
||||
|
||||
1. Add the top board (screw into the top of the legs).
|
||||
|
||||
|
||||
|
||||
1. Add damping foam to the *CUAV V5 nano* flight controller.
|
||||
|
||||
|
||||
|
||||
|
||||
1. Attach the FrSky receiver to the bottom board with double-sided tape.
|
||||
|
||||
|
||||
|
||||
1. Attach the telemetry module to the vehicle’s bottom board using double-sided tape.
|
||||
|
||||
|
||||
|
||||
|
||||
1. Put the aluminium standoffs on the button plate and attach GPS.
|
||||
|
||||
|
||||
|
||||
1. Plug in Telemetry (`TELEM1`), GPS module (`GPS/SAFETY`), RC receiver (`RC`), all 4 ESC’s (`M1-M4`), and the power module (`Power1`) into the flight controller.
|
||||
|
||||
|
||||
::: info
|
||||
The motor order is defined in the [Airframe Reference > Quadrotor x](../airframes/airframe_reference.md#quadrotor-x)
|
||||
:::
|
||||
|
||||
That's it!
|
||||
The final build is shown below:
|
||||
|
||||
|
||||
|
||||
|
||||
## PX4 Configuration
|
||||
|
||||
*QGroundControl* is used to install the PX4 autopilot and configure/tune it for the frame.
|
||||
[Download and install](http://qgroundcontrol.com/downloads/) *QGroundControl* for your platform.
|
||||
|
||||
:::tip
|
||||
Full instructions for installing and configuring PX4 can be found in [Basic Configuration](../config/index.md).
|
||||
:::
|
||||
|
||||
First update the firmware, airframe, geometry and outputs:
|
||||
|
||||
- [Firmware](../config/firmware.md)
|
||||
- [Airframe](../config/airframe.md)
|
||||
|
||||
::: info
|
||||
You will need to select the *Generic Quadcopter* airframe (**Quadrotor x > Generic Quadcopter**).
|
||||
|
||||
|
||||
:::
|
||||
|
||||
- [Actuators](../config/actuators.md)
|
||||
- Update the vehicle geometry to match the frame.
|
||||
- Assign actuator functions to outputs to match your wiring.
|
||||
- Test the configuration using the sliders.
|
||||
|
||||
|
||||
Then perform the mandatory setup/calibration:
|
||||
|
||||
- [Sensor Orientation](../config/flight_controller_orientation.md)
|
||||
- [Compass](../config/compass.md)
|
||||
- [Accelerometer](../config/accelerometer.md)
|
||||
- [Level Horizon Calibration](../config/level_horizon_calibration.md)
|
||||
- [Radio Setup](../config/radio.md)
|
||||
- [Flight Modes](../config/flight_mode.md)
|
||||
|
||||
::: info
|
||||
For this build we set up modes *Stabilized*, *Altitude* and *Position* on a three-way switch on the receiver (mapped to a single channel - 5).
|
||||
This is the recommended minimal set of modes for beginners.
|
||||
:::
|
||||
|
||||
Ideally you should also do:
|
||||
|
||||
- [ESC Calibration](../advanced_config/esc_calibration.md)
|
||||
- [Battery Estimation Tuning](../config/battery.md)
|
||||
- [Safety](../config/safety.md)
|
||||
|
||||
|
||||
## Tuning
|
||||
|
||||
Airframe selection sets *default* autopilot parameters for the frame.
|
||||
These may be good enough to fly with, but you should tune each frame build.
|
||||
|
||||
For instructions on how, start from [Autotune](../config/autotune_mc.md).
|
||||
|
||||
|
||||
## Video
|
||||
|
||||
<lite-youtube videoid="b0bKNdDqVHw" title="CUAV Nano"/>
|
||||
|
||||
|
||||
## Acknowledgments
|
||||
|
||||
This build log was provided by the Dronecode Test Flight Team.
|
||||
@@ -0,0 +1,230 @@
|
||||
# DJI FlameWheel 450 + CUAV V5+ Build
|
||||
|
||||
This topic provides full instructions for building the kit and configuring PX4 using *QGroundControl*.
|
||||
|
||||
Key information
|
||||
|
||||
- **Frame:** DJI F450
|
||||
- **Flight controller:** [CUAV V5+](../flight_controller/cuav_v5_plus.md)
|
||||
- **Assembly time (approx.):** 90 minutes (45 minutes for frame, 45 minutes autopilot installation/configuration)
|
||||
|
||||
|
||||
|
||||
## Bill of materials
|
||||
|
||||
The components needed for this build are:
|
||||
- Flight controller: [CUAV V5+](https://store.cuav.net/index.php?id_product=95&id_product_attribute=0&rewrite=cuav-new-pixhack-v5-autopilot-m8n-gps-for-fpv-rc-drone-quadcopter-helicopter-flight-simulator-free-shipping-whole-sale&controller=product&id_lang=1):
|
||||
- GPS: [CUAV NEO V2 GPS](https://store.cuav.net/index.php?id_product=97&id_product_attribute=0&rewrite=cuav-new-ublox-neo-m8n-gps-module-with-shell-stand-holder-for-flight-controller-gps-compass-for-pixhack-v5-plus-rc-parts-px4&controller=product&id_lang=1)
|
||||
- Power Module
|
||||
- Frame: [DJI F450](https://www.amazon.com/Flame-Wheel-Basic-Quadcopter-Drone/dp/B00HNMVQHY)
|
||||
- Propellers: [DJI Phantom Built-in Nut Upgrade Propellers 9.4x5](https://www.masterairscrew.com/products/dji-phantom-built-in-nut-upgrade-propellers-in-black-mr-9-4x5-prop-set-x4-phantom)
|
||||
- Battery: [Turnigy High Capacity 5200mAh 3S 12C Lipo Pack w/XT60](https://hobbyking.com/en_us/turnigy-high-capacity-5200mah-3s-12c-multi-rotor-lipo-pack-w-xt60.html?___store=en_us)
|
||||
- Telemetry: [Holybro Transceiver Telemetry Radio V3](../telemetry/holybro_sik_radio.md)
|
||||
- RC Receiver: [FrSky D4R-II 2.4G 4CH ACCST Telemetry Receiver](https://www.banggood.com/FrSky-D4R-II-2_4G-4CH-ACCST-Telemetry-Receiver-for-RC-Drone-FPV-Racing-p-929069.html?cur_warehouse=GWTR)
|
||||
- Motors: [DJI E305 2312E Motor (960kv,CW)](https://www.amazon.com/DJI-E305-2312E-Motor-960kv/dp/B072MBMCZN)
|
||||
- ESC: Hobbywing XRotor 20A APAC Brushless ESC 3-4S For RC Multicopters
|
||||
|
||||
|
||||
In addition, we used an FrSky Taranis controller.
|
||||
You will also need zip ties, double-sided tape, a soldering iron.
|
||||
|
||||
The image below shows both frame and electronic components.
|
||||
|
||||
|
||||
|
||||
|
||||
## Hardware
|
||||
|
||||
### Frame
|
||||
|
||||
This section lists all hardware for the frame.
|
||||
|
||||
Description | Quantity
|
||||
---|---
|
||||
DJI F450 Bottom plate | 1
|
||||
DJI F450 Top plate | 1
|
||||
DJI F450 legs with landing gear | 4
|
||||
M3*8 screws | 18
|
||||
M2 5*6 screws | 24
|
||||
Velcro Battery Strap | 1
|
||||
DJI Phantom Built-in Nut Upgrade Propellers 9.4x5 | 1
|
||||
|
||||
|
||||
|
||||
|
||||
### CUAV V5+ Package
|
||||
|
||||
This section lists the components in the CUAV v5+ package.
|
||||
|
||||
Description | Quantity (Default Package) | Quantity (+GPS Package)
|
||||
--- | --- | ---
|
||||
V5+ Autopilot | 1 | 1
|
||||
DuPont Cable | 2 | 2
|
||||
I2C/CAN Cable | 2 | 2
|
||||
ADC 6.6 Cable | 2 | 2
|
||||
SBUS Signal Cable | 1 | 1
|
||||
IRSSI Cable | 1 | 1
|
||||
DSM Signal Cable | 1 | 1
|
||||
ADC 3.3 Cable | 1 | 1
|
||||
Debug Cable | 1 | 1
|
||||
Safety Switch Cable | 1 | 1
|
||||
Voltage & Current Cable | 1 | 1
|
||||
PW-Link Module Cable | 1 | 1
|
||||
Power Module | 1 | 1
|
||||
SanDisk 16GB Memory Card | 1 | 1
|
||||
12C Expansion Board | 1 | 1
|
||||
TTL Plate | 1 | 1
|
||||
NEO GPS | - | 1
|
||||
GPS Bracket | - | 1
|
||||
|
||||
|
||||
|
||||
|
||||
### Electronics
|
||||
|
||||
Description | Quantity
|
||||
--- | ---
|
||||
CUAV V5+ | 1
|
||||
CUAV NEO V2 GPS | 1
|
||||
Holibro Telemetry | 1
|
||||
FrSky D4R-II 2.4G 4CH ACCST Telemetry Receiver | 1
|
||||
DJI E305 2312E Motor (800kv,CW) | 4
|
||||
Hobbywing XRotor 20A APAC Brushless ESC | 4
|
||||
Power Module(Included in the CUAV V5+ package) | 1
|
||||
Turnigy High Capacity 5200mAh 3S 12C Lipo Pack w/XT60 | 1
|
||||
|
||||
|
||||
### Tools needed
|
||||
|
||||
The following tools are used in this assembly:
|
||||
|
||||
- 2.0mm Hex screwdriver
|
||||
- 3mm Phillips screwdriver
|
||||
- Wire cutters
|
||||
- Precision tweezers
|
||||
- Soldering iron
|
||||
|
||||
|
||||
|
||||
|
||||
## Assembly
|
||||
|
||||
Estimated time to assemble is approximately 90 minutes (about 45 minutes for the frame and 45 minutes installing the autopilot and configuring the airframe.
|
||||
|
||||
1. Attach the 4 arms to the bottom plate using the provided screws.
|
||||
|
||||
|
||||
|
||||
1. Solder ESC (Electronic Speed Controller) to the board, positive (red) and negative (black).
|
||||
|
||||
|
||||
|
||||
1. Solder the Power Module, positive (red) and negative (black).
|
||||
|
||||
|
||||
|
||||
1. Plug in the motors to the ESCs according to their positions.
|
||||
|
||||
|
||||
|
||||
1. Attach the motors to the corresponding arms.
|
||||
|
||||
|
||||
|
||||
|
||||
1. Add the top board (screw into the top of the legs).
|
||||
|
||||
|
||||
|
||||
1. Add double-sided tape (3M) to the CUAV V5+ flight controller (it has internal vibration damping, so no need to use foam).
|
||||
|
||||
|
||||
|
||||
1. Attach the FrSky receiver to the bottom board with double-sided tape.
|
||||
|
||||
|
||||
|
||||
1. Attach the telemetry module to the vehicle’s bottom board using double-sided tape.
|
||||
|
||||
|
||||
|
||||
|
||||
1. Put the aluminium standoffs on the button plate.
|
||||
|
||||
1. Plug in Telemetry (`TELEM1`) and GPS module (`GPS/SAFETY`) to the flight controller.
|
||||
|
||||
|
||||
|
||||
1. Plug in the RC receiver (`RC`), all 4 ESC’s (`M1-M4`), and the power module (`Power1`) into the flight controller.
|
||||
|
||||
|
||||
::: info
|
||||
The motor order is defined in the [Airframe Reference > Quadrotor x](../airframes/airframe_reference.md#quadrotor-x)
|
||||
:::
|
||||
|
||||
That's it!
|
||||
The final build is shown below:
|
||||
|
||||
|
||||
|
||||
|
||||
## PX4 Configuration
|
||||
|
||||
*QGroundControl* is used to install the PX4 autopilot and configure/tune it for the frame.
|
||||
[Download and install](http://qgroundcontrol.com/downloads/)
|
||||
*QGroundControl* for your platform.
|
||||
|
||||
:::tip
|
||||
Full instructions for installing and configuring PX4 can be found in [Basic Configuration](../config/index.md).
|
||||
:::
|
||||
|
||||
First update the firmware, airframe, geometry, and outputs:
|
||||
|
||||
- [Firmware](../config/firmware.md)
|
||||
- [Airframe](../config/airframe.md)
|
||||
::: info
|
||||
You will need to select the *Generic Quadcopter* airframe (**Quadrotor x > Generic Quadcopter**).
|
||||
|
||||
|
||||
:::
|
||||
|
||||
- [Actuators](../config/actuators.md)
|
||||
- Update the vehicle geometry to match the frame.
