PX4 自动驾驶用户指南 (v1.13)

# Holybro X500 V2 (Pixhawk 5X Build)

This topic provides full instructions for building the Holybro X500 V2 ARF Kit (opens new window) and configuring PX4 using QGroundControl.

The ARF ("Almost Ready to Fly") kit provides the shortest and straightforward assembly experience for those who want to jump into drone development and not spend that much time on setting up the hardware. It includes the frame, motors, ESCs, propellers and power distribution board.

In addition to the kit you will need to have the flight controller, radio transmitters, GPS and RC controller. The ARF kit can be used with most flight controllers supported by PX4.

# Key information

Full X500 V2 Kit

# Bill of materials

The Holybro X500 V2 Kit (opens new window) includes almost all the required components:

Other parts in this build(Not included in the ARF kit):

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

# Kit Hardware

This section lists all hardware for the frame and the autopilot installation.

Item Description Quantity
Bottom plate Carbon fiber (2mm thick) 1
Top plate Carbon fiber (1.5mm thick) 1
Arm Carbon fiber tube (Assembled with motors mounted) 4
Landing gear - Vertical pole Carbon fiber tube + engineering plastic 2
Landing gear - Cross bar Carbon fiber tube + engineering plastic + foam 2
Mounting Rail Diameter: 10mm length: 250mm 2
Battery mounting board Thickness: 2mm 1
Battery pad 3mm Silicone sheet black 1
Platform board Thickness: 2mm 1
Hanger & rubber ring gasket Inner hole diameter: 10mm black 8

X500V2 ARF Kit Full Package Contents

Figure 1: X500 V2 ARF Kit what's inside

# Electronics

Item Description Quantity
Pixhawk5x & Assorted Cables 1
M8N GPS Module 1
Power Module PM02D (with pre-soldered ESC power cables) 1
Motors 2216 KV880（V2 Update) 4
Holybro BLHeli S ESC 20A x4 1
433MHz Telemetry Radio / 915MHz Telemetry Radio 1

# Tools needed

Tools are included to do the assembly, however you may need:

  • Wire cutters
  • Precision tweezers

# Assembly

Estimate time to assemble is 55 min (25 minutes for frame, 30 minutes for autopilot installation/configuration)

  1. Start by assembling the payload & battery holder. Push the rubbers into grippers (Do not use sharp items to push them in!). Next, pass the holders through the holder bars with the battery holder bases as Figure 3.

    Landing Figure 1: Components

    Figure 2: Payload holder components

    Landing Figure 2: Assembled

    Figure 3: Payload holder assembled

  2. The next is to go for attaching the bottom plate to the payload holder.

    You will need the parts as shown in Figure 4. Then mount the base for power distribution board using nylon nuts as Figure 5. Finally using 8 hex screws you can join the bottom plate to the payload holder (Figure 7)

    Materials to attach bottom plate

    Figure 4: Needed Materials

    PDB mountbase

    Figure 5: PDB mount base

    PDB attachment

    Figure 6: Mounted pdb with nylon nuts

    Bottom plate Final

    Figure 7: Mounted Plate on payload holder

  3. Let's gather the stuff needed for mounting landing gear as Figure 8. Use the hex screws to join landing gears to the bottom plate. You also need to open three hex screws on each of the leg stands so you can push them into carbon fiber pipes. Do not forget to tighten them back again.

    Attach Landing Gear Stuff

    Figure 8: Required parts for landing gear attachment

    Lanfing great to bottom plate

    Figure 9: Landing gear attachment to the body

  4. We will gather all the arms now to mount the top plate. Please pay attention that the motor numbers on arms are a match with the ones mentioned on the top plate. Fortunately, motors are mounted and ESCs have been connected in advance. Start by passing through all the screws as you have the arms fixed in their own places (They have a guide as shown in Figure 11 to ensure they are in place) and tighten all nylon nuts a bit. Then you can connect XT30 power connectors to the power board. Please keep in mind that the signal wires have to be passed through the top plate such that we can connect them later to Pixhawk.

    Figure 10: Connecting arms needed materials.

    Figure 11: Guide for the arms mount

  5. Tighten all 16 screws and nuts by using both hex wrench and nut driver.

    Top plae mounted

    Figure 12: Mounted top plate

  6. Next you can mount your pixhawk on the top plate by using the stickers. It is recommended to have the direction of your Pixhawk's arrow the same as the one mentioned on the top plate.

    Flight controller mounting stickers

    Figure 13: Sticker tapes on Pixhawk

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

    Figure 14: Secure GPS mount onto companion plate

  8. 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 15).

    Figure 15: GPS and mast

  9. Finally, you can connect the Pixhawk interfaces such as telemetry radio to 'TELEM1' and motors signal cables accordingly.

Please refer to Pixhawk 5X Quick Start for more information.

That's it. The fully assembled kit is shown below (Depth camera not included in the kit):

Assembled Kit

# Install/Configure PX4

提示

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 X500 V2 airframe (Quadrotor x > Holybro X500 V2) QGroundControl - Select HolyBro S500 airframe

Then perform the mandatory setup/calibration:

Ideally you should also do:

# Tuning

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.

# Acknowledgements

This build log was provided by PX4 Team.

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