# DJI F450 (CUAV v5 nano)

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

Key information

* **Frame:** DJI F450
* **Flight controller:** [CUAV V5 nano](../../drone_parts/flight_controller/autopilot_manufacturer_supported/cuav_v5_nano)
* **Assembly time (approx.):** 90 minutes (45 minutes for frame, 45 minutes autopilot installation/configuration)

![Finished setup](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-dfe17c161b77340ce7a810a978a3682a79a941de%2Ff450_cuav5_nano_complete.jpg?alt=media)

## Bill of materials

The components needed for this build are:

* Flight controller: [CUAV V5 nano](https://store.cuav.net/index.php?id_product=98\&id_product_attribute=0\&rewrite=cuav-new-pixhack-v5-nano-small-flight-controller-for-ardupilot-px4-drone-parts-free-shipping-whole-sale-\&controller=product\&id_lang=1):
  * GPS: [CUAV NEO V2 GPS](https://store.cuav.net/index.php?id_product=97\&id_product_attribute=0\&rewrite=cuav-new-ublox-neo-m8n-gps-module-with-shell-stand-holder-for-flight-controller-gps-compass-for-pixhack-v5-plus-rc-parts-px4\&controller=product\&id_lang=1)
  * 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/collections/all-products/products/dji-phantom-built-in-nut-upgrade-propellers-in-white-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](../../drone_parts/peripherals/telemetry/sik_radio/holybro_sik_radio)
* 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](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-bd8866dbf54dae1437f23c428c6689f4d0576ea3%2Fall_components.jpg?alt=media)

## 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](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-221bf7de5ec29c9c6acdb2d2e23ae41211461f29%2Ff450_frame_components.png?alt=media)

### 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

![Required tools](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-894fe3bc96004b344b598364828c5b55b88957dd%2Frequired_tools.jpg?alt=media)

## 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](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-889ff62e64df6b5391f5919893ea6c0e9df050df%2F1_attach_arms_bottom_plate.jpg?alt=media)
2.  Solder ESC (Electronic Speed Controller) to the board, positive (red) and negative (black).

    ![Solder ESCs](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-42b533ea86bb6ba76f1dcadab881d5846f5b8fbf%2F2_solder_esc.jpg?alt=media)
3.  Solder the Power Module, positive (red) and negative (black).

    ![Solder power module](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-3ad692a0eb864e18ff400df34769af6f70798392%2F3_solder_power_module.jpg?alt=media)
4.  Plug in the motors to the ESCs according to their positions.

    ![Plug in motors](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-ff524ac482bc9bffac41774a08af654cc27b033d%2F4_plug_in_motors.jpg?alt=media)
5.  Attach the motors to the corresponding arms.

    ![Attach motors to arms (white)](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-5f6df9a1f42dabae09208c3a2df87e25a566668f%2F5a_attach_motors_to_arms.jpg?alt=media) ![Attach motors to arms (red)](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-0f10da0a45bcb4d37750bdddbc71c72ef691bf3f%2F5b_attach_motors_to_arms.jpg?alt=media)
6.  Add the top board (screw into the top of the legs).

    ![Add top board](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-48dfeb47ddbdad90f0ef7738626533a7badf9d28%2F6_add_top_board.jpg?alt=media)
7.  Add damping foam to the _CUAV V5 nano_ flight controller.

    ![Damping foam](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-1d08ff56d256e0efdb81156ab5f490a6a1df0b23%2F7a_attach_cuav5nano.jpg?alt=media) ![Damping foam](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-570619b211f46175be7e0aecf07aa7d949213673%2F7b_attach_cuav5nano.jpg?alt=media)
8.  Attach the FrSky receiver to the bottom board with double-sided tape.

    ![Attach FrSky receiver with double-sided tape](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-35a7636105e9c8286a6f04fd739a2edeb42ebcf4%2F8_attach_frsky.jpg?alt=media)
9.  Attach the telemetry module to the vehicle’s bottom board using double-sided tape.

    ![Attach telemetry radio](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-b981a19a45d3c9ab7b1abed1bd833177541d113b%2F9a_telemtry_radio.jpg?alt=media) ![Attach telemetry radio](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-382247990b012f7ad6384fbd312ebca9db6ac1f7%2F9b_telemtry_radio.jpg?alt=media)
10. Put the aluminium standoffs on the button plate and attach GPS.

    ![Aluminium standoffs](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-10c0790737329141c26af87faadcb8c9bb7432c2%2F10_aluminium_standoffs.jpg?alt=media)
11. 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. ![Attach peripherals to flight controller](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-b2a0dcb4006c6e19783941db50b9b8176cbe0382%2F12_fc_attach_periperhals.jpg?alt=media)

    :::note The motor order is defined in the [Airframe Reference > Quadrotor x](../../airframe_reference#quadrotor-x) :::

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

![Finished Setup](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-dfe17c161b77340ce7a810a978a3682a79a941de%2Ff450_cuav5_nano_complete.jpg?alt=media)

## PX4 Configuration

_QGroundControl_ is used to install the PX4 autopilot and configure/tune it for the frame. [Download and install](http://qgroundcontrol.com/downloads/) _QGroundControl_ for your platform.

:::tip Full instructions for installing and configuring PX4 can be found in [Basic Configuration](../../config). :::

First update the firmware, airframe, geometry and outputs:

* [Firmware](../../config/firmware)
*   [Airframe](../../config/airframe)

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

    ![QGroundControl - Select Generic Quadcopter](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-d3bed089dfee73f6a8443bec053f116c57efbbf2%2Fqgc_airframe_generic_quadx.png?alt=media) :::
* [Actuators](../../config/actuators)
  * 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)
* [Compass](../../config/compass)
* [Accelerometer](../../config/accelerometer)
* [Level Horizon Calibration](../../config/level_horizon_calibration)
* [Radio Setup](../../config/radio)
*   [Flight Modes](../../config/flight_mode)

    :::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:

* [ESC Calibration](../../config/esc_calibration)
* [Battery](../../config/battery)
* [Safety](../../config/safety)

## 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).

## Video

@[youtube](https://youtu.be/b0bKNdDqVHw)

## Acknowledgments

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