|
||||
- Assign actuator functions to outputs to match your wiring.
|
||||
- Test the configuration using the sliders.
|
||||
|
||||
Then perform the mandatory setup/calibration:
|
||||
|
||||
- [Sensor Orientation](../config/flight_controller_orientation.md)
|
||||
- [Compass](../config/compass.md)
|
||||
- [Accelerometer](../config/accelerometer.md)
|
||||
- [Level Horizon Calibration](../config/level_horizon_calibration.md)
|
||||
- [Radio Setup](../config/radio.md)
|
||||
- [Flight Modes](../config/flight_mode.md)
|
||||
|
||||
::: info
|
||||
For this build we set up modes *Stabilized*, *Altitude* and *Position* on a three-way switch on the receiver (mapped to a single channel - 5).
|
||||
This is the recommended minimal set of modes for beginners.
|
||||
:::
|
||||
|
||||
Ideally you should also do:
|
||||
* [ESC Calibration](../advanced_config/esc_calibration.md)
|
||||
* [Battery Estimation Tuning](../config/battery.md)
|
||||
* [Safety](../config/safety.md)
|
||||
|
||||
|
||||
## Tuning
|
||||
|
||||
Airframe selection sets *default* autopilot parameters for the frame.
|
||||
These may be good enough to fly with, but you should tune each frame build.
|
||||
|
||||
For instructions on how, start from [Autotune](../config/autotune_mc.md).
|
||||
|
||||
## Video
|
||||
|
||||
<lite-youtube videoid="r-IkaVpN1Ko" title="CUAV V5+"/>
|
||||
|
||||
|
||||
## Acknowledgments
|
||||
|
||||
This build log was provided by the Dronecode Test Flight Team.
|
||||
@@ -0,0 +1,249 @@
|
||||
# Holybro QAV250 + Pixhawk 4 Mini Build (Discontinued)
|
||||
|
||||
::: info
|
||||
The _Holybro Pixhawk 4 Mini QAV250 Kit_ is no longer available.
|
||||
|
||||
The instructions have been left here because very similar kits based on the Pix32 v6 are [available here](https://holybro.com/products/qav250-kit).
|
||||
These instructions can therefore still be followed (and might be updated to Pix32 v6).
|
||||
:::
|
||||
|
||||
The complete kits include a carbon-fibre QAV250 racing frame, flight controller and almost all other components needed (except battery and receiver).
|
||||
There are variants of the kit both with and without FPV support.
|
||||
This topic provides full instructions for building the kit and configuring PX4 using *QGroundControl*.
|
||||
|
||||
Key information
|
||||
|
||||
- **Frame:** Holybro QAV250
|
||||
- **Flight controller:** [Pixhawk 4 Mini](../flight_controller/pixhawk4_mini.md)
|
||||
- **Assembly time (approx.):** 3.5 hours (2 for frame, 1.5 autopilot installation/configuration)
|
||||
|
||||
|
||||
|
||||
## Quickstart Guide
|
||||
|
||||
[Pixhawk 4 Mini QAV250 Kit Quickstart Guide](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixhawk4mini/pixhawk4mini_qav250kit_quickstart_web.pdf)
|
||||
|
||||
## Bill of materials
|
||||
|
||||
The Holybro [QAV250 Kit](https://holybro.com/products/qav250-kit) kits includes almost all required components:
|
||||
* [Holybro Transceiver Telemetry Radio V3](../telemetry/holybro_sik_radio.md)
|
||||
* Power module holybro
|
||||
* Fully assembled Power Management Board with ESCs
|
||||
* Motors - DR2205 KV2300
|
||||
* 5” Plastic Props
|
||||
* Carbon fiber 250 airframe with hardware
|
||||
* Foxer camera
|
||||
* Vtx 5.8ghz
|
||||
|
||||
Additionally you will need a battery and receiver (+compatible transmitter).
|
||||
This build uses:
|
||||
- Receiver: [FrSSKY D4R-II](https://www.frsky-rc.com/product/d4r-ii/)
|
||||
- Battery: [4S 1300 mAh](http://www.getfpv.com/lumenier-1300mah-4s-60c-lipo-battery-xt60.html)
|
||||
|
||||
|
||||
## Hardware
|
||||
|
||||
This section lists all hardware for the frame and the autopilot installation.
|
||||
|
||||
### Frame QAV250
|
||||
|
||||
Description | Quantity
|
||||
--- | ---
|
||||
Unibody frame plate | 1
|
||||
Flight controller cover plate | 1
|
||||
PDB | 1
|
||||
Camera plate | 1
|
||||
35mm standoffs | 6
|
||||
Vinyl screws and nuts | 4
|
||||
15mm steel screws | 8
|
||||
Steel nuts | 8
|
||||
7mm steel screws | 12
|
||||
Velcro battery strap | 1
|
||||
Foam for battery | 1
|
||||
Landing pads | 4
|
||||
|
||||
|
||||
|
||||
|
||||
### Electronics
|
||||
|
||||
Description | Quantity
|
||||
--- | ---
|
||||
Motors - DR2205 KV2300 | 4
|
||||
Fully assembled Power Management Board with ESCs | 4
|
||||
Holybro power module | 1
|
||||
Fr-sky D4R-II receiver | 1
|
||||
Pixhawk 4 mini | 1
|
||||
Holybro GPS Neo-M8N | 1
|
||||
[Holybro Transceiver Telemetry Radio V3](../telemetry/holybro_sik_radio.md) | 1
|
||||
Battery lumenier 1300 mAh 4S 14.8V | 1
|
||||
Vtx 5.8gHz | 1
|
||||
FPV camera (Complete Kit - only) | 1
|
||||
|
||||
The image below shows both frame and electronic components.
|
||||
|
||||
|
||||
|
||||
|
||||
## Assembly
|
||||
|
||||
Estimated time to assemble frame is 2 hours and 1.5 hours installing the autopilot and configuring the airframe in *QGroundControl*.
|
||||
|
||||
### Tools needed
|
||||
|
||||
The following tools are used in this assembly:
|
||||
|
||||
- 2.0mm Hex screwdriver
|
||||
- 3mm Phillips screwdriver
|
||||
- Wire cutters
|
||||
- Precision tweezers
|
||||
|
||||
|
||||
|
||||
|
||||
### Frame assembly
|
||||
|
||||
1. Attach arms to the button plate with the 15mm screws as shown:
|
||||
|
||||
|
||||
1. Put the short plate over the arms
|
||||
|
||||
|
||||
1. Put the nuts on the 15mm screws (shown next step)
|
||||
1. Insert the plastic screws into the indicated holes (note that this part of the frame faces down when the vehicle is complete).
|
||||
|
||||
1. Add the plastic nuts to the screws (turn over, as shown)
|
||||
|
||||
1. Lower the power module over the plastic screws and then add the plastics standoffs
|
||||
|
||||
1. Put the flight controller plate on the standoffs (over the power module)
|
||||
|
||||
1. Attach the motors. The motors have an arrow indicating the direction of rotation.
|
||||
|
||||
1. Use double sided tape from kit to attach the *Pixhawk 4 Mini* to the flight controller plate.
|
||||
|
||||
1. Connect the power module's "power" cable to *Pixhawk 4 mini*.
|
||||
|
||||
1. Attach the aluminium standoffs to the button plate
|
||||
|
||||
1. Connect the Esc’s with the motors and hold. In this image shown the order of the motors and direction of the rotation.
|
||||
|
||||
|
||||
Connect the motors on the ESC’s, make sure the motors turns to the correct side, if the motor turns of the opposite side change the cable A to the pad C and C to the pad A of the ESC.
|
||||
|
||||
:::warning
|
||||
Test motor directions with propellers removed.
|
||||
:::
|
||||
|
||||
|
||||
1. Connect the signal ESC cables to the PWM outputs of the Pixhawk in the correct order (see previous image)
|
||||
|
||||
|
||||
1. Connect the receiver.
|
||||
* If using a PPM receiver connect to the PPM port.
|
||||
|
||||
|
||||
* If using the SBUS receiver connect to the RC IN port
|
||||
|
||||
|
||||
1. Connect the telemetry module. Paste the module with double tape and connect on the port of the telemetry.
|
||||
|
||||
|
||||
1. Connect the GPS module
|
||||
|
||||
|
||||
|
||||
Attach the module on the top plate (using provided 3M tape, or paste). Then put the top plate on the standoffs as shown
|
||||
|
||||
|
||||
1. The last "mandatory" assembly step is to add the velcro to hold the battery
|
||||
|
||||
|
||||
|
||||
|
||||
The "basic" frame build is now complete (though if you need them, you can find more information about connecting components in the [Pixhawk 4 Wiring Quickstart](../assembly/quick_start_pixhawk4.md)).
|
||||
|
||||
If you have the "basic" version of the kit, you can now jump ahead to instructions on how to [Install/Configure PX4](#px4-configuration).
|
||||
|
||||
|
||||
### FPV Assembly
|
||||
|
||||
The "Complete" version of the kit additionally comes with an FPV system, which is mounted on the front of the vehicle as shown.
|
||||
|
||||
|
||||
|
||||
The steps to install the kit are:
|
||||
|
||||
1. Install the camera bracket on the frame
|
||||
|
||||
1. Install the camera on the bracket
|
||||
|
||||
1. The power module on the complete kit comes with wiring ready to connect the Video Transmitter and Camera:
|
||||
|
||||
- Attach the camera connector
|
||||
|
||||
The wires are: blue=voltage sensor, yellow=video out, black=ground, red=+voltage.
|
||||
- Connect the Video Transmitter (VTX) connector
|
||||
|
||||
The wires are: yellow=video out, black=ground, red=+voltage.
|
||||
1. Secure the Video Transmitter and OSD board to the frame using tape.
|
||||
|
||||
::: info
|
||||
If you have to wire the system yourself, the diagram below shows all the connections between camera, VTX and power module:
|
||||
|
||||
:::
|
||||
|
||||
## PX4 Configuration
|
||||
|
||||
*QGroundControl* is used to install the PX4 autopilot and configure/tune it for the QAV250 frame.
|
||||
[Download and install](http://qgroundcontrol.com/downloads/) *QGroundControl* for your platform.
|
||||
|
||||
:::tip
|
||||
Full instructions for installing and configuring PX4 can be found in [Basic Configuration](../config/index.md).
|
||||
:::
|
||||
|
||||
First update the firmware, airframe, and actuator mappings:
|
||||
|
||||
- [Firmware](../config/firmware.md)
|
||||
- [Airframe](../config/airframe.md)
|
||||
|
||||
::: info
|
||||
You will need to select the *HolyBro QAV250* airframe (**Quadrotor x > HolyBro QAV250**).
|
||||
|
||||
|
||||
:::
|
||||
|
||||
- [Actuators](../config/actuators.md)
|
||||
- You should not need to update the vehicle geometry (as this is a preconfigured airframe).
|
||||
- Assign actuator functions to outputs to match your wiring.
|
||||
- For the Pixhawk 4 Mini, and other controllers that do not have an [I/O board](../hardware/reference_design.md#main-io-function-breakdown), you will need to assign actuators to outputs on the `PWM AUX` tab in the configuration screen.
|
||||
- The Pix32 v6 has an I/O board, so you can assign to either AUX or MAIN.
|
||||
- Test the configuration using the sliders.
|
||||
|
||||
Then perform the mandatory setup/calibration:
|
||||
|
||||
- [Sensor Orientation](../config/flight_controller_orientation.md)
|
||||
- [Compass](../config/compass.md)
|
||||
- [Accelerometer](../config/accelerometer.md)
|
||||
- [Level Horizon Calibration](../config/level_horizon_calibration.md)
|
||||
- [Radio Setup](../config/radio.md)
|
||||
- [Flight Modes](../config/flight_mode.md)
|
||||
|
||||
Ideally you should also do:
|
||||
|
||||
- [ESC Calibration](../advanced_config/esc_calibration.md)
|
||||
- [Battery Estimation Tuning](../config/battery.md)
|
||||
- [Safety](../config/safety.md)
|
||||
|
||||
|
||||
## Tuning
|
||||
|
||||
Airframe selection sets *default* autopilot parameters for the frame.
|
||||
These may be good enough to fly with, but you should tune each frame build.
|
||||
|
||||
For instructions on how, start from [Autotune](../config/autotune_mc.md).
|
||||
|
||||
|
||||
## Acknowledgements
|
||||
|
||||
This build log was provided by the PX4 Test Team.
|
||||
@@ -0,0 +1,318 @@
|
||||
# Holybro S500 V2 + Pixhawk 4 Build
|
||||
|
||||
This topic provides full instructions for building the kit and configuring PX4 using *QGroundControl*.
