# 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:
Devices used | Purpose |
---|---|
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 |
# Layout
Top View Cap is opened | Nose view (pitot tube) | Electronics section view |
---|---|---|
![]() | ![]() | ![]() |
Here is a list of all the things you will need.
N | Name Link | Description |
---|---|---|
1 | ESC regulator |
# 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