# 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 |
WARNING
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:
- right front:
pwm.1_ch= 0 - left rear:
pwm.1_ch= 1 - left front:
pwm.1_ch= 2 - right rear:
pwm.1_ch= 3
WARNING
Add screenshot from gui_tool.