|
||||
|
||||
::: info
|
||||
Holybro initially supplied this kit with a [Holybro Pixhawk 4](../flight_controller/pixhawk4.md), but at time of writing this has been upgraded to a more recent Pixhawk (6C).
|
||||
This build log is still relevant as the kit assembly is virtually the same, and likely to remain so as the flight controller is upgraded.
|
||||
:::
|
||||
|
||||
## Key information
|
||||
|
||||
- **Frame:** Holybro S500
|
||||
- **Flight controller:** [Pixhawk 4](../flight_controller/pixhawk4.md)
|
||||
- **Assembly time (approx.):** 90 minutes (45 minutes for frame, 45 minutes for autopilot installation/configuration)
|
||||
|
||||
|
||||
|
||||
## Bill of materials
|
||||
|
||||
The Holybro [S500 V2 Kit](https://holybro.com/collections/s500/products/s500-v2-development-kit) includes almost all the required components:
|
||||
|
||||
* A recent Pixhawk autopilot
|
||||
- For this log it was Pixhawk 4 but far more recent versions are now included.
|
||||
* Power Management PM02（Assembled）
|
||||
* ARM adopts high strength plastics
|
||||
* Motors - 2216 KV880（ V2 Update）
|
||||
* Propeller 1045（ V2 Update）
|
||||
* Pixhawk4 GPS
|
||||
* Fully assembled Power Management Board with ESCs
|
||||
* 433 MHz / 915 MHz [Holybro Telemetry Radio](../telemetry/holybro_sik_radio.md)
|
||||
* Power and Radio Cables
|
||||
* Battery Straps
|
||||
* Dimensions:383*385*240mm
|
||||
* Wheelbase:480mm
|
||||
|
||||
::: info
|
||||
No LiPo battery is included.
|
||||
In addition, we use a FrSky Taranis controller.
|
||||
:::
|
||||
|
||||
## Hardware
|
||||
|
||||
Item Description | Quantity
|
||||
---|---
|
||||
Wheelbase: 480mm | 1
|
||||
Arms | 4
|
||||
Set of Landing Gear | 2
|
||||
M3*8 screws | 18
|
||||
M2 5*6 screws | 24
|
||||
Battery Straps | 1
|
||||
Propeller 1045 (V2 Update) | 1
|
||||
|
||||
|
||||
|
||||
## Package
|
||||
Items | Package
|
||||
---|---
|
||||
Pixhawk 4 | 1
|
||||
Pixhawk4 GPS MODULE | 1
|
||||
I2C splitter Board | 2
|
||||
6 to 6 pin cable (power) | 3
|
||||
4 to 4 pin cable (CAN) | 2
|
||||
6 to 4 pin cable (Data) | 1
|
||||
10 to 10 pin cable (PWM) | 2
|
||||
8 to 8 pin cable(AUX) | 1
|
||||
7 to 7 pin cable(SPI) | 1
|
||||
6 to 6 pin cable(Debug) | 1
|
||||
PPM/SBUS out cable | 1
|
||||
XSR receiver cable | 1
|
||||
DSMX receiver cable | 1
|
||||
SBUS receiver cable | 1
|
||||
USB cable | 1
|
||||
'X'type folding pedestal mount | 1
|
||||
70mm & 140mm carbon rod standoff | 2
|
||||
6*3 2.54mm pitch Horizontal Pin | 1
|
||||
8*3 2.54mm pitch Horizontal Pin | 2
|
||||
Foam Set | 1
|
||||
Pixhawk4 Quick Start Guide | 1
|
||||
Pixhawk4 Pinouts | 1
|
||||
GPS Quick Start Guide | 1
|
||||
|
||||
|
||||
|
||||
### Electronics
|
||||
Item Description | Quantity
|
||||
--- | ---
|
||||
Pixhawk 4 autopilot (PM06 not included) | 1
|
||||
Power Management PM02 (Assembled) | 1
|
||||
Motors - 2216 KV880 (V2 Update) | 4
|
||||
Pixhawk 4 GPS | 1
|
||||
Fully assembled Power Management Board with ESCs | 1
|
||||
433MHz Telemetry Radio / 915MHz Telemetry Radio | 1
|
||||
|
||||
|
||||
|
||||
### Tools needed
|
||||
|
||||
The following tools are used in this assembly:
|
||||
|
||||
- 1.5 mm Hex screwdriver
|
||||
- 2.0 mm Hex screwdriver
|
||||
- 2.5 mm Hex screwdriver
|
||||
- 3mm Phillips screwdriver
|
||||
- Wire cutters
|
||||
- Precision tweezers
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
## Assembly
|
||||
|
||||
Estimate time to assemble is 90 minutes, about 45 minutes for frame assembly and 45 minutes installing and configuring the autopilot in QGroundControl.
|
||||
|
||||
1. Assembling the Landing Gear.
|
||||
We are going to start by assembling the landing gear to the vertical pole. Unscrew the landing gear screws and insert the vertical pole as shown below.
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
1. Assemble the Power Management Board to the landing gear. Screw the landing gear with a vertical pole to the Fully assembled Power Management Board.
|
||||
|
||||
The Board has 4 holes (see arrows below).
|
||||
|
||||
|
||||
|
||||
Connect with the M3X8 screws, a total of 8 pieces, 4 on each side.
|
||||
|
||||
|
||||
|
||||
1. Assemble the arms to the Power Management Board.
|
||||
Attach the arm to the Power Management Board.
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
Use M2 5X6 screws a total of 2 in each arm.
|
||||
Insert the screws from the bottom of the plate.
|
||||
|
||||
|
||||
|
||||
Make sure the ESC cables run through the middle of the arm.
|
||||
|
||||
|
||||
|
||||
1. Assemble the 8*3 2.54mm pitch Horizontal Pin to the 10 to 10 pin cable (PWM) to the Power Management Board.
|
||||
Connect the 10 to 10 pin cable (PWM) to the 8*3 2.54mm pitch Horizontal Pin.
|
||||
|
||||
|
||||
|
||||
Cut a piece of 3M Tape and attach to the bottom of the Horizontal Pin:
|
||||
|
||||
|
||||
|
||||
Stick the Horizontal Pin to the Power Management Board:
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
1. Assemble the motors to the arms. For this, we will need the 16 screws M3X7, 4 motors, and the 4 arms.
|
||||
|
||||
Mount the motors in each arm put the screw through the bottom of the arm:
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
After the 4 motors are mounted on the arm grab the cables(red, blue, black) and put them through the arm thread.
|
||||
The 3 cables that are color-coded go connected to the ESC.
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
1. Mounting the GPS on the frame.
|
||||
For this, we will need the Pixhawk 4 GPS and the mounting plate.
|
||||
|
||||
|
||||
|
||||
Mount the GPS mast to the back of the Board, use the 4 screws:
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
Use the tape and stick the GPS to the top of the GPS mast:
|
||||
|
||||
|
||||
|
||||
1. Paste the FrSky to the Board. Paste FrSky with double-sided tape (3M) to the bottom board.
|
||||
Attach the FrSky to the frame:
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
1. Attach the Telemetry to the frame.
|
||||
The next step is to take the Holybro telemetry radio and attach it onto the frame, use 3M tape.
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
This assembly attached it inside the frame facing outwards to the front of the vehicle.
|
||||
A picture is shown below of the radio sitting inside the bottom of the frame.
|
||||
|
||||
|
||||
|
||||
1. Mounting the Pixhawk 4 to the plate.
|
||||
Use double-sided tape to attach the Pixhawk 4 to the center plate:
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
The next step is to mount the Pixhawk 4 with the plate to the frame.
|
||||
For this, we will need the M2 5X6 screws.
|
||||
Align the plate to the frame and insert the screws.
|
||||
Before you mount the plate we recommend putting tape on the Power Module (that way it's tight).
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
1. Assembling the Battery Mount to the frame.
|
||||
For this we will need the M2 5X6 screws and the battery mount:
|
||||
|
||||
|
||||
|
||||
Insert the long rods to the small rings:
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
Attach that to the frame, make sure all four sides are aligned to insert the screws:
|
||||
|
||||
|
||||
|
||||
Assemble the small plate to the legs and screw on all four sides.
|
||||
|
||||
|
||||
|
||||
The final step is to attach the plate:
|
||||
|
||||
|
||||
|
||||
1. Pixhawk 4 wiring. The Pixhawk 4, which has several different wires and connections with it.
|
||||
Included below is a picture of every wire needed with the Pixhawk and how it looks when connected.
|
||||
|
||||
1. Plugin Telemetry and GPS module to the flight controller as seen in Figure 37; plug in the RC receiver, all 4 ESCs to the flight controller as well as the power module.
|
||||
|
||||
|
||||
|
||||
|
||||
Fully assembled, the kit looks as shown below:
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
## PX4 Configuration
|
||||
|
||||
*QGroundControl* is used to install the PX4 autopilot and configure/tune it for the QAV250 frame.
|
||||
[Download and install](http://qgroundcontrol.com/downloads/) *QGroundControl* for your platform.
|
||||
|
||||
:::tip
|
||||
Full instructions for installing and configuring PX4 can be found in [Basic Configuration](../config/index.md).
|
||||
:::
|
||||
|
||||
First update the firmware and airframe:
|
||||
|
||||
* [Firmware](../config/firmware.md)
|
||||
* [Airframe](../config/airframe.md)
|
||||
|
||||
You will need to select the *Holybro S500* airframe (**Quadrotor x > Holybro S500**).
|
||||
|
||||
|
||||
|
||||
Then set the actuator outputs:
|
||||
|
||||
- [Actuators](../config/actuators.md)
|
||||
- You should not need to update the vehicle geometry (as this is a preconfigured airframe).
|
||||
- Assign actuator functions to outputs to match your wiring.
|
||||
- Test the configuration using the sliders.
|
||||
|
||||
Then perform the mandatory setup/calibration:
|
||||
|
||||
* [Sensor Orientation](../config/flight_controller_orientation.md)
|
||||
* [Compass](../config/compass.md)
|
||||
* [Accelerometer](../config/accelerometer.md)
|
||||
* [Level Horizon Calibration](../config/level_horizon_calibration.md)
|
||||
* [Radio Setup](../config/radio.md)
|
||||
* [Flight Modes](../config/flight_mode.md)
|
||||
|
||||
Ideally you should also do:
|
||||
|
||||
* [ESC Calibration](../advanced_config/esc_calibration.md)
|
||||
* [Battery Estimation Tuning](../config/battery.md)
|
||||
* [Safety](../config/safety.md)
|
||||
|
||||
|
||||
## Tuning
|
||||
|
||||
Airframe selection sets *default* autopilot parameters for the frame.
|
||||
These are good enough to fly with, but it is a good idea to tune the parameters for a specific frame build.
|
||||
|
||||
For instructions on how, start from [Autotune](../config/autotune_mc.md).
|
||||
|
||||
## Acknowledgements
|
||||
|
||||
This build log was provided by the Dronecode Test Flight Team.
|
||||
@@ -0,0 +1,244 @@
|
||||
# Holybro X500 V2 (Pixhawk 5X Build)
|
||||
|
||||
::: info
|
||||
Holybro initially supplied this kit with a [Pixhawk 5X](../flight_controller/pixhawk5x.md), but at time of writing this has been upgraded to a [Holybro Pixhawk 6C](../flight_controller/pixhawk6c.md).
|
||||
This build log is still relevant as the kit assembly is virtually the same, and likely to remain so as the flight controller is upgraded.
|
||||
:::
|
||||
|
||||
This topic provides full instructions for building the [Holybro X500 V2 ARF Kit](https://holybro.com/collections/x500-kits) and configuring PX4 using *QGroundControl*.
|
||||
|
||||
The ARF ("Almost Ready to Fly") kit provides the shortest and straightforward assembly experience for those who want to jump into drone development and not spend that much time on setting up the hardware.
|
||||
It includes the frame, motors, ESCs, propellers and power distribution board.
|
||||
|
||||
In addition to the kit you will need to have the flight controller, radio transmitters, GPS and RC controller.
|
||||
The ARF kit can be used with most flight controllers supported by PX4.
|
||||
|
||||
## Key information
|
||||
|
||||
- **Kit:** [Holybro X500 V2 ARF Kit](https://holybro.com/collections/x500-kits)
|
||||
- **Flight controller:** [Pixhawk 5X](../flight_controller/pixhawk5x.md)
|
||||
- **Assembly time (approx.):** 55 min (25 minutes for frame, 30 minutes for autopilot installation/configuration)
|
||||
|
||||
|
||||
|
||||
## Bill of materials
|
||||
|
||||
The Holybro [X500 V2 Kit](https://holybro.com/collections/x500-kits) includes almost all the required components:
|
||||
|
||||
* X500V2 Frame Kit
|
||||
* Body - Full Carbon Fiber Top & Bottom plate (144 x 144mm, 2mm thick)
|
||||
* Arm - High strength & ultra-lightweight 16mm carbon fiber tubes
|
||||
* Landing gear - 16mm & 10mm diameter carbon fiber tubes
|
||||
* Platform board - With mounting holes for GPS & popular companion computer
|
||||
* Dual 10mm Ø rod x 250 mm long rail mounting system
|
||||
* Battery mount with two Battery Straps
|
||||
* Hand tools for installation
|
||||
* Holybro Motors - 2216 KV880 x6 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version).
