PX4 User Guide
  • Introduction
  • Getting Started
    • Basic Concepts
    • Vehicles/Frames
    • Flight Controllers
    • Sensors
    • Radio Systems
    • Flight Modes
    • Vehicle Status Notifications
      • LED Meanings
      • Tune/Sound Meanings
      • Preflight Checks
    • Payloads & Cameras
    • Flight Reporting
  • Basic Assembly
    • Mounting the Flight Controller
    • Mounting the GPS/Compass
    • Vibration Isolation
    • Cable Wiring
    • CUAV Pixhawk V6X Wiring QuickStart
    • CUAV V5+ Wiring Quickstart
    • CUAV V5 nano Wiring Quickstart
    • Holybro Pixhawk 6C Wiring Quickstart
    • Holybro Pixhawk 6X Wiring Quickstart
    • Holybro Pixhawk 5X Wiring Quickstart
    • Holybro Pixhawk 4 Wiring Quickstart - Discontinued
    • Holybro Pixhawk 4 Mini Wiring Quickstart - Discontinued
    • Holybro Durandal Wiring Quickstart
    • Holybro Pix32 v5 Wiring Quickstart
    • Cube Wiring Quickstart
    • Pixracer Wiring Quickstart
    • mRo (3DR) Pixhawk Wiring Quickstart
  • Standard Configuration
    • Firmware
    • Airframe
    • Sensor Orientation
    • Compass
    • Gyroscope
    • Accelerometer
    • Airspeed
    • Level Horizon Calibration
    • Radio Setup
    • Joystick Setup
    • Flight Modes
    • Battery
    • Safety
      • Failsafe Simulation
    • ESC Calibration
    • Actuators
    • Autotune
  • Vehicle Types & Setup
    • Multicopters
      • Multicopter Config/Tuning
        • MC Filter/Control Latency Tuning
        • MC PID Tuning (Manual/Basic)
        • MC PID Tuning Guide (Manual/Advanced)
        • MC Setpoint Tuning (Trajectory Generator)
          • MC Jerk-limited Type Trajectory
        • Multicopter Racer Setup
      • X500 v2 (Pixhawk 6C)
      • X500 v2 (Pixhawk 5X)
      • X500 (Pixhawk 4)
      • S500 V2 (Pixhawk 4)
      • DJI F450 (CUAV v5+)
      • DJI F450 (CUAV v5 nano)
      • QAV250 (Pixhawk4 Mini) - Discontinued
      • DJI F450 + RTK (Pixhawk 3 Pro)
      • QAV250 (Pixhawk Mini)
      • QAV-R 5" Racer (Pixracer)
      • Omnicopter
    • Planes
      • Fixed Wing Config/Tuning
        • Fixedwing PID Tuning Guide
        • Fixedwing Advanced Tuning Guide
        • Fixedwing Trimming Guide
      • Reptile Dragon 2 (ARK6X)
      • Turbo Timber Evolution (Pixhawk 4 Mini)
      • Wing Wing Z84 (Pixracer)
    • VTOL
      • VTOL Config/Tuning
        • QuadPlane Configuration
        • Back-transition Tuning
        • VTOL w/o Airspeed Sensor
        • VTOL Weather Vane
      • Standard VTOL
        • FunCub QuadPlane (Pixhawk)
        • Ranger QuadPlane (Pixhawk)
        • Falcon Vertigo QuadPlane (Dropix)
      • Tailsitter VTOL
        • Build: TBS Caipiroshka Tailsitter Build (Pixracer)
      • Tiltrotor VTOL
        • Build: Convergence Tiltrotor (Pixfalcon)
    • Airships (experimental)
    • Autogyros (experimental)
      • ThunderFly Auto-G2 (Holybro pix32)
    • Balloons (experimental)
    • Helicopter (experimental)
      • Helicopter Config/Tuning
    • Rovers (experimental)
      • Traxxas Stampede
    • Submarines (experimental)
      • BlueROV2
    • Airframes Reference
  • Flying
    • First Flight Guidelines
    • Flying 101
    • Missions
      • Package Delivery Mission
    • GeoFence
    • Safety Point Planning
    • Flight Modes
      • Position Mode (MC)
      • Altitude Mode (MC)
      • Manual/Stabilized Mode (MC)
      • Acro Mode (MC)
      • Orbit Mode (MC)
      • Position Mode (FW)
      • Altitude Mode (FW)
      • Stabilized Mode (FW)
      • Acro Mode (FW)
      • Manual Mode (FW)
      • Takeoff Mode
      • Land Mode
      • Return Mode
      • Hold Mode
      • Mission Mode
      • Follow Me Mode
      • Offboard Mode
    • Terrain Following/Holding
  • Flight Log Analysis
    • Log Analysis using Flight Review
    • Log Analysis using PlotJuggler
  • Advanced Configuration
    • Finding/Updating Parameters
    • Full Parameter Reference
    • ECL/EKF Overview & Tuning
    • Flight Termination Configuration
    • Bootloader Flashing onto Betaflight Systems
    • Land Detector Configuration
    • Prearm/Arm/Disarm Configuration
    • IMU Factory Calibration
    • Sensor Thermal Compensation
    • Compass Power Compensation
    • Advanced Controller Orientation
    • Static Pressure Buildup
    • Serial Port Configuration
    • MAVLink Telemetry (OSD/GCS)
    • PX4 Ethernet Setup
    • Bootloader Update
  • Hardware (Drones&Parts)
    • Complete Vehicles
      • ModalAI Starling
      • PX4 Vision Kit
      • MindRacer BNF & RTF
        • MindRacer 210
        • NanoMind 110
      • Holybro Kopis 2
      • Bitcraze Crazyflie 2.1
    • Flight Controllers (Autopilots)
      • Pixhawk Series
        • Silicon Errata
      • Pixhawk Standard Autopilots
        • CUAV Pixhawk V6X (FMUv6X)
        • Holybro Pixhawk 6X (FMUv6X)
