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260 lines
13 KiB
Markdown
260 lines
13 KiB
Markdown
# Holybro X500 + Pixhawk4 Build
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:::info
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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).
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这个构建记录仍然具有相关性，因为套装组件几乎是一样的，而且随着飞行控制器升级，很可能仍然如此。
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:::
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This topic provides full instructions for building the kit and configuring PX4 using _QGroundControl_.
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## Key information
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- **Full Kit:** [Holybro X500 Kit](https://holybro.com/products/px4-development-kit-x500-v2)
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- **飞行控制器：** [Pixhawk 4](../flight_controller/pixhawk4.md)
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- **Assembly time (approx.):** 3.75 hours (180 minutes for frame, 45 minutes for autopilot installation/configuration)
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## Bill of materials
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The Holybro [X500 Kit](https://holybro.com/products/px4-development-kit-x500-v2) includes almost all the required components:
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- [Pixhawk 4 autopilot](../flight_controller/pixhawk4.md)
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- [Holybro M8N GPS](https://holybro.com/collections/gps/products/m8n-gps)
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- [Power Management - PM07](../power_module/holybro_pm07_pixhawk4_power_module.md)
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- Holybro Motors - 2216 KV880 x4 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version).
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- Holybro BLHeli S ESC 20A x4 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version).
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- Propellers - 1045 x4 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version).
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- Battery Strap
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- 电源线和信号线
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- Wheelbase - 500 mm
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- Dimensions - 410x410x300 mm
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- 433 MHz / 915 MHz [Holybro数传电台](../telemetry/holybro_sik_radio.md)
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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.
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## 硬件
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This section lists all hardware for the frame and the autopilot installation.
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| Item | 描述 | Quantity |
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| ----------------------------------------------- | --------------------------------------------------------------------------------------------------- | -------- |
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| Bottom plate | Carbon fiber (2mm thick) | 1 |
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| Top plate | Carbon fiber (1.5mm thick) | 1 |
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| Arm | Carbon fiber tube (Diameter: 16mm length: 200mm) | 4 |
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| Landing gear - Vertical pole | Carbon fiber tube + engineering plastic | 2 |
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| Landing gear - Cross bar | Carbon fiber tube + engineering plastic + foam | 2 |
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| Motor base | Consists of 6 parts and 4 screws 4 nuts | 4 |
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| Slide bar | Diameter: 10mm length: 250mm | 2 |
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| Battery mounting board | Thickness: 2mm | 1 |
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| Battery pad | 3mm Silicone sheet black | 1 |
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| Platform board | Thickness: 2mm | 1 |
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| Hanger & rubber ring gasket | Inner hole diameter: 10mm black | 8 |
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### Electronics
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| 物品描述 | Quantity |
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| ----------------------------------------------------------------------------- | -------- |
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| Pixhawk4 & Assorted Cables | 1 |
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| Pixhawk4 GPS Module | 1 |
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| Power Management PM07 (with pre-soldered ESC power cables) | 1 |
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| Motors 2216 KV880（V2 Update) | 4 |
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| Holybro BLHeli S ESC 20A x4 | 1 |
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| 433 MHz / 915 MHz [Holybro数传电台](../telemetry/holybro_sik_radio.md) | 1 |
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### Tools needed
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The following tools are used in this assembly:
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- 1.5 mm Hex screwdriver
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- 2.0 mm Hex screwdriver
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- 2.5 mm Hex screwdriver
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- 3mm Phillips screwdriver
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- 5.5 mm socket wrench or small piler
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- Wire cutters
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- Precision tweezers
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## 组装
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Estimate time to assemble is 3.75 hours (180 minutes for frame, 45 minutes for autopilot installation/configuration)
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1. Start by assembling the landing gear.
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Unscrew the landing gear screws and insert the vertical pole (figures 1 and 2).
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_Figure 2_: Landing gear components
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_Figure 2_: Landing gear assembled
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2. Then put the 4 arms through the 4 motor bases shown in figure 3.
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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.
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_Figure 3_: Attach arms to motor bases
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3. 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.
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_Figure 4_: Attach power module
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4. Feed the 4 motor ESCs through each of the arms and connect the 3-wires end to the motors shown in Figure 5.
