mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-03 15:38:52 +08:00
212 lines
9.4 KiB
Markdown
212 lines
9.4 KiB
Markdown
# 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](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html) _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.
|