|
||||
* Holybro BLHeli S ESC 20A x4 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version).
|
||||
* Propellers - 1045 x4 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version).
|
||||
* Power Distribution Board – XT60 plug for battery & XT30 plug for ESCs & peripherals
|
||||
* Camera mount (optional and the 3D file can be downloaded from [here](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Holybro_X500_V2_3D_Print.rar?v=1665561017))
|
||||
|
||||
Other parts in this build(**Not included in the ARF kit**):
|
||||
* [Pixhawk 5X autopilot](../flight_controller/pixhawk5x.md)
|
||||
* [M8N GPS](https://holybro.com/products/m8n-gps)
|
||||
* [Power Module - PM02D](../power_module/holybro_pm02d.md)
|
||||
* [433/915 MHz Telemetry Radio](../telemetry/holybro_sik_radio.md)
|
||||
|
||||
Additionally you will need a battery (Holybro recommends a 4S 5000mAh) and receiver ([compatible radio system](../getting_started/rc_transmitter_receiver.md)) if you want to control the drone manually.
|
||||
|
||||
## Kit Hardware
|
||||
|
||||
This section lists all hardware for the frame and the autopilot installation.
|
||||
|
||||
Item | Description | Quantity
|
||||
---|---|---
|
||||
Bottom plate | Carbon fiber (2mm thick) | 1
|
||||
Top plate | Carbon fiber (1.5mm thick) | 1
|
||||
Arm | Carbon fiber tube (Assembled with motors mounted) | 4
|
||||
Landing gear - Vertical pole | Carbon fiber tube + engineering plastic | 2
|
||||
Landing gear - Cross bar | Carbon fiber tube + engineering plastic + foam | 2
|
||||
Mounting Rail | Diameter: 10mm length: 250mm | 2
|
||||
Battery mounting board | Thickness: 2mm | 1
|
||||
Battery pad | 3mm Silicone sheet black | 1
|
||||
Platform board | Thickness: 2mm | 1
|
||||
Hanger & rubber ring gasket | Inner hole diameter: 10mm black | 8
|
||||
|
||||
|
||||
|
||||
_Figure 1_: X500 V2 ARF Kit what's inside
|
||||
|
||||
### Electronics
|
||||
|
||||
Item Description | Quantity
|
||||
--- | ---
|
||||
Pixhawk5x & Assorted Cables | 1
|
||||
M8N GPS Module | 1
|
||||
Power Module PM02D (with pre-soldered ESC power cables) | 1
|
||||
Motors 2216 KV880（V2 Update) | 4
|
||||
Holybro BLHeli S ESC 20A x4 | 1
|
||||
Holybro BLHeli S ESC 20A x4 | 1
|
||||
433 MHz / 915 MHz [Holybro Telemetry Radio](../telemetry/holybro_sik_radio.md) | 1
|
||||
|
||||
### Tools needed
|
||||
|
||||
Tools are included to do the assembly, however you may need:
|
||||
|
||||
- Wire cutters
|
||||
- Precision tweezers
|
||||
|
||||
|
||||
## Assembly
|
||||
|
||||
Estimate time to assemble is 55 min (25 minutes for frame, 30 minutes for autopilot installation/configuration)
|
||||
|
||||
1. Start by assembling the payload & battery holder.
|
||||
Push the rubbers into grippers (Do not use sharp items to push them in!).
|
||||
Next, pass the holders through the holder bars with the battery holder bases as Figure 3.
|
||||
|
||||
|
||||
|
||||
_Figure 2_: Payload holder components
|
||||
|
||||
|
||||
|
||||
_Figure 3_: Payload holder assembled
|
||||
|
||||
1. The next is to go for attaching the bottom plate to the payload holder.
|
||||
|
||||
You will need the parts as shown in Figure 4.
|
||||
Then mount the base for power distribution board using nylon nuts as Figure 5.
|
||||
Finally using 8 hex screws you can join the bottom plate to the payload holder (Figure 7)
|
||||
|
||||
|
||||
|
||||
_Figure 4_: Needed Materials
|
||||
|
||||
|
||||
|
||||
_Figure 5_: PDB mount base
|
||||
|
||||
|
||||
|
||||
_Figure 6_: Mounted pdb with nylon nuts
|
||||
|
||||
|
||||
|
||||
_Figure 7_: Mounted Plate on payload holder
|
||||
|
||||
1. Let's gather the stuff needed for mounting landing gear as Figure 8.
|
||||
Use the hex screws to join landing gears to the bottom plate.
|
||||
You also need to open three hex screws on each of the leg stands so you can push them into carbon fiber pipes.
|
||||
Do not forget to tighten them back again.
|
||||
|
||||
|
||||
|
||||
_Figure 8_: Required parts for landing gear attachment
|
||||
|
||||
|
||||
|
||||
_Figure 9_: Landing gear attachment to the body
|
||||
|
||||
1. We will gather all the arms now to mount the top plate.
|
||||
Please pay attention that the motor numbers on arms are a match with the ones mentioned on the top plate.
|
||||
Fortunately, motors are mounted and ESCs have been connected in advance.
|
||||
Start by passing through all the screws as you have the arms fixed in their own places (They have a guide as shown in Figure 11 to ensure they are in place) and tighten all nylon nuts a bit.
|
||||
Then you can connect XT30 power connectors to the power board.
|
||||
Please keep in mind that the signal wires have to be passed through the top plate such that we can connect them later to Pixhawk.
|
||||
|
||||
<img src="../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/needed_stuff_top_plate.png" width="700" title="Arms and top plate materials">
|
||||
|
||||
_Figure 10_: Connecting arms needed materials.
|
||||
|
||||
<img src="../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/guide_for_arm_mount.png" width="700" title="Guide for the arms mount">
|
||||
|
||||
_Figure 11_: Guide for the arms mount
|
||||
|
||||
1. Tighten all 16 screws and nuts by using both hex wrench and nut driver.
|
||||
|
||||
|
||||
|
||||
_Figure 12_: Mounted top plate
|
||||
|
||||
|
||||
1. Next you can mount your pixhawk on the top plate by using the stickers.
|
||||
It is recommended to have the direction of your Pixhawk's arrow the same as the one mentioned on the top plate.
|
||||
|
||||
|
||||
|
||||
_Figure 13_: Sticker tapes on Pixhawk
|
||||
|
||||
1. If you want to mount the GPS on the companion computer plate, you can now secure the GPS mount onto it using 4 screws and nuts.
|
||||
|
||||
<img src="../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/gps_mount_plate.png" width="400" title="Secure GPS mount onto companion plate">
|
||||
|
||||
_Figure 14_: Secure GPS mount onto companion plate
|
||||
|
||||
|
||||
1. Use the tape and stick the GPS to the top of the GPS mast and mount the GPS mast.
|
||||
Make sure the arrow on the gps is pointing forward (Figure 15).
|
||||
|
||||
<img src="../../assets/airframes/multicopter/x500_holybro_pixhawk4/gps2.jpg" width="400" title="Figure 16: GPS and mast">
|
||||
|
||||
_Figure 15_: GPS and mast
|
||||
|
||||
|
||||
1. Finally, you can connect the Pixhawk interfaces such as telemetry radio to 'TELEM1' and motors signal cables accordingly.
|
||||
|
||||
Please refer to [Pixhawk 5X Quick Start](../assembly/quick_start_pixhawk5x.md) for more information.
|
||||
|
||||
That's it.
|
||||
The fully assembled kit is shown below (Depth camera not included in the kit):
|
||||
|
||||
|
||||
|
||||
|
||||
## PX4 Configuration
|
||||
|
||||
:::tip
|
||||
Full instructions for installing and configuring PX4 can be found in [Basic Configuration](../config/index.md).
|
||||
:::
|
||||
|
||||
*QGroundControl* is used to install the PX4 autopilot and configure/tune it for the X500 frame.
|
||||
[Download and install](http://qgroundcontrol.com/downloads/) *QGroundControl* for your platform.
|
||||
|
||||
First update the firmware, airframe, and actuator mappings:
|
||||
|
||||
- [Firmware](../config/firmware.md)
|
||||
- [Airframe](../config/airframe.md)
|
||||
|
||||
You will need to select the *Holybro X500 V2* airframe (**Quadrotor x > Holybro 500 V2**)
|
||||
|
||||
|
||||
|
||||
- [Actuators](../config/actuators.md)
|
||||
- You should not need to update the vehicle geometry (as this is a preconfigured airframe).
|
||||
- Assign actuator functions to outputs to match your wiring.
|
||||
- Test the configuration using the sliders.
|
||||
|
||||
Then perform the mandatory setup/calibration:
|
||||
|
||||
- [Sensor Orientation](../config/flight_controller_orientation.md)
|
||||
- [Compass](../config/compass.md)
|
||||
- [Accelerometer](../config/accelerometer.md)
|
||||
- [Level Horizon Calibration](../config/level_horizon_calibration.md)
|
||||
- [Radio Setup](../config/radio.md)
|
||||
- [Flight Modes](../config/flight_mode.md)
|
||||
|
||||
Ideally you should also do:
|
||||
|
||||
- [ESC Calibration](../advanced_config/esc_calibration.md)
|
||||
- [Battery Estimation Tuning](../config/battery.md)
|
||||
- [Safety](../config/safety.md)
|
||||
|
||||
|
||||
## Tuning
|
||||
|
||||
Airframe selection sets *default* autopilot parameters for the frame.
|
||||
These are good enough to fly with, but it is a good idea to tune the parameters for a specific frame build.
|
||||
|
||||
For instructions on how, start from [Autotune](../config/autotune_mc.md).
|
||||
|
||||
## Acknowledgements
|
||||
|
||||
This build log was provided by PX4 Team.
|
||||
@@ -0,0 +1,263 @@
|
||||
# Holybro X500 + Pixhawk4 Build
|
||||
|
||||
::: info
|
||||
Holybro initially supplied this kit with a [Holybro Pixhawk 4](../flight_controller/pixhawk4.md)), but at time of writing this has been upgraded to a [Holybro Pixhawk 6C](../flight_controller/pixhawk6c.md).
|
||||
This build log is still relevant as the kit assembly is virtually the same, and likely to remain so as the flight controller is upgraded.
|
||||
:::
|
||||
|
||||
This topic provides full instructions for building the kit and configuring PX4 using *QGroundControl*.
|
||||
|
||||
## Key information
|
||||
|
||||
- **Full Kit:** [Holybro X500 Kit](https://holybro.com/products/px4-development-kit-x500-v2)
|
||||
- **Flight controller:** [Pixhawk 4](../flight_controller/pixhawk4.md)
|
||||
- **Assembly time (approx.):** 3.75 hours (180 minutes for frame, 45 minutes for autopilot installation/configuration)
|
||||
|
||||
|
||||
|
||||
## Bill of materials
|
||||
|
||||
The Holybro [X500 Kit](https://holybro.com/products/px4-development-kit-x500-v2) includes almost all the required components:
|
||||
|
||||
* [Pixhawk 4 autopilot](../flight_controller/pixhawk4.md)
|
||||
* [Holybro M8N GPS](https://holybro.com/collections/gps/products/m8n-gps)
|
||||
* [Power Management - PM07](../power_module/holybro_pm07_pixhawk4_power_module.md)
|
||||
* Holybro Motors - 2216 KV880 x4 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version).
|
||||
* Holybro BLHeli S ESC 20A x4 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version).
|
||||
* Propellers - 1045 x4 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version).
|
||||
* Battery Strap
|
||||
* Power and Radio Cables
|
||||
* Wheelbase - 500 mm
|
||||
* Dimensions - 410x410x300 mm
|
||||
* 433 MHz / 915 MHz [Holybro Telemetry Radio](../telemetry/holybro_sik_radio.md)
|
||||
|
||||
Additionally you will need a battery and receiver ([compatible radio system](../getting_started/rc_transmitter_receiver.md)) if you want to control the drone manually.
|
||||
|
||||
## Main Hardware
|
||||
|
||||
This section lists all hardware for the frame and the autopilot installation.
