# 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)

![Finished setup 1](../../assets/airframes/multicopter/dji_f450_cuav_5plus/f450_cuav5_plus_complete.png)

## Bill of materials

The components needed for this build are:

- Flight controller: [CUAV V5+](https://store.cuav.net/uav-flight-controller/):
  - GPS: CUAV NEO V2 GPS (Discontined)
  - 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.

![All components used in this build](../../assets/airframes/multicopter/dji_f450_cuav_5plus/all_components.jpg)

## 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        |

![F450 frame components](../../assets/airframes/multicopter/dji_f450_cuav_5plus/f450_frame_components.png)

### 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                       |

![CUAV V5+ components](../../assets/airframes/multicopter/dji_f450_cuav_5plus/cuav5plus_components.png)

### 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

![Required tools](../../assets/airframes/multicopter/dji_f450_cuav_5plus/required_tools.jpg)

## 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.

   ![Arms to bottom plate](../../assets/airframes/multicopter/dji_f450_cuav_5plus/1_attach_arms_bottom_plate.jpg)

1. Solder ESC (Electronic Speed Controller) to the board, positive (red) and negative (black).

   ![Solder ESCs](../../assets/airframes/multicopter/dji_f450_cuav_5plus/2_solder_esc.jpg)

1. Solder the Power Module, positive (red) and negative (black).

   ![Solder power module](../../assets/airframes/multicopter/dji_f450_cuav_5plus/3_solder_power_module.jpg)

1. Plug in the motors to the ESCs according to their positions.

   ![Plug in motors](../../assets/airframes/multicopter/dji_f450_cuav_5plus/4_plug_in_motors.jpg)

1. Attach the motors to the corresponding arms.

   ![Attach motors to arms (white)](../../assets/airframes/multicopter/dji_f450_cuav_5plus/5a_attach_motors_to_arms.jpg)
   ![Attach motors to arms (red)](../../assets/airframes/multicopter/dji_f450_cuav_5plus/5b_attach_motors_to_arms.jpg)

1. Add the top board (screw into the top of the legs).

   ![Add top board](../../assets/airframes/multicopter/dji_f450_cuav_5plus/6_add_top_board.jpg)

1. Add double-sided tape (3M) to the CUAV V5+ flight controller (it has internal vibration damping, so no need to use foam).

   ![Tape CUAV v5+](../../assets/airframes/multicopter/dji_f450_cuav_5plus/7_attach_cuav5plus.jpg)

1. Attach the FrSky receiver to the bottom board with double-sided tape.

   ![Attach FrSky receiver with double-sided tape](../../assets/airframes/multicopter/dji_f450_cuav_5plus/8_attach_frsky.jpg)

1. Attach the telemetry module to the vehicle’s bottom board using double-sided tape.

   ![Attach telemetry radio](../../assets/airframes/multicopter/dji_f450_cuav_5plus/9a_telemtry_radio.jpg)
   ![Attach telemetry radio](../../assets/airframes/multicopter/dji_f450_cuav_5plus/9b_telemtry_radio.jpg)

1. Put the aluminium standoffs on the button plate.

1. Plug in Telemetry (`TELEM1`) and GPS module (`GPS/SAFETY`) to the flight controller.
   ![Attach GPS](../../assets/airframes/multicopter/dji_f450_cuav_5plus/11a_gps.jpg)
   ![Attach GPS](../../assets/airframes/multicopter/dji_f450_cuav_5plus/11b_gps.jpg)
1. Plug in the RC receiver (`RC`), all 4 ESC’s (`M1-M4`), and the power module (`Power1`) into the flight controller.
   ![Attach peripherals to flight controller](../../assets/airframes/multicopter/dji_f450_cuav_5plus/12_fc_attach_periperhals.jpg)

   ::: 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:

![Finished Setup](../../assets/airframes/multicopter/dji_f450_cuav_5plus/f450_cuav5_plus_complete_2.jpg)

## PX4 Configuration

_QGroundControl_ is used to install the PX4 autopilot and configure/tune it for the frame.
[Download and install](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html)
_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**).

  ![QGroundControl - Select Generic Quadcopter](../../assets/airframes/multicopter/dji_f450_cuav_5plus/qgc_airframe_generic_quadx.png)
  :::

- [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.