# Holybro X500 + Pixhawk4 조립

키트 조립법과 QGroundControl의 PX4 설정법을 설명합니다.

# 주요 정보

  • 프레임: Holybro X500
  • 비행 컨트롤러: Pixhawk 4
  • 조립 시간 (예상): 2시간 (프레임 조립에 75분, 오토파일럿 설치 및 설정에 45분)
  • Assembly time (approx.): 3.75 hours (180 minutes for frame, 45 minutes for autopilot installation/configuration)

전체 X500 키트

# 부품 명세서

Holybro X500 키드 (opens new window)에는 필수 구성 요소가 포함되어 있습니다.

Additionally you will need a battery and receiver (compatible radio system) if you want to control the drone manually.

# 하드웨어

프레임과 자율비행프로그램 설치를 위한 하드웨어들 입니다.

항목 설명 수량
소켓 캡 나사 모터 고정에 사용, 스테인레스 스틸 나사 M3*5 16
탄소 섬유 튜브-암 직경 : 16mm, 길이 : 200mm 4
모터 베이스 6 개의 부품과 4 개의 나사로 구성 4 개의 너트 4
슬라이드 바 직경 : 10mm, 길이 : 250mm 2
배터리 장착 보드 두께: 2mm 1
배터리 패드 3mm 실리콘 시트 검정 1
철탑 구리 너트가 내장된 엔지니어링 플라스틱 2
십자 접시 머리 나사 스테인리스 M2.5*5mm 12
PAN/TILT 플랫폼 보드 두께: 2mm 1
행거 고무링 개스킷 내부 구멍 직경 : 10mm 검정 8
헹거 구리 너트가 내장된 엔지니어링 플라스틱 8

X500 프레임 부품

# 전자부품

항목 패키지
Pixhawk 4 1
Pixhawk4 GPS 모듈 1
I2C 스플리터 보드 2
6 ~ 6 핀 케이블 (전원) 3
4 ~ 4 핀 케이블 (CAN) 2
6 ~ 4 핀 케이블 (데이터) 1

# 필요 공구

The following tools are used in this assembly:

  • 수신기: FR SKY Taranis
  • 배터리: 4S 1300 mAh (opens new window)
  • 2.5 mm Hex screwdriver
  • 3mm Phillips screwdriver
  • 5.5 mm socket wrench or small piler
  • Wire cutters
  • Precision tweezers

# 패키지

Estimate time to assemble is 3.75 hours (180 minutes for frame, 45 minutes for autopilot installation/configuration)

  1. Start by assembling the landing gear. Unscrew the landing gear screws and insert the vertical pole (figures 1 and 2).

    Landing Figure 1: Components

    Figure 2: Landing gear components

    Landing Figure 2: Assembled

    Figure 2: Landing gear assembled

  2. Then put the 4 arms through the 4 motor bases shown in figure 3. Make sure the rods protrude the base slightly and are consistent throughout all 4 arms, and be sure to have the motor wires facing outward.

    Attach arms to motor bases

    Figure 3: Attach arms to motor bases

  3. Insert 4 nylon screws and nylon standoffs and attach the power module PM07 to the bottom plate using 4 nylon nuts as shown in Figures 4.

    Attach power module

    Figure 4: Attach power module

  4. Feed the 4 motor ESCs through each of the arms and connect the 3-wires end to the motors shown in Figure 5.

    Figure 5: Connect motors

  5. Connect the ESCs power wires onto the power module PM07, black->black and red->red, ESC PWM signal wires goes to "FMU-PWM-Out". Make sure you connect the motor ESC PWM wires in the correct order. Refer to Figure 7 for airframe motor number and connect to the corrsponding number on the PM07 board.

    ESC power module and signal wiring Figure 7: ESC power module and signal wiring

    The color on top of the motor indicate the spin direction (figure 7-1), black tip is clockwise, and white tip is counter-clockwise. Make sure the follow the px4 quadrotor x airframe reference for motor direction (figure 7-2).

    Figure 7: Motor order/direction diagram

    Figure 7-1: Motor direction

  6. Connect the 10 pin cables to FMU-PWM-in, the 6 pin cables to the PWR1 on the PM07 power module.

    Flight controller/Power module PWM and Power connections

    Figure 8: Power module PWM and power wiring

  7. If you want to mount the GPS on the top plate, you can now secure the GPS mount onto the top plate using 4 screws and nuts.

    Figure 9: Secure GPS mount onto top plate

  8. Feed the PM07 cables through the top plate. Connect the top and bottom plate by using 4 U-shaped nylon straps, screws, and nuts on each side, ensure that the motor ESC cables are inside the U-shape nylon straps like Figure 10, keep the nut loose.

    Figure 10-1: Feed power module cables through top plate

    Figure 10-2: Connecting top and bottom plate

  9. Push the arm tubes a bit into the frame and make sure the amount of protrusion (red square from Figure 11) are consistent on all 4 arms. Ensure all the motors are pointed directly upward, then tighten all the nuts and screws.

    Arms 3

  10. Put the hanger gaskets into the 4 hangers and mount them onto the bottom plate using 8 hex screws (Figure 11). The screw holes are noted by the white arrow in Figure 12. We recommend tilting the drone sideway to make the installation easier.

    Figure 11: Hanger gaskets

    Battery Mount 4

    Figure 12: Screw holes

  11. Insert the slide bars onto the hanger rings (Figure 13). Assemble the battery mount and platform board and mount them onto the slide bars as shown in Figure 14.

    Battery Mount 2: Slide bars

    Figure 13: Slide bars

    Figure 14: Battery mount on slide bars

  12. Mount the landing gear onto the bottom plate. We recommend tilting the drone sideway to make this installation process easier.

    Landing Gear

    Figure 15: Landing Gear

  13. Use the tape and stick the GPS to the top of the GPS mast and mount the GPS mast. Make sure the arrow on the gps is pointing forward (Figure 16).

    Figure 16: GPS and mast

  14. Mount the telemetry radio onto the top plate. Plug the telemetry cable into TELEM1 port and GPS module to GPS MODULE port on the flight controller. Plug the cable from PM07 FMU-PWM-in to FMU-PWM-out and PWR1 to POWER1 on the flight controller, as shown in Figure 17.

    Pixhawk 4 wiring 1

    Figure 17: Mount telemetry radio/plug in PWM and Power cables to Flight controller.

Please refer to Pixhawk 4 Quick Start for more information.

That's it. The fully assembled kit is shown below:

Assembled Kit

# 조립


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

QGroundControl is used to install the PX4 autopilot and configure/tune it for the X500 frame. Download and install (opens new window) QGroundControl for your platform.

First update the firmware and airframe:

  • Firmware
  • Airframe - You will need to select the Holybro S500 airframe (Quadrotor x > Holybro S500) QGroundControl - Select HolyBro S500 airframe

Then perform the mandatory setup/calibration:

(그림 2)

# PX4 설치 및 설정

Airframe selection sets default autopilot parameters for the frame. These are good enough to fly with, but it is a good idea to tune the parameters for a specific frame build. For instructions on how, see: Multicopter Basic PID Tuning.

# 튜닝

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