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<img src="../../assets/airframes/multicopter/x500_holybro_pixhawk4/x500_fig17.jpg" width="250" title="Connect motors">
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_Figure 5_: Connect motors
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5. Connect the ESCs power wires onto the power module PM07, black->black and red->red, ESC PWM signal wires goes to "FMU-PWM-Out".
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Make sure you connect the motor ESC PWM wires in the correct order.
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Refer to Figure 7 for airframe motor number and connect to the corresponding number on the PM07 board.
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_Figure 7_: ESC power module and signal wiring
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The color on top of the motor indicate the spin direction (figure 7-1), black tip is clockwise, and white tip is counter-clockwise.
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Make sure the follow the PX4 quadrotor x airframe reference for motor direction (figure 7-2).
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<img src="../../assets/airframes/multicopter/x500_holybro_pixhawk4/quadx.png" width="240">
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_Figure 7_: Motor order/direction diagram
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<img src="../../assets/airframes/multicopter/x500_holybro_pixhawk4/motor_direction1.jpg" width="400">
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_Figure 7-1_: Motor direction
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6. Connect the 10 pin cables to FMU-PWM-in, the 6 pin cables to the PWR1 on the PM07 power module.
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_Figure 8_: Power module PWM and power wiring
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7. 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.
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<img src="../../assets/airframes/multicopter/x500_holybro_pixhawk4/gpsmount.jpg" width="400" title="Secure GPS mount onto top plate">
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_Figure 9_: Secure GPS mount onto top plate
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8. Feed the PM07 cables through the top plate.
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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.
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<img src="../../assets/airframes/multicopter/x500_holybro_pixhawk4/top_plate.jpg" width="300">
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_Figure 10-1_: Feed power module cables through top plate
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<img src="../../assets/airframes/multicopter/x500_holybro_pixhawk4/ushape.jpg" width="355" title="Connecting top and bottom plate">
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_Figure 10-2_: Connecting top and bottom plate
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9. 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.
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Ensure all the motors are pointed directly upward, then tighten all the nuts and screws.
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10. Put the hanger gaskets into the 4 hangers and mount them onto the bottom plate using 8 hex screws (Figure 11).
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The screw holes are noted by the white arrow in Figure 12.
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We recommend tilting the drone sideway to make the installation easier.
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<img src="../../assets/airframes/multicopter/x500_holybro_pixhawk4/x500_fig9.png" width="400" title="Hanger gaskets">
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_Figure 11_: Hanger gaskets
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_Figure 12_: Screw holes
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11. Insert the slide bars onto the hanger rings (Figure 13).
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Assemble the battery mount and platform board and mount them onto the slide bars as shown in Figure 14.
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_Figure 13_: Slide bars
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<img src="../../assets/airframes/multicopter/x500_holybro_pixhawk4/battery_mount1.jpg" width="400" title="Battery mount on slide bars">
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_Figure 14_: Battery mount on slide bars
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12. Mount the landing gear onto the bottom plate.
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We recommend tilting the drone sideway to make this installation process easier.
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_Figure 15_: Landing Gear
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13. Use the tape and stick the GPS to the top of the GPS mast and mount the GPS mast.
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Make sure the arrow on the gps is pointing forward (Figure 16).
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<img src="../../assets/airframes/multicopter/x500_holybro_pixhawk4/gps2.jpg" width="400" title="Figure 16: GPS and mast">
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_Figure 16_: GPS and mast
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14. Mount the telemetry radio onto the top plate.
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Plug the telemetry cable into `TELEM1` port and GPS module to `GPS MODULE` port on the flight controller.
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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.
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_Figure 17_: Mount telemetry radio/plug in PWM and Power cables to Flight controller.
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Please refer to [Pixhawk 4 Quick Start](../assembly/quick_start_pixhawk4.md) for more information.
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That's it.
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The fully assembled kit is shown below:
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## PX4 配置
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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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您需要选择 _Holybro S500_ 机架(**Quadrotor x > Holybro S500**)。
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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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- Test the configuration using the sliders.
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Then perform the mandatory setup/calibration:
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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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Ideally you should also do:
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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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## 调试
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Airframe selection sets _default_ autopilot parameters for the frame.
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这些足以让它起飞，但是为你的特定框架调整专有参数是一个好主意。
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For instructions on how, start from [Autotune](../config/autotune_mc.md).
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## Acknowledgements
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This build log was provided by the Dronecode Test Flight Team.
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