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217 lines
9.5 KiB
Markdown
217 lines
9.5 KiB
Markdown
# Holybro X500 V2 + Pixhawk 6C (PX4 Dev Kit)
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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.
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## 조립
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::: info
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- The images in this document can be selected to see a youtube video of the step.
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- Each section lists any required screws at the top.
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:::
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### Payload and Battery Holder
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**Screw**- Sunk Screw M2.5\*6 12pcs
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1. Insert the hanger rubber ring gasket in each of their respective hangers.
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Do not use sharp objects to press the rubbers inside.
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[](https://www.youtube.com/watch?v=4Tid-FCP_aI)
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2. Take the battery mounting board and screw it with the slide bar clip using the Sunk Screw M2.5\*6.
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[](https://youtu.be/9E-rld6tPWQ)
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3. Screw 4 hangers to the Platform Board using Sunk Screw M2.5\*6.
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[](https://youtu.be/4qIBABc9KsY))
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4. Take the slide bar and insert 4 hangers to screw to the bottom plate later.
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[](https://youtu.be/CFx6Ct7FCIc))
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5. Now insert the battery holder and payload holders assembled in step 2 & 3
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### 전원 모듈
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**Screw**- Socket Cap Screw M2.5_6 8pcs | Locknut M3 4pcs |Nylon Standoff M3_5 4pcs | Screw M3\*14 4pcs
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[](https://youtu.be/0knU3Q_opEo))
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1. Take the bottom plate and insert 4 M3\*14 screws and fasten the nylon standoffs on the same.
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[](https://youtu.be/IfsMXTr3Uy4)
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2. Place the Power distribution board and use the locknuts to assemble them. The power module PM02 (for Pixhawk 6C) would power this board
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[](https://youtu.be/Qjs6pqarRIY)
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3. 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)
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### 착륙 기어
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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.
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[](https://youtu.be/mU4vm4zyjcY)
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[](https://youtu.be/7REaF3YAqLg)
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2. Use the Socket Cap Screw M3\*8 to screw the landing gears to the bottom plate
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[](https://youtu.be/iDxzWeyCN54)
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[](https://youtu.be/3fNJQraCJx0)
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Because it’s cumbersome to insert the wires once the top plate is assembled, do the wiring beforehand.
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Although the design is well built such that you can do this later as well.
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[](https://youtu.be/3en4DlQF4XU)
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### 전원
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The Pixhawk 6C gets powered by a power module PM02 (in this case).
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This power module is supplied by a battery (4S 16.8V 5200 mAh)
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The motors are powered through the power distribution board, as shown in the diagram below.
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Note that the ESC connectors are color-coded and must be inserted in the PWM out such that the white cable faces up.
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### 암
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**Screw-** Socket Cap Screw M3\*38 16pcs | Flange Locknut M3 16pcs
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[](https://youtu.be/66Hfy6ysOpg)
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1. Putting the arms is quite simple as the motors come pre-assembled.
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- Ensure that you have the right numbered arm with its motor on the respective side.
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[](https://youtu.be/45KCey3WiJ4)
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:::tip
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Use your allen keys/ any elongated item and insert it on the opposite side of the bolt that you're trying to fasten.
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:::
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2. Take one arm and insert the rectangle extrusion inside the rectangular hollow on the bottom plate.
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[](https://youtu.be/GOTqmjq9_3s)
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3. 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.
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4. Hold one side using the mini cross wrench provided in the developer kit.
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[](https://youtu.be/2rcNVekJQd0)
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5. 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.
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[](https://youtu.be/SlKRuNoE_AY)
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### Propellers
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[](https://youtu.be/yu75VkMaIyc)
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- The bottom plate indicates the direction of the motor.
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- The propellers that have a white/silver coating go on that respective motor with the similar coat.
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- The unlocking and locking of the propeller is indicated on the propeller itself.
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- Use the 4 propellers and insert them on the motors keeping the above 3 points in mind.
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The following parts can be placed as per usual.
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### GPS
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**Screw-** Locknut M3 4 pcs | Screw M3\*10 4pcs
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1. Assemble the GPS by following the video.
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[](https://youtu.be/aiFxVJFjlos)
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This guide uses the GPS mount location suggested in Holybro’s guide.
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2. Screw the GPS mount’s bottom end on the payload holder side using Locknut M3 & Screw M3\*10
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[](https://youtu.be/uG5UKy3FrIc)
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### Pixhawk 6C
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- The wire from the PM02 goes to POWER1 in Pixhawk
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- The telemetry goes to TELEM1
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- The GPS to GPS1
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[](https://youtu.be/wFlr_I3jERQ)
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### Companion Computer (Optional)
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**Screw-** Socket Cap Screw M2.5_12 4pcs | Nylon Standoff M2.5_5 4pcs Locknut M2.5 4pcs
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The X500 kit is provides space for a companion computer, such as Raspberry Pi or Jetson nano can be placed here [TBD].
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- Insert 4 Socket Cap Screw M2.5\*12 and put the standoffs on the same.
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- Now place the companion computer and assemble it using Locknut M2.5
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### 카메라
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- Cameras such as Intel Realsense depth/ tracking camera or Structure Core can be mounted using the Depth Camera Mount
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- Simply insert the mount inside the 2 bars and use the screws according to the camera you’re using.
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## Install/Configure PX4
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:::tip
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Full instructions for installing and configuring PX4 can be found in [Basic Configuration](../config/index.md).
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:::
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_QGroundControl_ is used to install the PX4 autopilot and configure/tune it for the X500 frame.
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[Download and install](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html) _QGroundControl_ for your platform.
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First update the firmware, airframe, and actuator mappings:
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- [Firmware](../config/firmware.md)
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- [Airframe](../config/airframe.md)
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You will need to select the _Holybro X500 V2_ airframe (**Quadrotor x > Holybro 500 V2**)
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- [Actuators](../config/actuators.md)
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- You should not need to update the vehicle geometry (as this is a preconfigured airframe).
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- Assign actuator functions to outputs to match your wiring.
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The airframe is preconfigured with the motors on the **FMU PWM Out**.
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- Test the configuration using the sliders.
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그리고, 설치후에 필수적인 설정 작업과 보정 작업을 진행하여야 합니다.
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- [Sensor Orientation](../config/flight_controller_orientation.md)
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- [Compass](../config/compass.md)
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- [Accelerometer](../config/accelerometer.md)
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- [Level Horizon Calibration](../config/level_horizon_calibration.md)
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- [Radio Setup](../config/radio.md)
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- [Flight Modes](../config/flight_mode.md)
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이후 다음 작업 역시 수행되어야 합니다:
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- [ESC Calibration](../advanced_config/esc_calibration.md)
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- [Battery Estimation Tuning](../config/battery.md)
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- [Safety](../config/safety.md)
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## 튜닝
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Airframe selection sets _default_ autopilot parameters for the frame.
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이 상태로도 비행이 가능하지만, 특정 기체에 관련된 변수들을 조정하는 것이 바람직합니다.
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For instructions on how, start from [Auto-tune](../config/autotune_mc.md).
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## 감사의 글
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This build log was contributed by Akshata and Hamish Willee with many thanks to Holybro and Dronecode for Hardware and technical support.
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