# X-UAV Mini Talon airframe example

It is based on on Cyphal/DroneCAN Quadcopter KIT + airspeed sensor. Let's consider nodes X-UAV Mini Talon airframe configuration example.

drawing

# 1. Prerequisites

It has the following RaccoonLab devices:

№ View Device
1 RL Autopilot v6x
2 drawing co.rl.airspeed v2.3.2
3 drawing co.rl.gnss v2.5.0 NEO-M8N
4 drawing co.rl.micro v1.2.2 x3
- Thrust ESC control
- Right part control (aileone and rudder/elevator)
- Left part control (ailerone and rudder/elevator)

Here is a list of all the things you will need.

N Name Link Description
1 ESC regulator

# 3. Layout

talon airframe

Top View Cap is opened Nose view (pitot tube) Electronics section view
drawing drawing drawing

# 4. Autopilot configuration

Step 1. Load firmware and reset settings

Load the latest stable firmware and reset all settings to default.

Step 2. Select the airframe

It should be X-UAV Mini Talon (opens new window) airframe with SYS_AUTOSTART = 2200. Select the airframe as on the picture below:

talon_airframe

Step 3. Configure Actuators

Step 4. MAVLink Console

Check differential pressure sensor:

nsh> listener differential_pressure

TOPIC: differential_pressure
 differential_pressure
    timestamp: 442757386 (0.001325 seconds ago)
    timestamp_sample: 442757385 (1 us before timestamp)
    device_id: 8605443 (Type: 0x83, UAVCAN:0 (0x4F))
    differential_pressure_pa: -2.20767
    temperature: -246.64999
    error_count: 0
nsh>

# 5. Nodes configuration

← VTOL Wing →