        • Holybro Pixhawk 6C (FMUv6C)
        • Holybro Pixhawk 6C Mini(FMUv6C)
        • Holybro Pix32 v6 (FMUv6C)
        • Holybro Pixhawk 5X (FMUv5X)
        • Holybro Pixhawk 4 (FMUv5) - Discontinued
        • Holybro Pixhawk 4 Mini (FMUv5) - Discontinued
        • Drotek Pixhawk 3 Pro (FMUv4pro)
        • mRo Pixracer (FMUv4)
        • Hex Cube Black (FMUv3)
        • mRo Pixhawk (FMUv3)
        • Holybro Pixhawk Mini (FMUv3) - Discontinued
      • Manufacturer-Supported Autopilots
        • AirMind MindPX
        • AirMind MindRacer
        • ARK Electronics ARKV6X
        • CUAV X7
        • CUAV Nora
        • CUAV V5+ (FMUv5)
        • CUAV V5 nano (FMUv5)
        • CUAV Pixhack v3 (FMUv3)
        • CubePilot Cube Orange+ (CubePilot)
        • CubePilot Cube Orange (CubePilot)
        • CubePilot Cube Yellow (CubePilot)
        • Holybro Kakute H7v2
        • Holybro Kakute H7mini
        • Holybro Kakute H7
        • Holybro Durandal
        • Holybro Pix32 v5
        • ModalAI Flight Core v1
        • ModalAI VOXL Flight
        • ModalAI VOXL 2
        • mRobotics-X2.1 (FMUv2)
        • mRo Control Zero F7)
        • NXP RDDRONE-FMUK66 FMU
        • Sky-Drones AIRLink
        • SPRacing SPRacingH7EXTREME
        • ThePeach FCC-K1
        • ThePeach FCC-R1
      • Experimental Autopilots
        • BeagleBone Blue
        • Raspberry Pi 2/3 Navio2
        • Raspberry Pi 2/3/4 PilotPi
          • PilotPi with Raspberry Pi OS
          • PilotPi with Ubuntu Server
      • Discontinued Autopilots/Vehicles
        • Drotek Dropix (FMUv2)
        • Omnibus F4 SD
        • BetaFPV Beta75X 2S Brushless Whoop
        • Bitcraze Crazyflie 2.0
        • Aerotenna OcPoC-Zynq Mini
        • CUAV v5
        • Holybro Kakute F7 (Discontinued)
        • Holybro Pixfalcon
        • Holybro pix32 (FMUv2)
        • mRo AUAV-X2
        • 3DR Pixhawk 1
        • Snapdragon Flight
        • Intel® Aero RTF Drone (Discontinued)
      • Pixhawk Autopilot Bus (PAB) & Carriers
        • ARK Electronics Pixhawk Autopilot Bus Carrier
    • Flight Controller Peripherals
      • ADSB/FLARM (Traffic Avoidance)
      • Air Traffic Avoidance: ADSB/FLARM
      • Air Traffic Avoidance: UTM
      • Airspeed Sensors
        • TFSlot Airspeed Sensor
      • Barometers
      • Camera
      • Distance Sensors (Rangefinders)
        • Lightware SFxx Lidar
        • Ainstein US-D1 Standard Radar Altimeter
        • LeddarOne Lidar
        • Benewake TFmini Lidar
        • Lidar-Lite
        • TeraRanger
        • Lanbao PSK-CM8JL65-CC5
        • Avionics Anonymous Laser Altimeter UAVCAN Interface
      • ESCs & Motors
        • PWM ESCs and Servos
        • DShot ESCs
        • OneShot ESCs and Servos
        • DroneCAN ESCs
          • Zubax Telega
          • PX4 Sapog ESC Firmware
            • Holybro Kotleta
            • Zubax Orel
        • VESC
      • TBS Crossfire (CRSF) Telemetry
      • FrSky Telemetry
      • Gimbal (Mount) Configuration
      • GPS/Compass
        • ARK GPS
        • Holybro DroneCAN M8N GPS
        • LOCOSYS Hawk A1 GNSS
        • Hex Here2
        • Holybro M8N & M9N GPS
        • Sky-Drones SmartAP GPS
      • Grippers
        • Servo Gripper
      • Optical Flow
        • ARK Flow
        • PMW3901
        • PX4FLOW (Deprecated)
      • Precision Landing
      • Parachute
      • Power Modules/PDB
        • CUAV HV pm
        • CUAV CAN PMU
        • Holybro PM02
        • Holybro PM07
        • Holybro PM06 V2
        • Holybro PM02D (digital)
        • Holybro PM03D (digital)
        • Pomegranate Systems Power Module
        • Sky-Drones SmartAP PDB
      • Satellite Coms (Iridium/RockBlock)
      • Telemetry Radios
        • SiK Radio
          • RFD900 (SiK) Telemetry Radio
          • HolyBro (SIK) Telemetry Radio
        • Telemetry Wifi
          • ESP8266 WiFi Module
          • ESP32 WiFi Module
          • 3DR Telemetry Wifi (Discontinued)
        • Microhard Serial Telemetry Radio
          • ARK Electron Microhard Serial Telemetry Radio
          • Holybro Microhard P900 Telemetry Radio
        • CUAV P8 Telemetry Radio
        • HolyBro XBP9X - Discontinued
      • RTK GPS
        • ARK RTK GPS
        • RTK GPS Heading with Dual u-blox F9P
        • CUAV C-RTK
        • CUAV C-RTK2 PPK/RTK GNSS
        • CUAV C-RTK 9Ps
        • Femtones MINI2 Receiver
        • Freefly RTK GPS
        • Holybro H-RTK-F9P
        • Holybro H-RTK-M8P
        • Holybro H-RTK Unicore UM982 GPS
        • Locosys Hawk R1
        • Locosys Hawk R2
        • Septentrio AsteRx-RIB
        • Septentrio mosaic-go
        • Trimble MB-Two
        • CubePilot Here+ (Discontined)
      • Remote ID
      • Smart Batteries
        • Rotoye Batmon Battery Smartification Kit
      • Tachometers (Revolution Counters)
