# 大疆Matrice 100 (Pixhawk 1)
The DJI® Matrice quadcopter is a fully customizable and programmable flight platform. This build log provides build and configuration instructions for using the frame with the 3DR Pixhawk flight controller.
- Frame: DJI Matrice 100
- Flight controller: Pixhawk 1
* [DJI Matrice 100](http://store.dji.com/product/matrice-100) Just ESCs motors, and frame.
# Motor Connections
See the Pixhawk Wiring Quickstart for autopilot assembly instructions.
# Wiring Diagram
# Wiring Harness
# PWM Connections
# Other views
# Autopilot Outputs
|MAIN1||400 Hz||Front right, CCW|
|MAIN2||400 Hz||Back left, CCW|
|MAIN3||400 Hz||Front left, CW|
|MAIN4||400 Hz||Back right, CW|
|AUX1||50 Hz||RC AUX1|
|AUX2||50 Hz||RC AUX2|
|AUX3||50 Hz||RC AUX3|
- At high throttle the inner loop causes oscillations with default x quad gains. At low throttle, higher gains give a better response, this suggests that some gain scheduling based on the throttle may improve the overall response and this could be implemented in mc_att_control. For now we will just tune it so that there are no oscillations at low or high throttle, and take the bandwidth hit at low throttle.
- MC_PITCHRATE_P: 0.05
- MC_PITCHRATE_D: 0.001
- The battery has 6 cells instead of the default 3
- BAT_N_CELLS: 6