# Small quadcopter based on PX4

This example is based on Cyphal/DroneCAN Quadcopter KIT.
drawing drawing

# 1. Prerequisites

It has the following RaccoonLab devices:

№ View Device
1 RL Autopilot v6x
2 drawing co.rl.gnss v2.5.0 NEO-M8N
3 drawing co.rl.micro v1.2.2 x4
Each node is used for a separated motor control:
- 0: right front
- 1: left rear
- 2: left front
- 3: right rear
4 drawing co.rl.power v3.1.0
5 drawing co.rl.range v3.0.0
6 drawing co.rl.airspeed v3.0.0

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
5 Battery https://grabcad.com/library/turnigy-2200mah-3s-20c-lipo-pack-1

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

Step 3. Configure Actuators

drawing

Step 4. MAVLink Console

Type uavcan status in MAVLink Console. You should get a similar response:

Sensor: uavcan_baro
channel 0: node id 74 --> instance 2

Sensor: uavcan_battery
channel 0: node id 31 --> instance 0
channel 1: node id 11 --> instance 1

Sensor: uavcan_differential_pressure
channel 0: node id 79 --> instance 0

Sensor: uavcan_gnss
channel 0: node id 74 --> instance 0

Sensor: uavcan_mag
channel 0: node id 74 --> instance 1

Sensor: uavcan_rangefinder
channel 0: node id 61 --> instance 0

Online nodes (Node ID, Health, Mode):
     11 OK         OPERAT    
     21 OK         OPERAT    
     22 OK         OPERAT    
     23 OK         OPERAT    
     24 OK         OPERAT    
     31 OK         OPERAT    
     61 OK         OPERAT    
     74 OK         OPERAT    
     79 OK         OPERAT    
     127 OK         OPERAT

Step 5. Check all components

drawing

# 5. Nodes 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
drawing

# 6. Pre-flight tests

Before a real flight, try QGC Actuator Panel to verify that all motors:

  1. Correctly enumerated (0 - front right, 1 - rear left, 2 - front left, 3 - rear right)
  2. Properly calibrated (they should be controlled withing full control range)
  3. Have correct spin direction

Consider advanced testing with HITL simulator.

# 8. Post-flight analisys

Use https://review.px4.io/ for flight log analysis:

drawing

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