PX4 User Guide
  • Introduction
  • Getting Started
    • Basic Concepts
    • Vehicles/Frames
    • Flight Controllers
    • Sensors
    • Radio Systems
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      • LED Meanings
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  • 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
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    • 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+)
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      • 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
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        • Back-transition Tuning
        • VTOL w/o Airspeed Sensor
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      • Standard VTOL
        • FunCub QuadPlane (Pixhawk)
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        • 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
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    • Airframes Reference
  • Flying
    • First Flight Guidelines
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      • Position Mode (MC)
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    • Flight Controllers (Autopilots)
      • Pixhawk Series
        • Silicon Errata
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        • CUAV Pixhawk V6X (FMUv6X)
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        • Holybro Pixhawk 5X (FMUv5X)
        • Holybro Pixhawk 4 (FMUv5) - Discontinued
        • Holybro Pixhawk 4 Mini (FMUv5) - Discontinued
        • Drotek Pixhawk 3 Pro (FMUv4pro)
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        • Hex Cube Black (FMUv3)
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        • Holybro Pixhawk Mini (FMUv3) - Discontinued
      • Manufacturer-Supported Autopilots
        • AirMind MindPX
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        • ARK Electronics ARKV6X
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        • CubePilot Cube Yellow (CubePilot)
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      • Discontinued Autopilots/Vehicles
        • Drotek Dropix (FMUv2)
        • Omnibus F4 SD
        • BetaFPV Beta75X 2S Brushless Whoop
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        • CUAV v5
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      • Pixhawk Autopilot Bus (PAB) & Carriers
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    • Flight Controller Peripherals
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      • ESCs & Motors
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On this page
  • Bill of Materials
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  1. Vehicle Types & Setup
  2. Multicopters

Omnicopter

PreviousQAV-R 5" Racer (Pixracer)NextPlanes

Last updated 1 year ago

An Omnicopter is a multicopter that can provide thrust in all directions (6 degrees of freedom). This allows it to move in any direction without having to tilt, and it can hover at an arbitrary tilt angle. All of this is achieved by arranging the motor positions and thrust axis in specific ways:

This build follows the original design from .

Bill of Materials

The components needed for this build are:

  • Electronics:

    • Any RC receiver

  • Propulsion:

    • Battery: we used a 6S 3300mAh LiPo. Make sure to check the dimensions so it fits the frame.

    • Battery strap

  • Frame:

    • Required lengths:

      • square tube: 8 pieces with length of 248mm

      • rods: 12x328mm, 6x465mm

    • Screws:

      • Motors and standoffs: 40x M3x12mm

      • FC mount: 4x M3x35mm, 4x M3 nuts

    • Standoffs: 4x 40mm

Assembly

Frame

  • Print the 3D parts :::note The orientation of the corner pieces matters. You will notice if it's wrong when the angles of the rods are not correct. :::

  • Cut the rods

  • Test that it all works by connecting the frame pieces together:

  • Place the motors as far out as possible, without the propellers touching the rods.

Electronics

Solder the peripherals to the flight controller. We used the following assignments:

  • ESCs: the 2 ESCs can be connected directly to the two connectors of the KakuteH7. To avoid conflicts we removed the power pin (right-most pin) from one of the connectors.

  • Telemetry to UART1

  • GPS to UART4

Remarks:

  • Make sure the magnetometer is placed away from power. We ended up placing it to the bottom of the center-piece with a 4cm padding styrofoam.

  • Put some tape on the barometer (without taping the opening!) to avoid any influence from light.

  • We did not glue the frame. It is certainly advisible to do so after initial test flights, but it might work without.

Software Configuration

ESC

First, configure the ESCs to 3D mode (bidirectional). We had issues with the stock ESC settings in 3D mode: when trying to switch direction, a motor sometimes did not start anymore until the ESC was rebooted. So we had to change ESC settings.

To do so, you can use Betaflight on the flight controller and then use pass-through mode and the BL Heli suite (make sure there is an airframe with 8 motors configured in Betaflight). These are the settings:

In particular:

  • set the Motor Direction to Bidirectional Soft

  • increase the Rampup Power to 100% (this is conservative and might reduce efficiency)

:::note Make sure the motors do not overheat with the changed settings. :::

PX4

  • Select a generic multicopter airframe

  • Parameters:

Video

Simulation

There is an omnicopter simulation target in Gazebo Classic:

make px4_sitl gazebo-classic_omnicopter

Remarks

Some general remarks:

  • The hover throttle is about 30%.

  • The flight time is around 4-5min. This could probably be improved a bit by using larger propellers.

Flight controller:

Coupled with 2x :::note You can select your own flight controller of choice, it just needs to support 8 DShot outputs. :::

GPS:

:::note Any other GPS may work as well, however a helix antenna is expected to perform better for inverted flights. :::

An external Magnetometer. We used the .

Telemetry link, e.g.

Motors: 8x

3D Propellers: 2x or 2x

Carbon square tube R 8mm X 7mm X 1000mm, e.g.

Carbon Rods R 3mm X 2mm X 1000mm, e.g.

RC to UART6

Use an , do not use stick arming

as output protocol on all eight outputs

Configure the motors according to this: We used the following convention: the motors are facing the direction of where the axis points to. The spinning direction matches the direction of positive thrust (moving the motor slider up). Make sure to use the right props, as there is a CCW and a CW version.

Change the desaturation logic for better attitude tracking: set to 0.

Disable failure detection: set and to 0.

contains all the relevant parameters.

@

Holybro KakuteH7
Tekko32 F4 4in1 ESCs
ZED-F9P
GPS helix antenna
RM-3100
WiFi
BrotherHobby LPD 2306.5 2000KV/2450KV/2650KV
HQProp 3D 5X3.5X3 3-Blade Propeller (Set of 4)
Gemfan 513D 3-Blade 3D Propeller (Set of 4)
here
here
3D model
Select DShot
This file
youtube
Brescianini, Dario, and Raffaello D'Andrea
arming switch
Omnicopter
Parts List
Frame
ESC settings
Gazebo Sim
FC closeup
Motor Config
CA_METHOD
FD_FAIL_P
FD_FAIL_R