# 1. Architecture
Basic Concepts
- What is bus
- What is autopilot
- How to wire
- What is sensors
- What is actuators
- Power control
- Radio
- Coprocessor
Airframe (Vehicle)
Here its presented different types of drone configuration that already tested and can be used. Anyway you can make your own.
M-690A (opens new window) T-motor frame
F450 (opens new window) frame
Skywalker X8 (opens new window) Flying wing frame
VTOL (opens new window) frame
Flight Controller or Mainframe
- What kind of autopilots is compatible?
- How to setup it? (enable CAN thats all)
Sensors and Actuators
What kind of sensors do robot need?
- GNSS
- Rangefinder
- Airspeed
- Baro
- IMU
- Compas
Wiring
It is recommended to read standard before applying presented devices on vehicle.
Breafly you should follow next several steps to design onboard bus:
- Enumerate all nodes
- Understand what nodes is mission critical
- Understand where the nodes should be placed
- Draw the bus lines
- Define bus branching points
- Define units connector points
- Define power up point
Setup
- Update firmware using sniffer,
- setup nodes using sniffer,
- setup autopilot
- check on PX4
Tests
- check from sniffer,
- test in sim,
- run on table,
- fly.