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
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        • LeddarOne Lidar
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        • Lanbao PSK-CM8JL65-CC5
        • Avionics Anonymous Laser Altimeter UAVCAN Interface
      • ESCs & Motors
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        • 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
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      • 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
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    • Hardware
      • Flight Controller Reference Design
      • Manufacturer’s Board Support Guide
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        • NuttX Board Porting Guide
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        • Adding a New Airframe
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Powered by GitBook
On this page
  • Bill of Materials
  • Hardware
  • Frame QAV250
  • Electronics
  • Telemetry radio (optional)
  • Assembly tools
  • Off-frame assembly
  • Electronics Wiring/Connections (off frame)
  • Frame-only assembly
  • FULL Assembly with electronics
  • PX4 Configuration
  • Tuning
  • Acknowledgements
  1. Vehicle Types & Setup
  2. Multicopters

QAV250 (Pixhawk Mini)

PreviousDJI F450 + RTK (Pixhawk 3 Pro)NextQAV-R 5" Racer (Pixracer)

Last updated 1 year ago

The is a small but fully functional FPV multicopter frame. This topic provides full build and configuration instructions for using the frame with the Pixhawk Mini flight controller, including how to install and configure the PX4 autopilot using QGroundControl.

Key information

  • Frame: Lumenier QAV250 CF

  • Flight controller: Pixhawk Mini

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

Bill of Materials

The components used in this build are listed below (along with links to where they can be purchased). In general we used hardware recommended by the manufacturers for the flight controller and frame.

  • Power module: 3DR 10s Power Module (Discontinued)

Notes:

  • The 4S Power Module that comes with the Pixhawk Mini can be used for the battery size above (instead of the 10S Power Module). Assembly is the same with either power module.

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

25mm standoffs

4

10mm standoffs

4

Vinyl caps

4

20mm steel screws

4

18mm steel screws

10

Velcro battery strap

1

Foam for battery

1

LEDs strip

2

Electronics

Description
Quantity

Motors lumenier Rx2204-14 2300KV

4

ESC lumenier 30A

4

3DR power module 10S

1

Fr-sky D4R-II receiver

1

3DR Pixhawk Mini autopilot

1

3DR GPS Neo-M8N

1

8 PWM servo output

1

External safety switch

1

Micro SD card

1

Battery Lumenier 1300 mAh 4S 14.8V

1

Telemetry radio (optional)

A telemetry radio is an optional component that can be used to wirelessly connect a ground control station (GCS) computer with the autopilot. This allows you to view in-flight data, change missions on the fly, and tune in the vehicle during flight.

PX4/Pixhawk Mini support many different telemetry radios. The radio used in this build is the (highly recommended) 3DR Telemetry Radio (915MHz) (Discontinued).

:::note Telemetry radios use different frequency bands in order to comply with local regulations. Select a version appropriate for your region: USA - 915 MHz, Europe/Australia - 433MHz :::

The telemetry kit includes:

  • Two telemetry transceivers (for vehicle and GCS)

  • Micro USB cable

  • Android OTG adapter cable

  • Double-sided tape

Assembly tools

The following tools are used in this assembly:

  • 2.0mm Hex screwdriver

  • 3mm Philips screwdriver

  • Wire cutters

  • Soldering iron and solder

  • Precision tweezers

Off-frame assembly

This section shows how the electronics are wired (off frame) and how the frame is assembled without the electronics. This information can be used for reference if the on-the-frame screenshots are not sufficiently clear.

Electronics Wiring/Connections (off frame)

The image below shows the standard multicopter wiring for Pixhawk Mini. It uses the Quad Power Distribution Board to power the ESCs, Pixhawk and Pixhawk power rail (the board includes an integrated power module that supports batteries up to 4S).

:::note For this QAV250 build we instead use the separate 10S Power module to power the ESCs and Pixhawk, and we don't use the optional external switch. The wiring is otherwise similar! :::

Frame-only assembly

:::note This section shows how the frame is assembled without the complication of the electronics. It is referenced in the full assembly documentation below. :::

To assemble the frame:

Step 1: Use the 10mm standoffs and 20mm steels screws for PDB as shown in the picture.

Step 2: Place the frame on the standoffs.

Step 3: Put the 35mm standoffs on the screws (you will need 2.0mm Hex screwdriver).

Step 4: Attach the camera plate and add remaining standoffs.

Step 5: Place the flight controller cover plate on the standoffs and screw into place.

FULL Assembly with electronics

This section describes the full assembly of the QAV250 along with the Pixhawk Mini, motors and other electronics.

Step 1: Install motors

The red mark indicates the front of the frame. Make sure you place the motors in the correct order on the frame and pass the cables through the bottom of the frame.

Step 2: Solder the 4 ESCs to the PDB

The red cables must be soldered to the positive pad and the black cables to the negative pad (as shown for a single ESC below).

Step 3: Solder the power module to the PDB

The red cable should be soldered to the positive pad and the black cable to the negative pad. Solder in a way that fits your build.

Step 4: Solder LEDs to the PDB

Red cables should connect to the positive pad and black cables with negative pads. The white LEDs are for the front and the red LEDs are for back.

Step 5: Solder the motors with the ESC

Solder the motor cables to the ESC pads as shown below. Make sure the motors turns in the correct direction. If not, swap the positions of cables A and C on the ESC.

Step 6: Attach the PDB to the frame

Follow the steps described in the Frame assembly section.

Step 7: Attach the LEDs to the frame using the Phillips screws provided.

Step 8: Attach vibration damping foam to the frame as shown (the foam is included in the Pixhawk Mini kit).