        • ThunderFly TFRPM01 Tachometer Sensor
      • I2C Peripherals
        • I2C bus accelerators
        • TFI2CADT01 I2C address translator
      • CAN Peripherals
      • DroneCAN Peripherals
        • PX4 DroneCAN Firmware
        • ARK CANnode
    • Companion Computers
      • Pixhawk + Companion Setup
        • RasPi Pixhawk Companion
      • Companion Computer Peripherals
      • Holybro Pixhawk RPI CM4 Baseboard
      • Auterion Skynode
      • Computer Vision
        • Obstacle Avoidance
        • Safe Landing
        • Collision Prevention
        • Path Planning Interface
        • Motion Capture (MoCap)
        • Visual Inertial Odometry (VIO)
          • Realsense T265 Tracking Camera (VIO)
      • Video Streaming
  • Development
    • Getting Started
      • Recommended Hardware/Setup
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        • Ubuntu Setup
        • Windows Setup
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      • Building the Code
      • Writing your First Application
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    • Concepts
      • PX4 Architecture
      • PX4 Flight Stack Architecture
        • Controller Diagrams
      • Events Interface
      • Flight Modes
      • Flight Tasks
      • Control Allocation
      • PWM limit state machine
      • System Startup
      • SD Card Layout
    • Simulation
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      • Gazebo Simulation
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        • Multi-Vehicle Sim
      • Gazebo Classic Simulation
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      • AirSim Simulation
      • Multi-Vehicle Simulation
      • Simulate Failsafes
      • HITL Simulation
      • Simulation-In-Hardware
    • Hardware
      • Flight Controller Reference Design
      • Manufacturer’s Board Support Guide
      • Flight Controller Porting Guide
        • PX4 Board Configuration (kconfig)
        • NuttX Board Porting Guide
      • Serial Port Mapping
      • Airframes
        • Adding a New Airframe
      • Device Drivers
      • Telemetry Radio
        • SiK Radio
      • Sensor and Actuator I/O
        • DroneCAN
        • I2C Bus
        • UART/Serial Ports
          • Port-Configurable Serial Drivers
      • RTK GPS (Integration)
    • Middleware
      • uORB Messaging
      • uORB Graph
      • uORB Message Reference
        • ActionRequest
        • ActuatorArmed
        • ActuatorControlsStatus
        • ActuatorMotors
        • ActuatorOutputs
        • ActuatorServos
        • ActuatorServosTrim
        • ActuatorTest
        • AdcReport
        • Airspeed
        • AirspeedValidated
        • AirspeedWind
        • AutotuneAttitudeControlStatus
        • BatteryStatus
        • ButtonEvent
        • CameraCapture
        • CameraStatus
        • CameraTrigger
        • CellularStatus
        • CollisionConstraints
        • CollisionReport
        • ControlAllocatorStatus
        • Cpuload
        • DebugArray
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        • DifferentialPressure
        • DistanceSensor
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        • EstimatorBias3d
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        • EstimatorGpsStatus
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        • EstimatorSelectorStatus
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        • EstimatorStatusFlags
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        • FollowTargetEstimator
        • FollowTargetStatus
        • GeneratorStatus
        • GeofenceResult
        • GimbalControls
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        • GpsInjectData
        • Gripper
        • HealthReport
        • HeaterStatus
        • HomePosition
        • HoverThrustEstimate
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        • InternalCombustionEngineStatus
        • IridiumsbdStatus
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        • LandingGearWheel
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        • LandingTargetPose
        • LaunchDetectionStatus
        • LedControl
        • LogMessage
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        • OrbTestLarge
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        • OrbitStatus
        • ParameterUpdate
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        • PositionControllerStatus
        • PositionSetpoint
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Powered by GitBook
On this page
  • Bill of materials
  • Hardware
  • Frame
  • CUAV v5 nano Package
  • Electronics
  • Tools needed
  • Assembly
  • PX4 Configuration
  • Tuning
  • Video
  • Acknowledgments
  1. Vehicle Types & Setup
  2. Multicopters

