# X-UAV Mini Talon airframe example
Let's consider nodes X-UAV Mini Talon airframe configuration example.
It is based on on
Cyphal/DroneCAN Quadcopter KIT + airspeed sensor. It has the following RaccoonLab devices:
|Airspeed||Airspeed sensor, required for all wing types of UAVs|
|GNSS MAG BARO||GNSS, compass and barometer|
|uNODE x3||- Thrust ESC control |
- Right part control (aileone and rudder/elevator)
- Left part control (ailerone and rudder/elevator)
|Autopilot||Main onboard flight computer|
|Top View Cap is opened||Nose view (pitot tube)||Electronics section view|
Here is a list of all the things you will need.
# Connection diagram
# Setting up px4/ardupilot parameters
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:
Step 3. Configure Actuators
# Nodes parameters configuration
Here it should be instruction how to set up parameters....
Step 4. Configure nodes result