|
||||
|
||||
Item | Description | Quantity
|
||||
---|---|---
|
||||
Bottom plate | Carbon fiber (2mm thick) | 1
|
||||
Top plate | Carbon fiber (1.5mm thick) | 1
|
||||
Arm | Carbon fiber tube (Diameter: 16mm length: 200mm) | 4
|
||||
Landing gear - Vertical pole | Carbon fiber tube + engineering plastic | 2
|
||||
Landing gear - Cross bar | Carbon fiber tube + engineering plastic + foam | 2
|
||||
Motor base | Consists of 6 parts and 4 screws 4 nuts | 4
|
||||
Slide bar | Diameter: 10mm length: 250mm | 2
|
||||
Battery mounting board | Thickness: 2mm | 1
|
||||
Battery pad | 3mm Silicone sheet black | 1
|
||||
Platform board | Thickness: 2mm | 1
|
||||
Hanger & rubber ring gasket | Inner hole diameter: 10mm black | 8
|
||||
|
||||
|
||||
|
||||
### Electronics
|
||||
|
||||
Item Description | Quantity
|
||||
--- | ---
|
||||
Pixhawk4 & Assorted Cables | 1
|
||||
Pixhawk4 GPS Module | 1
|
||||
Power Management PM07 (with pre-soldered ESC power cables) | 1
|
||||
Motors 2216 KV880（V2 Update) | 4
|
||||
Holybro BLHeli S ESC 20A x4 | 1
|
||||
433 MHz / 915 MHz [Holybro Telemetry Radio](../telemetry/holybro_sik_radio.md) | 1
|
||||
|
||||
### Tools needed
|
||||
|
||||
The following tools are used in this assembly:
|
||||
|
||||
- 1.5 mm Hex screwdriver
|
||||
- 2.0 mm Hex screwdriver
|
||||
- 2.5 mm Hex screwdriver
|
||||
- 3mm Phillips screwdriver
|
||||
- 5.5 mm socket wrench or small piler
|
||||
- Wire cutters
|
||||
- Precision tweezers
|
||||
|
||||
|
||||
## Assembly
|
||||
|
||||
Estimate time to assemble is 3.75 hours (180 minutes for frame, 45 minutes for autopilot installation/configuration)
|
||||
|
||||
1. Start by assembling the landing gear.
|
||||
Unscrew the landing gear screws and insert the vertical pole (figures 1 and 2).
|
||||
|
||||
|
||||
|
||||
_Figure 2_: Landing gear components
|
||||
|
||||
|
||||
|
||||
_Figure 2_: Landing gear assembled
|
||||
|
||||
1. Then put the 4 arms through the 4 motor bases shown in figure 3.
|
||||
Make sure the rods protrude the base slightly and are consistent throughout all 4 arms, and be sure to have the motor wires facing outward.
|
||||
|
||||
|
||||
|
||||
_Figure 3_: Attach arms to motor bases
|
||||
|
||||
1. Insert 4 nylon screws and nylon standoffs and attach the power module PM07 to the bottom plate using 4 nylon nuts as shown in Figures 4.
|
||||
|
||||
|
||||
|
||||
_Figure 4_: Attach power module
|
||||
|
||||
1. Feed the 4 motor ESCs through each of the arms and connect the 3-wires end to the motors shown in Figure 5.
|
||||
|
||||
<img src="../../assets/airframes/multicopter/x500_holybro_pixhawk4/x500_fig17.jpg" width="250" title="Connect motors">
|
||||
|
||||
_Figure 5_: Connect motors
|
||||
|
||||
1. Connect the ESCs power wires onto the power module PM07, black->black and red->red, ESC PWM signal wires goes to "FMU-PWM-Out".
|
||||
Make sure you connect the motor ESC PWM wires in the correct order.
|
||||
Refer to Figure 7 for airframe motor number and connect to the corresponding number on the PM07 board.
|
||||
|
||||
|
||||
_Figure 7_: ESC power module and signal wiring
|
||||
|
||||
The color on top of the motor indicate the spin direction (figure 7-1), black tip is clockwise, and white tip is counter-clockwise.
|
||||
Make sure the follow the px4 quadrotor x airframe reference for motor direction (figure 7-2).
|
||||
|
||||
<img src="../../assets/airframes/multicopter/x500_holybro_pixhawk4/quadx.png" width="240">
|
||||
|
||||
_Figure 7_: Motor order/direction diagram
|
||||
|
||||
<img src="../../assets/airframes/multicopter/x500_holybro_pixhawk4/motor_direction1.jpg" width="400">
|
||||
|
||||
_Figure 7-1_: Motor direction
|
||||
|
||||
1. Connect the 10 pin cables to FMU-PWM-in, the 6 pin cables to the PWR1 on the PM07 power module.
|
||||
|
||||
|
||||
|
||||
_Figure 8_: Power module PWM and power wiring
|
||||
|
||||
1. If you want to mount the GPS on the top plate, you can now secure the GPS mount onto the top plate using 4 screws and nuts.
|
||||
|
||||
<img src="../../assets/airframes/multicopter/x500_holybro_pixhawk4/gpsmount.jpg" width="400" title="Secure GPS mount onto top plate">
|
||||
|
||||
_Figure 9_: Secure GPS mount onto top plate
|
||||
|
||||
1. Feed the PM07 cables through the top plate.
|
||||
Connect the top and bottom plate by using 4 U-shaped nylon straps, screws, and nuts on each side, ensure that the motor ESC cables are inside the U-shape nylon straps like Figure 10, keep the nut loose.
|
||||
|
||||
<img src="../../assets/airframes/multicopter/x500_holybro_pixhawk4/top_plate.jpg" width="300">
|
||||
|
||||
_Figure 10-1_: Feed power module cables through top plate
|
||||
|
||||
<img src="../../assets/airframes/multicopter/x500_holybro_pixhawk4/ushape.jpg" width="355" title="Connecting top and bottom plate">
|
||||
|
||||
_Figure 10-2_: Connecting top and bottom plate
|
||||
|
||||
1. Push the arm tubes a bit into the frame and make sure the amount of protrusion (red square from Figure 11) are consistent on all 4 arms.
|
||||
Ensure all the motors are pointed directly upward, then tighten all the nuts and screws.
|
||||
|
||||
|
||||
|
||||
1. Put the hanger gaskets into the 4 hangers and mount them onto the bottom plate using 8 hex screws (Figure 11).
|
||||
The screw holes are noted by the white arrow in Figure 12.
|
||||
We recommend tilting the drone sideway to make the installation easier.
|
||||
|
||||
<img src="../../assets/airframes/multicopter/x500_holybro_pixhawk4/x500_fig9.png" width="400" title="Hanger gaskets">
|
||||
|
||||
_Figure 11_: Hanger gaskets
|
||||
|
||||
|
||||
|
||||
_Figure 12_: Screw holes
|
||||
|
||||
1. Insert the slide bars onto the hanger rings (Figure 13).
|
||||
Assemble the battery mount and platform board and mount them onto the slide bars as shown in Figure 14.
|
||||
|
||||
|
||||
|
||||
_Figure 13_: Slide bars
|
||||
|
||||
<img src="../../assets/airframes/multicopter/x500_holybro_pixhawk4/battery_mount1.jpg" width="400" title="Battery mount on slide bars">
|
||||
|
||||
_Figure 14_: Battery mount on slide bars
|
||||
|
||||
1. Mount the landing gear onto the bottom plate.
|
||||
We recommend tilting the drone sideway to make this installation process easier.
|
||||
|
||||
|
||||
|
||||
_Figure 15_: Landing Gear
|
||||
|
||||
|
||||
1. Use the tape and stick the GPS to the top of the GPS mast and mount the GPS mast.
|
||||
Make sure the arrow on the gps is pointing forward (Figure 16).
|
||||
|
||||
<img src="../../assets/airframes/multicopter/x500_holybro_pixhawk4/gps2.jpg" width="400" title="Figure 16: GPS and mast">
|
||||
|
||||
_Figure 16_: GPS and mast
|
||||
|
||||
|
||||
1. Mount the telemetry radio onto the top plate.
|
||||
Plug the telemetry cable into `TELEM1` port and GPS module to `GPS MODULE` port on the flight controller.
|
||||
Plug the cable from PM07 `FMU-PWM-in` to `I/O-PWM-out`on the FC and PM07 `PWR1` to `POWER1` on the FC, as shown in Figure 17.
|
||||
|
||||
|
||||
|
||||
_Figure 17_: Mount telemetry radio/plug in PWM and Power cables to Flight controller.
|
||||
|
||||
Please refer to [Pixhawk 4 Quick Start](../assembly/quick_start_pixhawk4.md) for more information.
|
||||
|
||||
That's it.
|
||||
The fully assembled kit is shown below:
|
||||
|
||||
|
||||
|
||||
|
||||
## PX4 Configuration
|
||||
|
||||
:::tip
|
||||
Full instructions for installing and configuring PX4 can be found in [Basic Configuration](../config/index.md).
|
||||
:::
|
||||
|
||||
*QGroundControl* is used to install the PX4 autopilot and configure/tune it for the X500 frame.
|
||||
[Download and install](http://qgroundcontrol.com/downloads/) *QGroundControl* for your platform.
|
||||
|
||||
First update the firmware, airframe, and actuator mappings:
|
||||
|
||||
- [Firmware](../config/firmware.md)
|
||||
- [Airframe](../config/airframe.md)
|
||||
|
||||
You will need to select the *Holybro S500* airframe (**Quadrotor x > Holybro S500**).
|
||||
|
||||
|
||||
|
||||
- [Actuators](../config/actuators.md)
|
||||
- You should not need to update the vehicle geometry (as this is a preconfigured airframe).
|
||||
- Assign actuator functions to outputs to match your wiring.
|
||||
- Test the configuration using the sliders.
|
||||
|
||||
Then perform the mandatory setup/calibration:
|
||||
|
||||
- [Sensor Orientation](../config/flight_controller_orientation.md)
|
||||
- [Compass](../config/compass.md)
|
||||
- [Accelerometer](../config/accelerometer.md)
|
||||
- [Level Horizon Calibration](../config/level_horizon_calibration.md)
|
||||
- [Radio Setup](../config/radio.md)
|
||||
- [Flight Modes](../config/flight_mode.md)
|
||||
|
||||
Ideally you should also do:
|
||||
|
||||
- [ESC Calibration](../advanced_config/esc_calibration.md)
|
||||
- [Battery Estimation Tuning](../config/battery.md)
|
||||
- [Safety](../config/safety.md)
|
||||
|
||||
|
||||
## Tuning
|
||||
|
||||
Airframe selection sets *default* autopilot parameters for the frame.
|
||||
These are good enough to fly with, but it is a good idea to tune the parameters for a specific frame build.
|
||||
|
||||
For instructions on how, start from [Autotune](../config/autotune_mc.md).
|
||||
|
||||
## Acknowledgements
|
||||
|
||||
This build log was provided by the Dronecode Test Flight Team.
|
||||
@@ -0,0 +1,216 @@
|
||||
# Holybro X500 V2 + Pixhawk 6C (PX4 Dev Kit)
|
||||
|
||||
This topic provides full instructions for building the [Holybro X500 V2 ARF Kit](https://holybro.com/collections/x500-kits), also known as the Holybro PX4 Dev Kit.
|
||||
|
||||
|
||||
|
||||
|
||||
## Assembly
|
||||
|
||||
::: info
|
||||
- The images in this document can be selected to see a youtube video of the step.
|
||||
- Each section lists any required screws at the top.
|
||||
:::
|
||||
|
||||
### Payload and Battery Holder
|
||||
|
||||
**Screw**- Sunk Screw M2.5*6 12pcs
|
||||
|
||||
1. Insert the hanger rubber ring gasket in each of their respective hangers.
|
||||
Do not use sharp objects to press the rubbers inside.
|
||||
|
||||
[](https://www.youtube.com/watch?v=4Tid-FCP_aI)
|
||||
|
||||
1. Take the battery mounting board and screw it with the slide bar clip using the Sunk Screw M2.5*6.
|
||||
|
||||
[](https://youtu.be/9E-rld6tPWQ)
|
||||
|
||||
1. Screw 4 hangers to the Platform Board using Sunk Screw M2.5*6.
|
||||
|
||||
[](https://youtu.be/4qIBABc9KsY))
|
||||
|
||||
1. Take the slide bar and insert 4 hangers to screw to the bottom plate later.
|
||||
|
||||
[](https://youtu.be/CFx6Ct7FCIc))
|
||||
|
||||
1. Now insert the battery holder and payload holders assembled in step 2 & 3
|
||||
|
||||
|
||||
### Power Module
|
||||
|
||||
**Screw**- Socket Cap Screw M2.5*6 8pcs | Locknut M3 4pcs |Nylon Standoff M3*5 4pcs | Screw M3*14 4pcs
|
||||
|
||||
[](https://youtu.be/0knU3Q_opEo))
|
||||
|
||||
1. Take the bottom plate and insert 4 M3*14 screws and fasten the nylon standoffs on the same.
|
||||
|
||||
[](https://youtu.be/IfsMXTr3Uy4)
|
||||
|
||||
1. Place the Power distribution board and use the locknuts to assemble them. The power module PM02 (for Pixhawk 6C) would power this board
|
||||
|
||||
[](https://youtu.be/Qjs6pqarRIY)
|
||||
|
||||
1. Use Socket Cap Screws M2.5*6 and screw the bottom plate on the 4 hangers (that we inserted in the 2 bars on the 3rd step of the payload holder assembly)
|
||||
|
||||
### Landing Gear
|
||||
|
||||
1. To assemble the landing gear, loosen the pre-assembled screws of the Landing Gear-Cross Bar and insert the Landing Gear-Vertical Pole and fasten the same.