DJI F450 (CUAV v5 nano)

PreviousDJI F450 (CUAV v5+)NextQAV250 (Pixhawk4 Mini) - Discontinued

Last updated 1 year ago

This topic provides full instructions for building the kit and configuring PX4 using QGroundControl.

Key information

  • Frame: DJI F450

  • Flight controller:

  • Assembly time (approx.): 90 minutes (45 minutes for frame, 45 minutes autopilot installation/configuration)

Bill of materials

The components needed for this build are:

    • Power Module

  • 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.

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

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

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

  5. Attach the motors to the corresponding arms.

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

  7. Add damping foam to the CUAV V5 nano flight controller.

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

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

  10. Put the aluminium standoffs on the button plate and attach GPS.

That's it! The final build is shown below:

PX4 Configuration

First update the firmware, airframe, geometry and outputs:

  • :::note You will need to select the Generic Quadcopter airframe (Quadrotor x > Generic Quadcopter).

    • 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:

  • :::note 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:

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.

Video

Acknowledgments

This build log was provided by the Dronecode Test Flight Team.

Flight controller: :

GPS:

Frame:

Propellers:

Battery:

Telemetry:

RC Receiver:

Motors:

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.

:::note The motor order is defined in the :::

QGroundControl is used to install the PX4 autopilot and configure/tune it for the frame. QGroundControl for your platform.

:::tip Full instructions for installing and configuring PX4 can be found in . :::

:::

For instructions on how, start from .

@

CUAV V5 nano
CUAV NEO V2 GPS
DJI F450
DJI Phantom Built-in Nut Upgrade Propellers 9.4x5
Turnigy High Capacity 5200mAh 3S 12C Lipo Pack w/XT60
Holybro Transceiver Telemetry Radio V3
FrSky D4R-II 2.4G 4CH ACCST Telemetry Receiver
DJI E305 2312E Motor (960kv,CW)
Download and install
Basic Configuration
Firmware
Airframe
Actuators
Sensor Orientation
Compass
Accelerometer
Level Horizon Calibration
Radio Setup
Flight Modes
ESC Calibration
Battery
Safety
Autotune
youtube
CUAV V5 nano
Finished setup
All components used in this build
F450 frame components
Required tools
Arms to bottom plate
Solder ESCs
Solder power module
Plug in motors
Attach motors to arms (white)
Attach motors to arms (red)
Add top board
Damping foam
Damping foam
Attach FrSky receiver with double-sided tape
Attach telemetry radio
Attach telemetry radio
Aluminium standoffs
Finished Setup
Attach peripherals to flight controller
QGroundControl - Select Generic Quadcopter
Airframe Reference > Quadrotor x