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DJI FlameWheel 450 + CUAV V5 nano Build

This topic provides full instructions for building the kit and configuring PX4 using QGroundControl.

Key information

  • Frame: DJI F450
  • Flight controller: CUAV V5 nano
  • Assembly time (approx.): 90 minutes (45 minutes for frame, 45 minutes autopilot installation/configuration)

Finished setup

Bill of materials

The components needed for this build are:

In addition, we used an FrSky Taranis controller. You will also need zip ties, double-sided tape, a soldering iron.

The image below shows both frame and electronic components.

All components used in this build



This section lists all hardware for the frame.

DJI F450 Bottom plate1
DJI F450 Top plate1
DJI F450 legs with landing gear4
M3*8 screws18
M2 5*6 screws24
Velcro Battery Strap1
DJI Phantom Built-in Nut Upgrade Propellers 9.4x51

F450 frame components

CUAV v5 nano Package

This section lists the components in the CUAV v5 nano package.

参数描述Quantity (Default Package)Quantity (+GPS Package)
V5 nano flight controller11
DuPont Cable22
I2C/CAN Cable22
ADC 6.6 Cable22
SBUS Signal Cable11
IRSSI Cable11
DSM Signal Cable11
ADC 3.3 Cable11
Debug Cable11
Safety Switch Cable11
Voltage & Current Cable11
PW-Link Module Cable11
Power Module11
SanDisk 16GB Memory Card11
12C Expansion Board11
TTL Plate11
GPS Bracket-1


CUAV V5 nano1
Holibro Telemetry1
FrSky D4R-II 2.4G 4CH ACCST Telemetry Receiver1
DJI E305 2312E Motor (800kv,CW)4
Hobbywing XRotor 20A APAC Brushless ESC4
Power Module(Included in the CUAV V5 nano package)1
Turnigy High Capacity 5200mAh 3S 12C Lipo Pack w/XT601

Tools needed

The following tools are used in this assembly:

  • 2.0mm Hex screwdriver
  • 3mm Phillips screwdriver
  • Wire cutters
  • Precision tweezers
  • Soldering iron

Required tools


Estimated time to assemble is approximately 90 minutes (about 45 minutes for the frame and 45 minutes installing the autopilot and configuring the airframe.

  1. Attach the 4 arms to the bottom plate using the provided screws.

    Arms to bottom plate

  2. Solder ESC (Electronic Speed Controller) to the board, positive (red) and negative (black).

    Solder ESCs

  3. Solder the Power Module, positive (red) and negative (black).

    Solder power module

  4. Plug in the motors to the ESCs according to their positions.

    Plug in motors

  5. Attach the motors to the corresponding arms.

    Attach motors to arms (white) Attach motors to arms (red)

  6. Add the top board (screw into the top of the legs).

    Add top board

  7. Add damping foam to the CUAV V5 nano flight controller.

    Damping foam Damping foam

  8. Attach the FrSky receiver to the bottom board with double-sided tape.

    Attach FrSky receiver with double-sided tape

  9. Attach the telemetry module to the vehicle’s bottom board using double-sided tape.

    Attach telemetry radio Attach telemetry radio

  10. Put the aluminium standoffs on the button plate and attach GPS.

    Aluminium standoffs

  11. Plug in Telemetry (TELEM1), GPS module (GPS/SAFETY), RC receiver (RC), all 4 ESC’s (M1-M4), and the power module (Power1) into the flight controller. Attach peripherals to flight controller

    The motor order is defined in the Airframe Reference > Quadrotor x


设置完成! The final build is shown below:

Finished Setup

PX4 Configuration

QGroundControl is used to install the PX4 autopilot and configure/tune it for the frame. Download and install QGroundControl for your platform.


Full instructions for installing and configuring PX4 can be found in Basic Configuration.

First update the firmware, airframe, geometry and outputs:

  • 固件

  • Airframe

    You will need to select the Generic Quadcopter airframe (Quadrotor x > Generic Quadcopter).

    QGroundControl - Select Generic Quadcopter


  • Actuators
    • Update the vehicle geometry to match the frame.
    • Assign actuator functions to outputs to match your wiring.
    • Test the configuration using the sliders.

Then perform the mandatory setup/calibration:


Ideally you should also do:


Airframe selection sets default autopilot parameters for the frame. These may be good enough to fly with, but you should tune each frame build.

For instructions on how, start from Autotune.



This build log was provided by the Dronecode Test Flight Team.