DJI FlameWheel 450 + CUAV V5+ Build

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

Key information

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

Finished setup 1

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.

Description Quantity
DJI F450 Bottom plate 1
DJI F450 Top plate 1
DJI F450 legs with landing gear 4
M3*8 screws 18
M2 5*6 screws 24
Velcro Battery Strap 1
DJI Phantom Built-in Nut Upgrade Propellers 9.4x5 1

F450 frame components

CUAV V5+ Package

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

Description Quantity (Default Package) Quantity (+GPS Package)
V5+ Autopilot 1 1
DuPont Cable 2 2
I2C/CAN Cable 2 2
ADC 6.6 Cable 2 2
SBUS Signal Cable 1 1
IRSSI Cable 1 1
DSM Signal Cable 1 1
ADC 3.3 Cable 1 1
Debug Cable 1 1
Safety Switch Cable 1 1
Voltage & Current Cable 1 1
PW-Link Module Cable 1 1
Power Module 1 1
SanDisk 16GB Memory Card 1 1
12C Expansion Board 1 1
TTL Plate 1 1
GPS Bracket - 1

CUAV V5+ components


Description Quantity
CUAV V5+ 1
Holibro Telemetry 1
FrSky D4R-II 2.4G 4CH ACCST Telemetry Receiver 1
DJI E305 2312E Motor (800kv,CW) 4
Hobbywing XRotor 20A APAC Brushless ESC 4
Power Module(Included in the CUAV V5+ package) 1
Turnigy High Capacity 5200mAh 3S 12C Lipo Pack w/XT60 1

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 double-sided tape (3M) to the CUAV V5+ flight controller (it has internal vibration damping, so no need to use foam).

    Tape CUAV v5+

  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.

  11. Plug in Telemetry (TELEM1) and GPS module (GPS/SAFETY) to the flight controller. Attach GPS Attach GPS

  12. Plug in the 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

That's it! The final build is shown below:

Finished Setup

Vehicle Configuration/Calibration

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 and airframe:

  • Firmware
  • Airframe

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

    QGroundControl - Select Generic Quadrotor X airframee

Then perform the mandatory setup/calibration:

Ideally you should also do:


Firmware installation sets default autopilot parameters that have been configured for the selected frame. These are good enough to fly with, but it is a good idea to tune the parameters for a specific frame build.



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

© PX4 Dev Team. License: CC BY 4.0            Updated: 2023-05-04 03:12:52

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