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
      • Toolchain Installation
        • MacOS Setup
        • Ubuntu Setup
        • Windows Setup
        • Visual Studio Code IDE
        • Other/Generic Tools
      • Building the Code
      • Writing your First Application
      • Application/Module Template
    • 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
      • jMAVSim Simulation
        • Multi-Vehicle Sim with JMAVSim
      • Gazebo Simulation
        • Vehicles
        • Multi-Vehicle Sim
      • Gazebo Classic Simulation
        • Vehicles
        • Worlds
        • Multi-Vehicle Sim
      • FlightGear Simulation
        • FlightGear Vehicles
        • Multi-Vehicle Sim with FlightGear
      • JSBSim Simulation
      • 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
        • DebugKeyValue
        • DebugValue
        • DebugVect
        • DifferentialPressure
        • DistanceSensor
        • Ekf2Timestamps
        • EscReport
        • EscStatus
        • EstimatorAidSource1d
        • EstimatorAidSource2d
        • EstimatorAidSource3d
        • EstimatorBias
        • EstimatorBias3d
        • EstimatorEventFlags
        • EstimatorGpsStatus
        • EstimatorInnovations
        • EstimatorSelectorStatus
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        • EstimatorStatus
        • EstimatorStatusFlags
        • Event
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        • FailureDetectorStatus
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        • FollowTargetEstimator
        • FollowTargetStatus
        • GeneratorStatus
        • GeofenceResult
        • GimbalControls
        • GimbalDeviceAttitudeStatus
        • GimbalDeviceInformation
        • GimbalDeviceSetAttitude
        • GimbalManagerInformation
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        • GimbalManagerSetManualControl
        • GimbalManagerStatus
        • GpioConfig
        • GpioIn
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        • GpsDump
        • GpsInjectData
        • Gripper
        • HealthReport
        • HeaterStatus
        • HomePosition
        • HoverThrustEstimate
        • InputRc
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        • IridiumsbdStatus
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        • LandingGearWheel
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        • LaunchDetectionStatus
        • LedControl
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        • OrbitStatus
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        • PositionControllerStatus
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Powered by GitBook
On this page
  • Quickstart Guide
  • Bill of materials
  • Hardware
  • Frame QAV250
  • Electronics
  • Assembly
  • Tools needed
  • Frame assembly
  • FPV Assembly
  • PX4 Configuration
  • Tuning
  • Acknowledgements
  1. Vehicle Types & Setup
  2. Multicopters

QAV250 (Pixhawk4 Mini) - Discontinued

PreviousDJI F450 (CUAV v5 nano)NextDJI F450 + RTK (Pixhawk 3 Pro)

Last updated 1 year ago

:::note The Holybro Pixhawk 4 Mini QAV250 Kit is no longer available.

The instructions have been left here because very similar kits based on the Pix32 v6 are . These instructions can therefore still be followed (and might be updated to Pix32 v6). :::

The complete kits include a carbon-fibre QAV250 racing frame, flight controller and almost all other components needed (except battery and receiver). There are variants of the kit both with and without FPV support. This topic provides full instructions for building the kit and configuring PX4 using QGroundControl.

Key information

  • Frame: Holybro QAV250

  • Flight controller:

  • Assembly time (approx.): 3.5 hours (2 for frame, 1.5 autopilot installation/configuration)

Quickstart Guide

Bill of materials

  • Power module holybro

  • Fully assembled Power Management Board with ESCs

  • Motors - DR2205 KV2300

  • 5” Plastic Props

  • Carbon fiber 250 airframe with hardware

  • Foxer camera

  • Vtx 5.8ghz

Additionally you will need a battery and receiver (+compatible transmitter). This build uses:

Hardware

This section lists all hardware for the frame and the autopilot installation.

Frame QAV250

Description
Quantity

Unibody frame plate

1

Flight controller cover plate

1

PDB

1

Camera plate

1

35mm standoffs

6

Vinyl screws and nuts

4

15mm steel screws

8

Steel nuts

8

7mm steel screws

12

Velcro battery strap

1

Foam for battery

1

Landing pads

4

Electronics

Description
Quantity

Motors - DR2205 KV2300

4

Fully assembled Power Management Board with ESCs

4

Holybro power module

1

Fr-sky D4R-II receiver

1

Pixhawk 4 mini

1

Holybro GPS Neo-M8N

1

1

Battery lumenier 1300 mAh 4S 14.8V

1

Vtx 5.8gHz

1

FPV camera (Complete Kit - only)

1

The image below shows both frame and electronic components.

Assembly

Estimated time to assemble frame is 2 hours and 1.5 hours installing the autopilot and configuring the airframe in QGroundControl.