|
||||
|
||||
[](https://youtu.be/mU4vm4zyjcY)
|
||||
|
||||
[](https://youtu.be/7REaF3YAqLg)
|
||||
|
||||
1. Use the Socket Cap Screw M3*8 to screw the landing gears to the bottom plate
|
||||
|
||||
[](https://youtu.be/iDxzWeyCN54)
|
||||
|
||||
[](https://youtu.be/3fNJQraCJx0)
|
||||
|
||||
|
||||
Because it’s cumbersome to insert the wires once the top plate is assembled, do the wiring beforehand.
|
||||
Although the design is well built such that you can do this later as well.
|
||||
|
||||
[](https://youtu.be/3en4DlQF4XU)
|
||||
|
||||
### Power
|
||||
|
||||
The Pixhawk 6C gets powered by a power module PM02 (in this case).
|
||||
This power module is supplied by a battery (4S 16.8V 5200 mAh)
|
||||
|
||||
The motors are powered through the power distribution board, as shown in the diagram below.
|
||||
|
||||
|
||||
|
||||
Note that the ESC connectors are color-coded and must be inserted in the PWM out such that the white cable faces up.
|
||||
|
||||
|
||||
|
||||
|
||||
### Arms
|
||||
|
||||
**Screw-** Socket Cap Screw M3*38 16pcs | Flange Locknut M3 16pcs
|
||||
|
||||
[](https://youtu.be/66Hfy6ysOpg)
|
||||
|
||||
1. Putting the arms is quite simple as the motors come pre-assembled.
|
||||
- Ensure that you have the right numbered arm with its motor on the respective side.
|
||||
|
||||
[](https://youtu.be/45KCey3WiJ4)
|
||||
|
||||
:::tip
|
||||
Use your allen keys/ any elongated item and insert it on the opposite side of the bolt that you're trying to fasten.
|
||||
:::
|
||||
|
||||
1. Take one arm and insert the rectangle extrusion inside the rectangular hollow on the bottom plate.
|
||||
|
||||
[](https://youtu.be/GOTqmjq9_3s)
|
||||
|
||||
1. While inserting the top plate on top of this the 3 piece assembly (bottom plate, top plate & arms) have to screwed using Socket Cap Screw M3*38 and Flange Locknut M3.
|
||||
1. Hold one side using the mini cross wrench provided in the developer kit.
|
||||
|
||||
[](https://youtu.be/2rcNVekJQd0)
|
||||
|
||||
1. Do not fasten any screws before all 3 motors are in place as this might make it difficult while you’re assembling the 3rd and 4th motor.
|
||||
|
||||
[](https://youtu.be/SlKRuNoE_AY)
|
||||
|
||||
### Propellers
|
||||
|
||||
[](https://youtu.be/yu75VkMaIyc)
|
||||
|
||||
- The bottom plate indicates the direction of the motor.
|
||||
- The propellers that have a white/silver coating go on that respective motor with the similar coat.
|
||||
- The unlocking and locking of the propeller is indicated on the propeller itself.
|
||||
- Use the 4 propellers and insert them on the motors keeping the above 3 points in mind.
|
||||
|
||||
The following parts can be placed as per usual.
|
||||
|
||||
### GPS
|
||||
|
||||
**Screw-** Locknut M3 4 pcs | Screw M3*10 4pcs
|
||||
|
||||
|
||||
1. Assemble the GPS by following the video.
|
||||
|
||||
[](https://youtu.be/aiFxVJFjlos)
|
||||
|
||||
This guide uses the GPS mount location suggested in Holybro’s guide.
|
||||
1. Screw the GPS mount’s bottom end on the payload holder side using Locknut M3 & Screw M3*10
|
||||
|
||||
[](https://youtu.be/uG5UKy3FrIc)
|
||||
|
||||
### Pixhawk 6C
|
||||
|
||||
- The wire from the PM02 goes to POWER1 in Pixhawk
|
||||
- The telemetry goes to TELEM1
|
||||
- The GPS to GPS1
|
||||
|
||||
[](https://youtu.be/wFlr_I3jERQ)
|
||||
|
||||
### Companion Computer (Optional)
|
||||
|
||||
**Screw-** Socket Cap Screw M2.5*12 4pcs | Nylon Standoff M2.5*5 4pcs Locknut M2.5 4pcs
|
||||
|
||||
The X500 kit is provides space for a companion computer, such as Raspberry Pi or Jetson nano can be placed here [TBD].
|
||||
- Insert 4 Socket Cap Screw M2.5*12 and put the standoffs on the same.
|
||||
- Now place the companion computer and assemble it using Locknut M2.5
|
||||
|
||||
### Camera
|
||||
|
||||
- Cameras such as Intel Realsense depth/ tracking camera or Structure Core can be mounted using the Depth Camera Mount
|
||||
- Simply insert the mount inside the 2 bars and use the screws according to the camera you’re using.
|
||||
|
||||
|
||||
|
||||
|
||||
## Install/Configure PX4
|
||||
|
||||
:::tip
|
||||
Full instructions for installing and configuring PX4 can be found in [Basic Configuration](../config/index.md).
|
||||
:::
|
||||
|
||||
*QGroundControl* is used to install the PX4 autopilot and configure/tune it for the X500 frame.
|
||||
[Download and install](http://qgroundcontrol.com/downloads/) *QGroundControl* for your platform.
|
||||
|
||||
First update the firmware, airframe, and actuator mappings:
|
||||
|
||||
- [Firmware](../config/firmware.md)
|
||||
- [Airframe](../config/airframe.md)
|
||||
|
||||
You will need to select the *Holybro X500 V2* airframe (**Quadrotor x > Holybro 500 V2**)
|
||||
|
||||
|
||||
|
||||
- [Actuators](../config/actuators.md)
|
||||
- You should not need to update the vehicle geometry (as this is a preconfigured airframe).
|
||||
- Assign actuator functions to outputs to match your wiring.
|
||||
The airframe is preconfigured with the motors on the **FMU PWM Out**.
|
||||
- Test the configuration using the sliders.
|
||||
|
||||
Then perform the mandatory setup/calibration:
|
||||
|
||||
- [Sensor Orientation](../config/flight_controller_orientation.md)
|
||||
- [Compass](../config/compass.md)
|
||||
- [Accelerometer](../config/accelerometer.md)
|
||||
- [Level Horizon Calibration](../config/level_horizon_calibration.md)
|
||||
- [Radio Setup](../config/radio.md)
|
||||
- [Flight Modes](../config/flight_mode.md)
|
||||
|
||||
Ideally you should also do:
|
||||
|
||||
- [ESC Calibration](../advanced_config/esc_calibration.md)
|
||||
- [Battery Estimation Tuning](../config/battery.md)
|
||||
- [Safety](../config/safety.md)
|
||||
|
||||
|
||||
## Tuning
|
||||
|
||||
Airframe selection sets *default* autopilot parameters for the frame.
|
||||
These are good enough to fly with, but it is a good idea to tune the parameters for a specific frame build.
|
||||
|
||||
For instructions on how, start from [Auto-tune](../config/autotune_mc.md).
|
||||
|
||||
|
||||
## Acknowledgements
|
||||
|
||||
This build log was contributed by Akshata and Hamish Willee with many thanks to Holybro and Dronecode for Hardware and technical support.
|
||||
@@ -0,0 +1,36 @@
|
||||
# Multicopters
|
||||
|
||||
PX4 supports numerous types of single- and multi-copters, including helicopters, tricopters, quadcopters, hexarotors, dodecarotors etc, in many different geometries (+, wide, x etc.).
|
||||
|
||||
::: tip
|
||||
The generic configurations can be seen in [Airframes Reference > Copter](../airframes/airframe_reference.md#copter).
|
||||
These can be customized during configuration.
|
||||
:::
|
||||
|
||||
## Overview
|
||||
|
||||
The linked sections instructions for assembling and configuring copter frames.
|
||||
|
||||
- [Features](../features_mc/index.md) (including [Flight Modes](../flight_modes_mc/index.md))
|
||||
- [Assembly](../assembly/assembly_mc.md)
|
||||
- [Configuration/Tuning](../config_mc/index.md)
|
||||
- [Flying (Basics)](../flying/basic_flying_mc.md)
|
||||
- [Complete Vehicles](../complete_vehicles_mc/index.md)
|
||||
- [Kits](../frames_multicopter/kits.md)
|
||||
- [DIY Builds](../frames_multicopter/diy_builds.md)
|
||||
|
||||
## Videos
|
||||
|
||||
<lite-youtube videoid="LnUmYgAINBc" title="3DR Iris + PX4ESC"/>
|
||||
|
||||
DJI Flame Wheel 450 with Distance Sensor and RTK GPS (Pixhawk 3 Pro)
|
||||
|
||||
<lite-youtube videoid="JovSwzoTepU" title="PX4 terrain following"/>
|
||||
|
||||
DJI Matrice 100 (Pixhawk 1)
|
||||
|
||||
<lite-youtube videoid="3OGs0ONemGc" title="DJI Matrice 100 (Pixhawk 1)"/>
|
||||
|
||||
QAV-R 5" KISS ESC Racer (Pixracer)
|
||||
|
||||
<lite-youtube videoid="wMYgqvsNEwQ" title="QAV-R 5 KISS ESC Racer (Pixracer)"/>
|
||||
@@ -0,0 +1,36 @@
|
||||
# Kit Builds (Multicopter)
|
||||
|
||||
Multicopter kits contain almost all the parts needed for building a PX4-compatible vehicle.
|
||||
|
||||
They provide a gentle introduction to building drones, as all the parts are known to work well together.
|
||||
|
||||
:::tip Batteries not included!
|
||||
Kits generally do not include:
|
||||
|
||||
- **Batteries** — shipping regulations mean that these must usually be source separately
|
||||
- **RC Controllers** — Transmitters/receivers are not included in kit builds to save costs.
|
||||
Many users already have a handheld ground unit, and this will need a compatible module on the vehicle.
|
||||
|
||||
:::
|
||||
|
||||
## Kits
|
||||
|
||||
The following kits are currently available:
|
||||
|
||||
- [Holybro X500 v2 PX4 Development Kit](https://holybro.com/collections/x500-kits) (Pixhawk 6c) ([Build instructions](../frames_multicopter/holybro_x500v2_pixhawk6c.md))
|
||||
- [Holybro S500 Kit v2](https://holybro.com/collections/s500/products/s500-v2-development-kit) (Pixhawk 6c)
|
||||
- [Holybro QAV250 Kit](https://holybro.com/products/qav250-kit) (Pixhawk 6c)
|
||||
- [NXP HoverGames KIT-HGDRONEK66](https://www.nxp.com/KIT-HGDRONEK66) ([hovergames.com](https://www.hovergames.com/))
|
||||
- [3DR Quad Zero](https://store.3dr.com/3dr-quad-zero-kit/)
|
||||
|
||||
## Build Guides
|
||||
|
||||
The build guides below show how to assemble a number of kits.
|
||||
Many kits vary only a little between revisions (for example, the new kit might simply upgrade the flight controller used, and is otherwise identical), so these are likely to be be useful for building the kits in the section above.
|
||||
|
||||
- [Holybro X500 v2 (Pixhawk 6C)](../frames_multicopter/holybro_x500v2_pixhawk6c.md)
|
||||
- [Holybro X500 v2 (Pixhawk 5X)](../frames_multicopter/holybro_x500V2_pixhawk5x.md) — Discontinued (v2 kit uses Pixhawk 6c)
|
||||
- [Holybro X500 v1 (Pixhawk 4)](../frames_multicopter/holybro_x500_pixhawk4.md) — Discontinued (v2 kit uses Pixhawk 6c)
|
||||
- [Holybro S500 v1 (Pixhawk 4)](../frames_multicopter/holybro_s500_v2_pixhawk4.md) — Discontinued (v2 kit uses Pixhawk 6c)
|
||||
- [Holybro QAV250 Kit (Pixhawk 4 mini)](../frames_multicopter/holybro_qav250_pixhawk4_mini.md) — Discontinued (current kit uses Pixhawk 6c)
|
||||
- [Lumenier QAV-R 5" Racer (Pixracer)](../frames_multicopter/qav_r_5_kiss_esc_racer.md) — Discontinued
|
||||
@@ -0,0 +1,136 @@
|
||||
# Omnicopter
|
||||
|
||||
An Omnicopter is a multicopter that can provide thrust in all directions (6 degrees of freedom).
