# DJI F450 (CUAV v5+)

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

Key information

* **Frame:** DJI F450
* **Flight controller:** [CUAV V5+](../../drone_parts/flight_controller/autopilot_manufacturer_supported/cuav_v5_plus)
* **Assembly time (approx.):** 90 minutes (45 minutes for frame, 45 minutes autopilot installation/configuration)

![Finished setup 1](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-2f9d01d675ca01486651affc78880676d8d6bf0c%2Ff450_cuav5_plus_complete.png?alt=media)

## Bill of materials

The components needed for this build are:

* Flight controller: [CUAV V5+](https://store.cuav.net/index.php?id_product=95\&id_product_attribute=0\&rewrite=cuav-new-pixhack-v5-autopilot-m8n-gps-for-fpv-rc-drone-quadcopter-helicopter-flight-simulator-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-405faf5e5deb91e7b29cc36b12a36ff325018b0b%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+ Package

This section lists the components in the CUAV v5+ package.

| Description              | Quantity (Default Package) | Quantity (+GPS Package) |
| ------------------------ | -------------------------- | ----------------------- |
| V5+ Autopilot            | 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                       |

![CUAV V5+ components](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-3ba225aed9549c447fe8d0a99a71b74ca8b75448%2Fcuav5plus_components.png?alt=media)

### Electronics

| Description                                           | Quantity |
| ----------------------------------------------------- | -------- |
| CUAV V5+                                              | 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+ 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-390721a6775009b88926843f89aa0caac008ad8d%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-6252d65931e18f0fc64cebe7d78e01ce79cabe74%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-f6d6bcd0f83493e4db74f7fa8cc99a4bf23b5aad%2F6_add_top_board.jpg?alt=media)
7.  Add double-sided tape (3M) to the CUAV V5+ flight controller (it has internal vibration damping, so no need to use foam).

    ![Tape CUAV v5+](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-ec675d3d76deaeb6b8354a3333da9965b1991651%2F7_attach_cuav5plus.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-12702baca1b4a57b49d5f7d9e7b4dddb983b2304%2F9b_telemtry_radio.jpg?alt=media)
10. Put the aluminium standoffs on the button plate.
11. Plug in Telemetry (`TELEM1`) and GPS module (`GPS/SAFETY`) to the flight controller. ![Attach GPS](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-578ce9505a8fdfafbc3dcda10e0530c6bb2ca404%2F11a_gps.jpg?alt=media) ![Attach GPS](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-99acbc3747e642eedfbfab6be506f69d148af9bd%2F11b_gps.jpg?alt=media)
12. Plug in the 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-9c88d8f3bf4694c6f39e6021008b7d3c59f8d2c3%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-b2e79f6c0488fd278fa1eb906de0605afffff790%2Ff450_cuav5_plus_complete_2.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/r-IkaVpN1Ko)

## Acknowledgments

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