The foam reduces vibrations that may otherwise affect Pixhawk performance. The foam is sticky on both sides.

Step 9: Attach the Pixhawk Mini to the frame using the damping foam.

The Pixhawk should be oriented so that the arrow faces the front of the frame.

Step 10: Connect the power module.

Connect the Power Module and Pixhawk Mini using the supplied 6pin cable (as shown). If you're using the Power Module from the Pixhawk Mini kit it is connected in the same way.

Step 11: Connect ESC to the PWM output

Attach the ESCs to the Pixhawk Mini in the correct order, using either a PWM output cable or a PWM board as shown below (both are supplied in the Pixhawk Mini kit ).

Step 12: Connect the receiver

Connect the FRSky D4-R receiver channel 1 to the RCIN port on the Pixhawk Mini (as shown).

:::note Notes on receivers:

  • You can also use a Spektrum receiver. These are connected to the SPKT/DSM input next to RCIN on the Pixhawk Mini.

Step 13: Connect the GPS/COMPASS module

Connect the GPS/COMPASS module to the Pixhawk Mini's GPS&I2C port as shown below.

Step 14: Mount the GPS/COMPASS module

Attach flight controller cover plate (see frame assembly instructions) and then paste the GPS module onto the cover plate with the arrow to the front (paste included in kit).

Step 15: Connect and mount the telemetry radio (Optional)

Connect the telemetry radio to the Pixhawk Mini TELEM port as shown.

Then mount the radio using the double-sided tape included in the telemetry radio kit (for this build we mounted the radio below the PDB, as shown below).

Step 16: Attach landing standoffs to the arms

Step 17: Attach the battery foam and velcro battery strap to the cover plate (the battery strap and foam come with the frame kit)

The frame build is now complete! In the next step we can install and configure the PX4 autopilot.

PX4 Configuration

:::warning Always make sure to have either battery or propellers physically removed from your vehicle during any initial configuration. Better safe than sorry! :::

First update the firmware, airframe, and actuator mappings:

  • You will need to select the Generic 250 Racer airframe (Quadrotor x > Generic 250 Racer).

    • 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:

    • 4S (4 cell LiPo) with charged cell voltage 4.05V and empty cell voltage 3.4V (or appropriate values for your battery).

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: Abimael Suarez, 3DRobotics.

Flight controller:

ESC: Lumenier f390 with Blheli (). These come with the motors.

Motors: Lumenier RX2204 -14 2300KV ()

Propellers: Lumenier 5x4.5 2 blade ()

Frame: Lumenier QAV250 - CF () (Discontinued)

Receiver:

Battery: Lumenier 4S 1300 mAh ()

We also recommend these ESC: Lumenier 12 amp ESC w/ SimonK AutoShot (2-4s N-FET) ().

:::note Ensure that you have the frame-plate mounted the correct way. The cut indicated below shows the bottom of the frame. :::

Additional/manufacturer assembly can be found here: .

:::note Once the cables are soldered in the correct order, cover the pads with electrical tape or tubing. :::

:::warning The carbon fiber is conductive use silicon to avoid the contact with the weld in the frame. :::

The Pixhawk Mini RCIN port accepts PPM input (i.e. multiplexed channels). You can use a PWM receiver (with individual cables for each channel) but you will have to connect via PPM encoder .

For more information see: :::

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 .

Holybro Pixhawk Mini
getfpv.com
getfpv.com
getfpv.com
getfpv.com
FrSSKY D4R-II
getfpv.com
getfpv.com
Lumenier QAV250 Carbon Fiber Build Manual
like this one
Download and install
Basic Configuration
Firmware
Airframe
Actuators
Sensor Orientation
Compass
Accelerometer
Level Horizon Calibration
Radio Setup
Flight Modes
ESC Calibration
Battery
Safety
Autotune
Lumenier QAV250 Mini FPV Quadcopter
QAV250 - Complete build with pixhawk mini
QAV250 - Complete build with pixhawk mini and props
Hardware for QAV250 frame
QAV250/PixhawkMini Electronics before assembly
3DR Telemetry Radio Kit - unboxed
Tools required for assembling QAV250
Pixhawk Mini Electronics Wiring for QAV250 (off frame)
Add standoffs and screws to PDB
Place frame on top of standoffs (on top of PDB)
Place standoffs on top of frame
Add camera place and remaining standoffs to the frame.
Attach flight controller cover plate
Add motors to QAV250 frame
Solder ESC to QAV250 PDB
Solder power module to QAV250 pdb
Solder LEDS to QAV250 PDB
Solder motors to ESC.
Attach wired PDB to frame on QAV250
Attach LEDS to frame
Add damping foam to frame (for Pixhawk)
Attach Pixhawk Mini on top of damping foam
Connect the Pixhawk Mini to the power module
Connect Pixhawk to QAV250 ESCs using PWM Board
Connect Pixhawk to QAV250 ESCs using PWM cable
Connect FRSKY
Connect GPS to Pixhawk Mini
Mount GPS on QAV250
Connect 3DR Wifi Telemetry Radio Kit to Pixhawk Mini
Mount 3DR Wifi Telemetry Radio Kit to QAV250
QAV250 Landing Standoffs
QAV250 with battery foam and velcro strap
QAV250 - Complete build with pixhawk mini
QGC airframe selection of generic 250 racer
Diagram indicating which side is bottom of QAV250 frame plate
Cover ESC in tape for safety
Use silicon to isolate LEDs from frame
Pixhawk Mini Receiver Compatibility