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
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      • Building the Code
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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
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      • Gazebo Simulation
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        • Multi-Vehicle Sim
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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
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        • AirspeedWind
        • AutotuneAttitudeControlStatus
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        • ButtonEvent
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        • CameraTrigger
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        • CollisionConstraints
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        • Cpuload
        • DebugArray
        • DebugKeyValue
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        • DifferentialPressure
        • DistanceSensor
        • Ekf2Timestamps
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        • EstimatorStatus
        • EstimatorStatusFlags
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        • FailureDetectorStatus
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        • FollowTargetEstimator
        • FollowTargetStatus
        • GeneratorStatus
        • GeofenceResult
        • GimbalControls
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        • GpsInjectData
        • Gripper
        • HealthReport
        • HeaterStatus
        • HomePosition
        • HoverThrustEstimate
        • InputRc
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        • LandingGearWheel
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        • LaunchDetectionStatus
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On this page
  • Key information
  • Bill of materials
  • Hardware
  • Package
  • Electronics
  • Tools needed
  • Assembly
  • PX4 Configuration
  • Tuning
  • Acknowledgements
  1. Vehicle Types & Setup
  2. Multicopters

S500 V2 (Pixhawk 4)

PreviousX500 (Pixhawk 4)NextDJI F450 (CUAV v5+)

Last updated 1 year ago

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

:::note Holybro initially supplied this kit with a , but at time of writing this has been upgraded to a more recent Pixhawk. This build log is still relevant as the kit assembly is virtually the same, and likely to remain so as the flight controller is upgraded. :::

Key information

  • Frame: Holybro S500

  • Flight controller:

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

Bill of materials

  • A recent Pixhawk autopilot

    • For this log it was Pixhawk 4 but far more recent versions are now included.

  • Power Management PM02(Assembled)

  • ARM adopts high strength plastics

  • Motors - 2216 KV880( V2 Update)

  • Propeller 1045( V2 Update)

  • Pixhawk4 GPS

  • Fully assembled Power Management Board with ESCs

  • Power and Radio Cables

  • Battery Straps

  • Dimensions:383385240mm

  • Wheelbase:480mm

:::note No LiPo battery is included. In addition, we use a FrSky Taranis controller. :::

Hardware

Item Description
Quantity

Wheelbase: 480mm

1

Arms

4

Set of Landing Gear

2

M3*8 screws

18

M2 5*6 screws

24

Battery Straps

1

Propeller 1045 (V2 Update)

1

Package

Items
Package

Pixhawk 4

1

Pixhawk4 GPS MODULE

1

I2C splitter Board

2

6 to 6 pin cable (power)

3

4 to 4 pin cable (CAN)

2

6 to 4 pin cable (Data)

1

10 to 10 pin cable (PWM)

2

8 to 8 pin cable(AUX)

1

7 to 7 pin cable(SPI)

1

6 to 6 pin cable(Debug)

1

PPM/SBUS out cable

1

XSR receiver cable

1

DSMX receiver cable

1

SBUS receiver cable

1

USB cable

1

'X'type folding pedestal mount

1

70mm & 140mm carbon rod standoff

2

6*3 2.54mm pitch Horizontal Pin

1

8*3 2.54mm pitch Horizontal Pin

2

Foam Set

1

Pixhawk4 Quick Start Guide

1

Pixhawk4 Pinouts

1

GPS Quick Start Guide

1

Electronics

Item Description
Quantity

Pixhawk 4 autopilot (PM06 not included)

1

Power Management PM02 (Assembled)

1

Motors - 2216 KV880 (V2 Update)

4

Pixhawk 4 GPS

1

Fully assembled Power Management Board with ESCs

1

433MHz Telemetry Radio / 915MHz Telemetry Radio

1

Tools needed

The following tools are used in this assembly:

  • 1.5 mm Hex screwdriver

  • 2.0 mm Hex screwdriver

  • 2.5 mm Hex screwdriver

  • 3mm Phillips screwdriver

  • Wire cutters

  • Precision tweezers

Assembly

Estimate time to assemble is 90 minutes, about 45 minutes for frame assembly and 45 minutes installing and configuring the autopilot in QGroundControl.

  1. Assembling the Landing Gear. We are going to start by assembling the landing gear to the vertical pole. Unscrew the landing gear screws and insert the vertical pole as shown below.

  2. Assemble the Power Management Board to the landing gear. Screw the landing gear with a vertical pole to the Fully assembled Power Management Board.

