# Small quadcopter based on PX4

This example is based on Cyphal/DroneCAN Quadcopter KIT.

It has the following RaccoonLab devices:

Devices used Purpose
GPS_MAG_BARO GNSS, compass and barometer
uNODE x4 Each node is used for a separated motor control:
0: right front
1: left rear
2: left front
3: right rear
Autopilot Main onboard flight computer


Add a photo or a scheme of a vehicle here.

# Layout

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

N Name Link Description
1 ESC regulator (opens new window) https://grabcad.com/library/hglrc-30a-brushless-esc-1
2 BLDC motors (opens new window) https://grabcad.com/library/emax-rs2205-s-2300kv-brushless-motor-1
3 Frame (opens new window) https://grabcad.com/library/hskrc-xl7-1
4 Prop https://grabcad.com/library/gemfan-hurricane-51466-propeller-1
4 Battery https://grabcad.com/library/turnigy-2200mah-3s-20c-lipo-pack-1

# Connection diagram


# Setting up the autopilot

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 Generic Quadcopter (opens new window) airframe with SYS_AUTOSTART = 4001.

Step 3. Configure Actuators


# Nodes parameters configuration

GPS_MAG_BARO has configuration by default.

Micro nodes:

  • front right: pwm.1_ch = 0
  • rear left: pwm.1_ch = 1
  • front left: pwm.1_ch = 2
  • rear right: pwm.1_ch = 3