Tools needed

The following tools are used in this assembly:

  • 2.0mm Hex screwdriver

  • 3mm Phillips screwdriver

  • Wire cutters

  • Precision tweezers

Frame assembly

  1. Attach arms to the button plate with the 15mm screws as shown:

  2. Put the short plate over the arms

  3. Put the nuts on the 15mm screws (shown next step)

  4. Connect the motors on the ESC’s, make sure the motors turns to the correct side, if the motor turns of the opposite side change the cable A to the pad C and C to the pad A of the ESC.

    :::warning Test motor directions with propellers removed. :::

  5. Connect the signal ESC cables to the PWM outputs of the Pixhawk in the correct order (see previous image)

  6. Connect the receiver.

    • If using a PPM receiver connect to the PPM port.

    • If using the SBUS receiver connect to the RC IN port

  7. Connect the telemetry module. Paste the module with double tape and connect on the port of the telemetry.

  8. Connect the GPS module

    Attach the module on the top plate (using provided 3M tape, or paste). Then put the top plate on the standoffs as shown

  9. The last "mandatory" assembly step is to add the velcro to hold the battery

FPV Assembly

The "Complete" version of the kit additionally comes with an FPV system, which is mounted on the front of the vehicle as shown.

The steps to install the kit are:

  1. Secure the Video Transmitter and OSD board to the frame using tape.

PX4 Configuration

First update the firmware, airframe, and actuator mappings:

  • :::note You will need to select the HolyBro QAV250 airframe (Quadrotor x > HolyBro QAV250).

    • 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 Pix32 v6 has an I/O board, so you can assign to either AUX or MAIN.

    • Test the configuration using the sliders.

Then perform the mandatory setup/calibration:

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.

Acknowledgements

This build log was provided by the PX4 Test Team.

The Holybro kits includes almost all required components:

Receiver:

Battery:

Insert the plastic screws into the indicated holes (note that this part of the frame faces down when the vehicle is complete).

Add the plastic nuts to the screws (turn over, as shown)

Lower the power module over the plastic screws and then add the plastics standoffs

Put the flight controller plate on the standoffs (over the power module)

Attach the motors. The motors have an arrow indicating the direction of rotation.

Use double sided tape from kit to attach the Pixhawk 4 Mini to the flight controller plate.

Connect the power module's "power" cable to Pixhawk 4 mini.

Attach the aluminium standoffs to the button plate

Connect the Esc’s with the motors and hold. In this image shown the order of the motors and direction of the rotation.

The "basic" frame build is now complete (though if you need them, you can find more information about connecting components in the ).

If you have the "basic" version of the kit, you can now jump ahead to instructions on how to .

Install the camera bracket on the frame

Install the camera on the bracket

The power module on the complete kit comes with wiring ready to connect the Video Transmitter and Camera:

Attach the camera connector The wires are: blue=voltage sensor, yellow=video out, black=ground, red=+voltage.

Connect the Video Transmitter (VTX) connector The wires are: yellow=video out, black=ground, red=+voltage.

:::note If you have to wire the system yourself, the diagram below shows all the connections between camera, VTX and power module: :::

QGroundControl is used to install the PX4 autopilot and configure/tune it for the QAV250 frame. QGroundControl for your platform.

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

:::

For the Pixhawk 4 Mini, and other controllers that do not have an , you will need to assign actuators to outputs on the PWM AUX tab in the configuration screen.

For instructions on how, start from .

Pixhawk 4 Mini QAV250 Kit Quickstart Guide
QAV250 Kit
Holybro Transceiver Telemetry Radio V3
FrSSKY D4R-II
4S 1300 mAh
Pixhawk 4 Wiring Quickstart
Download and install
Basic Configuration
Firmware
Airframe
Actuators
Sensor Orientation
Compass
Accelerometer
Level Horizon Calibration
Radio Setup
Flight Modes
ESC Calibration
Battery
Safety
Autotune
Install/Configure PX4
Holybro Transceiver Telemetry Radio V3
available here
Pixhawk 4 Mini
I/O board
Assembled Holybro QAV250 with Pixhawk4 Mini
QAV250 components for frame
QAV250 Frame/Pixhawk 4 Mini Electronics before assembly
Tools required for assembling QAV250
QAV250 Add arms to button plate
QAV250 Add short plate over arms
QAV250 Connect ESCs to Power
QAV250 Connect ESCs to Pixhawk PWM
QAV250 Connect Receiver PPM
QAV250 Connect Receiver SBUS
QAV250 Telemetry module
QAV250 Connect GPS
QAV250 Connect GPS
QAV250 Velcro battery strap
QAV250 FPV Attach
QAV250 Add nuts to 15mm screws and put  plastic nuts in holes
QAV250 Plastic nuts onto screws
QAV250 Add power module and standoffs
QAV250 Add flight controller plate
QAV250 Add motors
QAV250 Add doublesided tape
QAV250 Power Pixhawk
QAV250 Aluminium standoffs
QAV250 Connect ESCs
Camera Connection
Camera on Bracket
Connecting FPV
Camera Connection
Video Transmitter Connection
QAV250 FPV Wiring
QGC - Select HolyBro QAV250 airframe