DJI Flamewheel 450 with distance sensor and RTK GPS
- Autopilot: Pixhawk 3 Pro
- Frame: DJI Flamewheel 450
- Motors: 3DR Iris Plus 950kv repranded T-Motors MN2213
- ESCs: Hobbywing XRotor 35A Micro 3-6S BLHeli
- Blades: Graupner 10"x5" (You need to print these adapters to be M6 compatible)
- Distance sensor: Lidar-Lite V3
- GPS: Here+ RTK GPS
- Telemetry: 3DR Telemetry
- Battery: Roxxy LiPo - 4S, 4000mAh
In addition we use a FrSky X4R-SB 3/16ch 2.4Ghz receiver and a FrSky Taranis controller. You will also need zip ties, double sided tape, a soldering iron and a 3D printer in case you use the same Blades, for this build. The GPS mast was reused from an Intel Aero.
The Pixhawk 3 Pro can be attached using the double sided tape because the IMU inside is already dampened.
In this setup the Pixhawk 3 Pro is rotated by 180 degrees so that it's easier to access the SD card. But if you rotate the base plate by 180 degrees instead, the flight controller board can be mounted facing forward. Either way works, just make sure to set the board rotation correctly in QGC afterwards.
Wiring and connections
General pinout for the Pixhawk 3 Pro can be found here.
The 3DR Telemetry does not come with a JST GH connector which the Pixhawk 3 Pro uses. The pinout remains the same and just the plug needs to be changed. Use the Telem 1 port on the Pixhawk 3 Pro.
|pin||Pixhawk 3 Pro Telem 1||3DR Telemetry|
The pinout for the Lidar Lite V3 and the Pixhawk 3 Pro I2C 1 port is as follows.
|pin||Pixhawk 3 Pro I2C 1||Lidar Lite V3|
|2||SCL||- (Power enable)|
|3||SDA||- (Mode control)|
Here+ RTK GPS
The Here+ GPS comes with an 8 pin connector suited for the Pixhawk 2. In order to use it with the Pixhawk 3 Pro (or a Pixracer), a 6 pin connector has to be used and pin 6 and 7 are not needed (see below). The additional pins are for the safety button and can be attached as well if needed. More information on the pinout can be found in this document, page 17.
|pin||Here+ GPS||pin||Pixhawk 3 Pro GPS|
General documentation on how to setup your quad in QGC can be found here.
Select the airframe
DJI Flame Wheel 450 in
QGC -> Airframe -> Quadrotor x.
To enable the Lidar-Lite V3 (connected via I2C), the parameter
has to be set to
2. This can be done using the NuttX shell and the command
param set SENS_EN_LL40LS 2. See
here how to get a shell (Note that
this is only a temporary solution, because QGC currently doesn't
support setting the value to 2 directly).
RTK GPS is plug and play. For more instructions see here.
Set the following parameters as well:
EKF2_HGT_MODE=2: this makes sure the Lidar-Lite is used as height source
MAV_PROTO_VER=2: use Mavlink protocol version 2
CBRK_IO_SAFETY=22027: disable the safety button
EKF2_GPS_POS_Z: set the GPS device offset with respect to the board (NED coordinates).