The Board has 4 holes (see arrows below).

Connect with the M3X8 screws, a total of 8 pieces, 4 on each side.

  1. Assemble the arms to the Power Management Board. Attach the arm to the Power Management Board.

    Use M2 5X6 screws a total of 2 in each arm. Insert the screws from the bottom of the plate.

    Make sure the ESC cables run through the middle of the arm.

  2. Assemble the 83 2.54mm pitch Horizontal Pin to the 10 to 10 pin cable (PWM) to the Power Management Board. Connect the 10 to 10 pin cable (PWM) to the 83 2.54mm pitch Horizontal Pin.

    Cut a piece of 3M Tape and attach to the bottom of the Horizontal Pin:

    Stick the Horizontal Pin to the Power Management Board:

  3. Assemble the motors to the arms. For this, we will need the 16 screws M3X7, 4 motors, and the 4 arms.

    Mount the motors in each arm put the screw through the bottom of the arm:

    After the 4 motors are mounted on the arm grab the cables(red, blue, black) and put them through the arm thread. The 3 cables that are color-coded go connected to the ESC.

  4. Mounting the GPS on the frame. For this, we will need the Pixhawk 4 GPS and the mounting plate.

    Mount the GPS mast to the back of the Board, use the 4 screws:

    Use the tape and stick the GPS to the top of the GPS mast:

  5. Paste the FrSky to the Board. Paste FrSky with double-sided tape (3M) to the bottom board. Attach the FrSky to the frame:

  6. Attach the Telemetry to the frame. The next step is to take the Holybro telemetry radio and attach it onto the frame, use 3M tape.

    This assembly attached it inside the frame facing outwards to the front of the vehicle. A picture is shown below of the radio sitting inside the bottom of the frame.

  7. Mounting the Pixhawk 4 to the plate. Use double-sided tape to attach the Pixhawk 4 to the center plate:

    The next step is to mount the Pixhawk 4 with the plate to the frame. For this, we will need the M2 5X6 screws. Align the plate to the frame and insert the screws. Before you mount the plate we recommend putting tape on the Power Module (that way it's tight).

  8. Assembling the Battery Mount to the frame. For this we will need the M2 5X6 screws and the battery mount:

    Insert the long rods to the small rings:

    Attach that to the frame, make sure all four sides are aligned to insert the screws:

    Assemble the small plate to the legs and screw on all four sides.

    The final step is to attach the plate:

  9. Pixhawk 4 wiring. The Pixhawk 4, which has several different wires and connections with it. Included below is a picture of every wire needed with the Pixhawk and how it looks when connected.

  10. Plugin Telemetry and GPS module to the flight controller as seen in Figure 37; plug in the RC receiver, all 4 ESCs to the flight controller as well as the power module.

Fully assembled, the kit looks as shown below:

PX4 Configuration

First update the firmware and airframe:

  • You will need to select the Holybro S500 airframe (Quadrotor x > Holybro S500).

Then set the actuator outputs:

    • You should not need to update the vehicle geometry (as this is a preconfigured airframe).

    • Assign actuator functions to outputs to match your wiring.

    • 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 are good enough to fly with, but it is a good idea to tune the parameters for a specific frame build.

Acknowledgements

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

The Holybro includes almost all the required components:

433 MHz / 915 MHz

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 instructions on how, start from .

S500 V2 Kit
Holybro Telemetry Radio
Download and install
Basic Configuration
Firmware
Airframe
Actuators
Sensor Orientation
Compass
Accelerometer
Level Horizon Calibration
Radio Setup
Flight Modes
ESC Calibration
Battery
Safety
Autotune
Holybro Pixhawk 4
Pixhawk 4
Full S500 Kit
S500 Hardware
S500 Package Contents
S500 Electronics
S500 Tools
S500 Tools
Figure 1
Figure 2
Figure 3
Figure 4
Figure 6
Figure 7
Figure 8
Figure 9
Figure 10
Figure 11
Figure 12
Figure 13
Figure 14
Figure 15
Figure 16
Figure 17
GPS Parts
Figure 18
Figure 19
Figure 20
Figure 21
Figure 22
Figure 23
Figure 24
Figure 25
Figure 26
Figure 27
Figure 28
Figure 29
Figure 30
Figure 31
Figure 32
Figure 33
Figure 34
Figure 35
Figure 36
Figure 37
Pixhawk Assembled
Fully Assembled
QGroundControl - Select HolyBro X500 airframe