|
||||
This allows it to move in any direction without having to tilt, and it can hover at an arbitrary tilt angle.
|
||||
All of this is achieved by arranging the motor positions and thrust axis in specific ways:
|
||||
|
||||
|
||||
|
||||
This build follows the original design from [Brescianini, Dario, and Raffaello D'Andrea](https://www.youtube.com/watch?v=sIi80LMLJSY).
|
||||
|
||||
## Bill of Materials
|
||||
|
||||
The components needed for this build are:
|
||||
|
||||
- Electronics:
|
||||
- Flight controller: [Holybro KakuteH7](../flight_controller/kakuteh7.md)
|
||||
- Coupled with 2x [Tekko32 F4 4in1 ESCs](https://holybro.com/products/tekko32-f4-4in1-50a-esc)
|
||||
::: info
|
||||
You can select your own flight controller of choice, it just needs to support 8 DShot outputs.
|
||||
:::
|
||||
- GPS: [ZED-F9P](https://www.gnss.store/gnss-gps-modules/105-ublox-zed-f9p-rtk-gnss-receiver-board-with-sma-base-or-rover.html?search_query=ZED-F9P&results=11)
|
||||
- [GPS helix antenna](https://www.gnss.store/rf-gps-antennas/28-high-performance-multi-band-gnss-active-quad-helix-antenna-for-rtk.html)
|
||||
::: info
|
||||
Any other GPS may work as well, however a helix antenna is expected to perform better for inverted flights.
|
||||
:::
|
||||
- Any RC receiver
|
||||
- An external Magnetometer. We used the [RM-3100](https://store-drotek.com/893-professional-grade-magnetometer-rm3100.html).
|
||||
- Telemetry link, e.g. [WiFi](../telemetry/telemetry_wifi.md)
|
||||
- Propulsion:
|
||||
- Motors: 8x [BrotherHobby LPD 2306.5 2000KV/2450KV/2650KV](https://www.getfpv.com/brotherhobby-lpd-2306-5-2000kv-2450kv-2650kv-motor.html)
|
||||
- 3D Propellers: 2x [HQProp 3D 5X3.5X3 3-Blade Propeller (Set of 4)](https://www.getfpv.com/hqprop-3d-5x3-5x3-3-blade-propeller-set-of-4.html) or 2x [Gemfan 513D 3-Blade 3D Propeller (Set of 4)](https://www.getfpv.com/gemfan-513d-durable-3-blade-propeller-set-of-4.html)
|
||||
- Battery: we used a 6S 3300mAh LiPo. Make sure to check the dimensions so it fits the frame.
|
||||
- Battery strap
|
||||
- Frame:
|
||||
- Carbon square tube R 8mm X 7mm X 1000mm, e.g. [here](https://shop.swiss-composite.ch/pi/Halbfabrikate/Rohre/Vierkant-Rohre/CFK-Vierkantrohr-8x8-7x7mm.html)
|
||||
- Carbon Rods R 3mm X 2mm X 1000mm, e.g. [here](https://shop.swiss-composite.ch/pi/Halbfabrikate/Rohre/CFK-Rohre-pultrudiert-pullwinding/Carbon-Microtubes-100cm-x-20-3mm.html)
|
||||
- Required lengths:
|
||||
- square tube: 8 pieces with length of 248mm
|
||||
- rods: 12x328mm, 6x465mm
|
||||
- Screws:
|
||||
- Motors and standoffs: 40x M3x12mm
|
||||
- FC mount: 4x M3x35mm, 4x M3 nuts
|
||||
- Standoffs: 4x 40mm
|
||||
- [3D model](https://cad.onshape.com/documents/eaff30985f1298dc6ce8ce13/w/2f662e604240c4082682e5e3/e/ad2b2245b73393cf369132f7)
|
||||
|
||||
|
||||
|
||||
## Assembly
|
||||
|
||||
### Frame
|
||||
|
||||
- Print the 3D parts
|
||||
::: info
|
||||
The orientation of the corner pieces matters.
|
||||
You will notice if it's wrong when the angles of the rods are not correct.
|
||||
:::
|
||||
- Cut the rods
|
||||
- Test that it all works by connecting the frame pieces together:
|
||||
|
||||
|
||||
- Place the motors as far out as possible, without the propellers touching the rods.
|
||||
|
||||
### Electronics
|
||||
|
||||
Solder the peripherals to the flight controller. We used the following assignments:
|
||||
- ESCs: the 2 ESCs can be connected directly to the two connectors of the KakuteH7.
|
||||
To avoid conflicts we removed the power pin (right-most pin) from one of the connectors.
|
||||
- Telemetry to UART1
|
||||
- GPS to UART4
|
||||
- RC to UART6
|
||||
|
||||
|
||||
Remarks:
|
||||
|
||||
- Make sure the magnetometer is placed away from power.
|
||||
We ended up placing it to the bottom of the center-piece with a 4cm padding styrofoam.
|
||||
- Put some tape on the barometer (without taping the opening!) to avoid any influence from light.
|
||||
- We did not glue the frame.
|
||||
It is certainly advisible to do so after initial test flights, but it might work without.
|
||||
|
||||
|
||||
## Software Configuration
|
||||
|
||||
### ESC
|
||||
|
||||
First, configure the ESCs to 3D mode (bidirectional).
|
||||
We had issues with the stock ESC settings in 3D mode: when trying to switch direction, a motor sometimes did not start anymore until the ESC was rebooted.
|
||||
So we had to change ESC settings.
|
||||
|
||||
To do so, you can use Betaflight on the flight controller and then use pass-through mode and the BL Heli suite (make sure there is an airframe with 8 motors configured in Betaflight).
|
||||
These are the settings:
|
||||
|
||||
|
||||
|
||||
In particular:
|
||||
- set the Motor Direction to **Bidirectional Soft**
|
||||
- increase the Rampup Power to **100%** (this is conservative and might reduce efficiency)
|
||||
|
||||
::: info
|
||||
Make sure the motors do not overheat with the changed settings.
|
||||
:::
|
||||
|
||||
### PX4
|
||||
|
||||
- Select a generic multicopter airframe
|
||||
- Use an [arming switch](../advanced_config/prearm_arm_disarm.md#arming-button-switch), do not use stick arming
|
||||
- [Select DShot](../config/actuators.md) as output protocol on all eight outputs
|
||||
- Configure the motors according to this:
|
||||
|
||||
We used the following convention: the motors are facing the direction of where the axis points to.
|
||||
The spinning direction matches the direction of positive thrust (moving the motor slider up).
|
||||
Make sure to use the right props, as there is a CCW and a CW version.
|
||||
- Parameters:
|
||||
- Change the desaturation logic for better attitude tracking: set [CA_METHOD](../advanced_config/parameter_reference.md#CA_METHOD) to 0.
|
||||
- Disable failure detection: set [FD_FAIL_P](../advanced_config/parameter_reference.md#FD_FAIL_P) and [FD_FAIL_R](../advanced_config/parameter_reference.md#FD_FAIL_R) to 0.
|
||||
- [This file](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/multicopter/omnicopter/omnicopter.params) contains all the relevant parameters.
|
||||
|
||||
## Video
|
||||
|
||||
<lite-youtube videoid="nsPkQYugfzs" title="PX4 Based Omnicopter Using the New Dynamic Control Allocation in v1.13"/>
|
||||
|
||||
## Simulation
|
||||
|
||||
There is an omnicopter simulation target in Gazebo Classic:
|
||||
|
||||
```sh
|
||||
make px4_sitl gazebo-classic_omnicopter
|
||||
```
|
||||
|
||||
|
||||
## Remarks
|
||||
|
||||
Some general remarks:
|
||||
|
||||
- The hover throttle is about 30%.
|
||||
- The flight time is around 4-5min. This could probably be improved a bit by using larger propellers.
|
||||
@@ -0,0 +1,277 @@
|
||||
# Lumenier QAV-R 5" Racer (Pixracer)
|
||||
|
||||
The Lumenier QAV-R 5" FPV Racing Quadcopter is a rigid, light, and fast FPV racer with removable arms.
|
||||
This topic provides full build and configuration instructions for using the frame with the *Pixracer* flight controller and *KISS 24A Race Edition* ESCs.
|
||||
It also provides information on the (optional) FPV setup.
|
||||
|
||||
Key information:
|
||||
|
||||
- **Frame:** [Lumenier QAV-R 5"](http://www.getfpv.com/qav-r-fpv-racing-quadcopter-5.html)
|
||||
- **Flight controller:** [Pixracer](../flight_controller/pixracer.md)
|
||||
|
||||
<lite-youtube videoid="wMYgqvsNEwQ" title="QAV-R 5 PX4 FPV Racequad"/>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
## Parts List
|
||||
|
||||
### Vehicle (needed for flying)
|
||||
|
||||
* Autopilot: [Pixracer](../flight_controller/pixracer.md) from [AUAV](https://store.mrobotics.io/mRo-PixRacer-R14-Official-p/auav-pxrcr-r14-mr.htm) including ESP8266 WiFi- and [ACSP5](https://store.mrobotics.io/product-p/auav-acsp5-mr.htm) power-module
|
||||
* Frame: [Lumenier QAV-R 5"](http://www.getfpv.com/qav-r-fpv-racing-quadcopter-5.html)
|
||||
* Motors: [Lumenier RX2206-11 2350KV](http://www.getfpv.com/lumenier-rx2206-11-2350kv-motor.html)
|
||||
* ESCs: [KISS 24A Race Edition](http://www.getfpv.com/kiss-24a-esc-race-edition-32bit-brushless-motor-ctrl.html)
|
||||
* Props: HQProp 5x4.5x3 [CW](http://www.getfpv.com/hqprop-5x4-5x3rg-cw-propeller-3-blade-2-pack-green-nylon-glass-fiber.html) [CCW](http://www.getfpv.com/hqprop-5x4-5x3g-ccw-propeller-3-blade-2-pack-green-nylon-glass-fiber.html)
|
||||
* GPS / Ext. Mag.: M8N taken from a [Pixhawk Mini (Discontinued)](../flight_controller/pixhawk_mini.md) set and rewired
|
||||
* Battery: [TATTU 1800mAh 4s 75c Lipo](http://www.getfpv.com/tattu-1800mah-4s-75c-lipo-battery.html)
|
||||
* RC Receiver: [FrSky X4R-SB](http://www.getfpv.com/frsky-x4r-sb-3-16-channel-receiver-w-sbus.html)
|
||||
* RC Transmitter: [FrSky Taranis](http://www.getfpv.com/frsky-taranis-x9d-plus-2-4ghz-accst-radio-w-soft-case-mode-2.html)
|
||||
* FC dampening: [O-Rings](http://www.getfpv.com/multipurpose-o-ring-set-of-8.html)
|
||||
* GPS Mount: [GPS mast](http://www.getfpv.com/folding-aluminum-gps-mast-for-dji.html)
|
||||
|
||||
### FPV (optional)
|
||||
|
||||
* Camera: [RunCam Swift RR Edition](https://www.getfpv.com/runcam-swift-rotor-riot-special-edition-ir-block-black.html) **includes must-have high quality wide angle lens from GoPro!**
|
||||
* Video Tx: [ImmersionRC Tramp HV 5.8GHz 600mW](https://www.getfpv.com/immersionrc-tramp-hv-5-8ghz-video-tx-us-version.html) (Discontinued).
|
||||
* Video Antennas: [TBS Triumph 5.8GHz CP](http://www.getfpv.com/fpv/antennas/tbs-triumph-5-8ghz-cp-fpv-antenna-3275.html) (SMA port fits ImmercionRC Tx)
|
||||
* FPV voltage source plug: [Male JST Battery Pigtail](http://www.getfpv.com/male-jst-battery-pigtail-10cm-10pcs-bag.html)
|
||||
|
||||
::: info
|
||||
These parts cover the sending side for standard FPV 5.8GHz analog FM video. You need to have a compatible receiver and display device to actually consume the live video stream.
|
||||
:::
|
||||
|
||||
## Assembling the Basic Frame
|
||||
|
||||
I assembled the basic center plate and the arms like shown in this video between 09:25 and 13:26:
|
||||
|
||||
<lite-youtube videoid="7SIpJccXZjM" title="How to Build a Lumenier QAV-R"/>
|
||||
|
||||
I mounted the four motors to the frame with the cables coming out towards the center of the frame.
|
||||
I used two of the longer motor screws that come with the frame for each motor and put them in the two holes which are further apart.
|
||||
|
||||
## Building the Power Train
|
||||
|
||||
The KISS ESCs are known for their good performance but they also come with two disadvantages:
|
||||
|
||||
- The software they use is not open source (unlike BLHeli)
|
||||
- There is no hardware package with pre-soldered wires and/or plugs (to my knowledge)
|
||||
|
||||
This means we need to solder at least 6 joints on every ESC but it's still totally worth it.
|
||||
|
||||
:::tip
|
||||
Always tin both sides you want to connect with solder before actually soldering them together.
|
||||
This will make it a lot easier and it will be less likely to have cold soldering joints.
|
||||
:::
|
||||
|
||||
:::tip
|
||||
Make sure that you use an appropriate cable gauge for the power connections that transport the high current all the way from the battery to the motors.
|
||||
All signal cables can be very thin in comparison.
|
||||
:::
|
||||
|
||||
:::tip
|
||||
Put heat shrink on the cables before you start soldering!
|
||||
Heatshrinking the ESCs, the power module and the free floating uninsulated wire soldering joints after a successful function test will protect them from dirt, moisture and physical damage.
|
||||
:::
|
||||
|
||||
### Motors
|
||||
|
||||
First I cut all three motor cables to directly fit when the ESCs are mounted on the arms shifted towards the center but still let enough slack to allow easy placement of the parts and not produce any tension on the cables.
|
||||
Then I soldered them in the order they come out of the motor to the output contacts of the ESCs which are oriented with the switching MOS-FETs facing upwards to get good air cooling during flight.
|
||||
Choosing this cable order resulted in all the motors spinning counter-clockwise in my tests and I switched where necessary the direction of rotation by bridging the dedicated [JP1 solder jumper](https://1.bp.blogspot.com/-JZoWC1LjLis/VtMP6XdU9AI/AAAAAAAAAiU/4dygNp0hpwc/s640/KISS-ESC-2-5S-24A-race-edition-32bit-brushless-motor-ctrl.jpg) to conform the [Quadrotor x configuration](../airframes/airframe_reference.md#quadrotor-x).
|
||||
|
||||
|
||||
|
||||
### Power Module
|
||||
|
||||
First I soldered the XT60 connector which comes with the frame to the labeled battery side of the *ACSP5 power module* that was shipped with the Pixracer and added the elco capacitor delivered with the power module with the correct polarity to the same side.
|
||||
|
||||
|
||||
|
||||
Now comes the tricky part. I soldered all four ESC voltage source + and - ports to the corresponding pad on the labeled ESC output side of the power module.
|
||||
Make sure to not have any cold solder joint here because the quad will not end up well with a loose connection in flight.
|
||||
Using the additional power distribution board of the frame would make the job a lot easier but also takes too much space on such a small frame...
|
||||
|
||||
:::tip
|
||||
If you are also including the FPV parts don't forget to also solder your JST male power plug to the output side of the power module.
|
||||
You'll need it for your [FPV setup](#fpv-setup) later on.
|
||||
:::
|
||||
|
||||
|
||||
|
||||
### Signal Cables
|
||||
|
||||
I used thin cables with a standardized pin header connector which were cut in half for the ESC signal because this will allow easy plugging on the Pixracer pins later on.
|
||||
Only the labeled `PWM` port on the [KISS ESCs](https://1.bp.blogspot.com/-0huvLXoOygM/VtMNAOGkE5I/AAAAAAAAAiA/eNNuuySFeRY/s640/KISS-ESC-2-5S-24A-race-edition-32bit-brushless-motor-ctrl.jpg) is necessary for flying.
|
||||
They will be connected to the correct motor signal output of the pixracer.
|
||||
The `TLM` port is for ESC telemetry and I soldered them on for future use as the needed protocol is not currently supported by PX4.
|
||||
|
||||
|
||||
|
||||
I tested all ESC motor pairs and their rotation directions using a cheap PWM servo tester before proceeding further.
|
||||
|
||||
|
||||
|
||||
<a id="mounting"></a>
|
||||
|
||||
## Connecting & Mounting Electronics
|
||||
|
||||
:::tip
|
||||
Double check the pin assignment of every component you connect.
|
||||
Sadly not every hardware component out there is plug and play even if it may look like this at first glance.
|
||||
:::
|
||||
|
||||
You'll need the [hardware documentation of the Pixracer](../flight_controller/pixracer.md) for this step to find all needed connectors.
|
||||
I tried to route all the cables under the Pixracer board to have a clean build and save space for FPV camera and transmitter in the future.
|
||||
|
||||
I mounted the Pixracer using the nylon spacers and screws that get shipped with the QAV-R frame but **put some small O-rings** between the board and the spacers to add a bit of vibration dampening.
|
||||
Make sure to **not tighten the screws too much or little**, do it such that the board clearly touches both sides but is not clamped with any tension.
|
||||
The board should not dangle in any way but be slightly movable if you apply force to it with your fingers.
|
||||
|
||||
:::warning
|
||||
This can heavily influence the vibration noise level your gyroscope and accelerometer sensors measure during flight.
|
||||
:::
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
### RC Receiver
|
||||
|
||||
I hooked up the FrSky S-BUS receiver using the cable shipped with the Pixracer but cut away the unnecessary cable branch.
|
||||
|
||||
For the smart telemetry port I used the cable shipping with the receiver.
|
||||
I removed all unnecessary pins from the connector using tweezers and switched the white loose end cable to the correct pin of the connector to have the "smart" signal connected.
|
||||
I then soldered the loose end to a cable fitting the FrSky port following this schematic:
|
||||
|
||||
|
||||
|
||||
I also skipped the ground (GND) pin because like the voltage supply positive pin it is already connected through the RCin S-BUS cable.
|
||||
|
||||
|
||||
|
||||
### RC Antenna Mount
|
||||
|
||||
To have a good RC link while not risking to have the antenna in the props I employed a rugged mount method using heat shrinks and zip ties.
|
||||
|
||||
|
||||
|
||||
For this method you cut the big end with the hole off the zip tie, put the rest together with the antenna cable through a long heat shrink and mount this to your frame spacers using a bigger but shorter heat shrink.
|
||||
|
||||
|
||||
|
||||
### ESC Signal
|
||||
|
||||
For the ESC signals I followed the [hardware documentation of the Pixracer](../flight_controller/pixracer.md) and the [Quadrotor x configuration](../airframes/airframe_reference.md#quadrotor-x) motor numbering scheme.
|
||||
As we have no ground or positive BEC voltage connections we connect our `PWM` ESC signal cables each to its topmost pins of the corresponding output connector.
|
||||
|
||||
### GPS / External Magnetometer
|
||||
|
||||
I took the GPS cable which fits the connector of the used GPS and came with the Pixracer set.
|
||||
Sadly the pin assignment was completely wrong and I rewired the connector again using tweezers according to the [3DR Pixhawk Mini user manual](../flight_controller/pixhawk_mini.md#connector-pin-assignments-pin-outs) GPS port.
|
||||
|
||||
#### Pixracer GPS/I2C Port
|
||||
|
||||
| Pin | Assignment |
|
||||
| ---- | ---------- |
|
||||
| 1 | GND |
|
||||
| 2 | SDA |
|
||||
| 3 | SCL |
|
||||
| 4 | RX |
|
||||
| 5 | TX |
|
||||
| 6 | +5V |
|
||||
|
||||
#### M8N 3DR Pixhawk mini GPS Connector
|
||||
|
||||
| Pin | Assignment | Connect to Pixracer Pin |
|
||||
| ------- | ---------- | ----------------------- |
|
||||
| 1 (red) | SCL | 3 |
|
||||
| 2 | SDA | 2 |
|
||||
| 3 | VCC 5V | 6 |
|
||||
| 4 | RX | 5 |
|
||||
| 5 | TX | 4 |
|
||||
| 6 | GND | 1 |
|
||||
|
||||
I mounted the GPS module using the listed generic multicopter GPS mast because mounting it any closer to the main body made the magnetometer readings totally unusable.
|
||||
An experiment mounting the module directly to the far back of the top of the frame showed 6 times magnetometer magnitude noise most likely caused by the magnetic field of the ESC currents.
|
||||
Note that I shortened the mast by ~2cm to make it better fit the cable length and the frame dimensions. The GPS module is sticked with double sided tape to top plate of the mast.
|
||||
|
||||
## FPV Setup
|
||||
|
||||
This are instruction for the optional 5.8GHz FPV live video transmission.
|
||||
You'll need the additional FPV parts listed at the beginning.
|
||||
The FPV transmission described here is electronically independent of the flight controller, it only takes the battery voltage after the power module.
|
||||
|
||||
I first did a bench test to make sure everything is working correctly.
|
||||
For this connect the video signal cable that comes with your transmitter and plug it to the back of your FPV camera and to the matching plug of the transmitter. Screw the Then connect the JST power plug to your draft vehicle or to some other voltage source.
|
||||
The transmitter LED should light up.
|
||||
Use your 5.8GHz receiver device tuned in to the correct channel to check for the video.
|
||||
To configure the transmitter to an other channel and adjust the transmission power please refer to the [Tramp HV User Manual](https://www.immersionrc.com/?download=5016).
|
||||
|
||||
|
||||
|
||||
Like you can see I mounted the transmitter from the inside to the "roof" of the frame using a ziptie.
|
||||
Always put a self sticking piece of foam in between when mounting electronics like this to avoid physical damage during flight.
|
||||
Make sure to place the transmitter such that the antenna connector fits to the dedicated hole of the frame.
|
||||
|
||||
|
||||
|
||||
The magnificent FPV camera set in the part list comes not only with the best FPV lens I've seen so far but also includes multiple camera mounts one of which is very flexible for adjusting the camera angle and nicely fits into the QAV-R frame.
|
||||
I mounted it like you can see in the next picture. The two screws and nuts to lock the camera mount to the frame were taken from the spare ones remaining from the frame set.
|
||||
|
||||
|
||||
|
||||
## PX4 Configuration
|
||||
|
||||
*QGroundControl* is used to install the PX4 autopilot and configure/tune it for the frame.
|
||||
[Download and install](http://qgroundcontrol.com/downloads/) *QGroundControl* for your platform.
|
||||
|
||||
:::tip
|
||||
Full instructions for installing and configuring PX4 can be found in [Basic Configuration](../config/index.md).
|
||||
:::
|
||||
|
||||
:::warning
|
||||
Always make sure to have either battery or propellers physically removed from your vehicle during any initial configuration.
|
||||
Better safe than sorry!
|
||||
:::
|
||||
|
||||
|
||||
First update the firmware, airframe, and actuator mappings:
|
||||
|
||||
- [Firmware](../config/firmware.md)
|
||||
- [Airframe](../config/airframe.md)
|
||||
|
||||
You will need to select the *Generic 250 Racer* airframe (**Quadrotor x > Generic 250 Racer**).
|
||||
|
||||
|
||||
|
||||
- [Actuators](../config/actuators.md)
|
||||
- You should not need to update the vehicle geometry.
|
||||
- Assign actuator functions to outputs to match your wiring.
|
||||
- Test the configuration using the sliders.
|
||||
|
||||
Then perform the mandatory setup/calibration:
|
||||
|
||||
* [Sensor Orientation](../config/flight_controller_orientation.md)
|
||||
* [Compass](../config/compass.md)
|
||||
* [Accelerometer](../config/accelerometer.md)
|
||||
* [Level Horizon Calibration](../config/level_horizon_calibration.md)
|
||||
* [Radio Setup](../config/radio.md)
|
||||
* [Flight Modes](../config/flight_mode.md)
|
||||
|
||||
Ideally you should also do:
|
||||
|
||||
- [ESC Calibration](../advanced_config/esc_calibration.md)
|
||||
- [Battery Estimation Tuning](../config/battery.md)
|
||||
- 4S (4 cell LiPo) with charged cell voltage 4.15V and empty cell voltage 3.5V (or appropriate values for your battery).
|
||||
- [Safety](../config/safety.md)
|
||||
|
||||
|
||||
### Tuning
|
||||
|
||||
Airframe selection sets *default* autopilot parameters for the frame.
|
||||
These are good enough to fly with, but it is a good idea to tune the parameters for a specific frame build.
|
||||
|
||||
For instructions on how, start from [Autotune](../config/autotune_mc.md).
|
||||
Reference in New Issue
Block a user