add Ardupilot and BetaFlight

EEEManchester · Nov 18, 2023 · dc6e9ab · dc6e9ab
1 parent bc4d06a
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diff --git a/1_Assembly/ArduPilot_Kakute/Auto_Tunner.png b/1_Assembly/ArduPilot_Kakute/Auto_Tunner.png
diff --git a/1_Assembly/ArduPilot_Kakute/Auto_Tunner2.png b/1_Assembly/ArduPilot_Kakute/Auto_Tunner2.png
diff --git a/1_Assembly/ArduPilot_Kakute/BLHeliSuite32_Motor_Direction.png b/1_Assembly/ArduPilot_Kakute/BLHeliSuite32_Motor_Direction.png
diff --git a/1_Assembly/ArduPilot_Kakute/DFU_check.png b/1_Assembly/ArduPilot_Kakute/DFU_check.png
diff --git a/1_Assembly/ArduPilot_Kakute/FrameType_BetaFlight.png b/1_Assembly/ArduPilot_Kakute/FrameType_BetaFlight.png
diff --git a/1_Assembly/ArduPilot_Kakute/KakuteH7_Tekko32.png b/1_Assembly/ArduPilot_Kakute/KakuteH7_Tekko32.png
diff --git a/1_Assembly/ArduPilot_Kakute/KakuteH7_Tekko32_2.jpg b/1_Assembly/ArduPilot_Kakute/KakuteH7_Tekko32_2.jpg
diff --git a/1_Assembly/ArduPilot_Kakute/Kakute_HAKRC.png b/1_Assembly/ArduPilot_Kakute/Kakute_HAKRC.png
diff --git a/1_Assembly/ArduPilot_Kakute/Kakute_Tekko.png b/1_Assembly/ArduPilot_Kakute/Kakute_Tekko.png
diff --git a/1_Assembly/ArduPilot_Kakute/Kakute_components.png b/1_Assembly/ArduPilot_Kakute/Kakute_components.png
diff --git a/1_Assembly/ArduPilot_Kakute/Kakute_prebuilt_board.png b/1_Assembly/ArduPilot_Kakute/Kakute_prebuilt_board.png
diff --git a/1_Assembly/ArduPilot_Kakute/Kakute_prebuilt_firmware.png b/1_Assembly/ArduPilot_Kakute/Kakute_prebuilt_firmware.png
diff --git a/1_Assembly/ArduPilot_Kakute/MPU6000.png b/1_Assembly/ArduPilot_Kakute/MPU6000.png
diff --git a/1_Assembly/ArduPilot_Kakute/MissionPlanner_MotorTest.png b/1_Assembly/ArduPilot_Kakute/MissionPlanner_MotorTest.png
diff --git a/1_Assembly/ArduPilot_Kakute/Mission_Planner_setup1.png b/1_Assembly/ArduPilot_Kakute/Mission_Planner_setup1.png
diff --git a/1_Assembly/ArduPilot_Kakute/Mot_Type.png b/1_Assembly/ArduPilot_Kakute/Mot_Type.png
diff --git a/1_Assembly/ArduPilot_Kakute/Motor_BetaFlightX.jpg b/1_Assembly/ArduPilot_Kakute/Motor_BetaFlightX.jpg
diff --git a/1_Assembly/ArduPilot_Kakute/Motor_ESC_Connection_step1.jpg b/1_Assembly/ArduPilot_Kakute/Motor_ESC_Connection_step1.jpg
diff --git a/1_Assembly/ArduPilot_Kakute/Motor_ESC_Connection_step2.jpg b/1_Assembly/ArduPilot_Kakute/Motor_ESC_Connection_step2.jpg
diff --git a/1_Assembly/ArduPilot_Kakute/Motor_ESC_Connection_step3.jpg b/1_Assembly/ArduPilot_Kakute/Motor_ESC_Connection_step3.jpg
diff --git a/1_Assembly/ArduPilot_Kakute/Motor_ESC_Connection_step4.jpg b/1_Assembly/ArduPilot_Kakute/Motor_ESC_Connection_step4.jpg
diff --git a/1_Assembly/ArduPilot_Kakute/PID_Parameters.png b/1_Assembly/ArduPilot_Kakute/PID_Parameters.png
diff --git a/1_Assembly/ArduPilot_Kakute/QGroundControl.png b/1_Assembly/ArduPilot_Kakute/QGroundControl.png
diff --git a/1_Assembly/ArduPilot_Kakute/Step1_STM32CubeProgrammer.png b/1_Assembly/ArduPilot_Kakute/Step1_STM32CubeProgrammer.png
diff --git a/1_Assembly/ArduPilot_Kakute/Step2_STM32CubeProgrammer.png b/1_Assembly/ArduPilot_Kakute/Step2_STM32CubeProgrammer.png
diff --git a/1_Assembly/ArduPilot_Kakute/Tekko32_Pins.png b/1_Assembly/ArduPilot_Kakute/Tekko32_Pins.png
diff --git a/1_Assembly/BetaFlight_Aocoda/Acoda_ESC.png b/1_Assembly/BetaFlight_Aocoda/Acoda_ESC.png
diff --git a/1_Assembly/BetaFlight_Aocoda/Aocoda_RCH743_pins.png b/1_Assembly/BetaFlight_Aocoda/Aocoda_RCH743_pins.png
diff --git a/1_Assembly/BetaFlight_Aocoda/Autopilot_ESC.jpg b/1_Assembly/BetaFlight_Aocoda/Autopilot_ESC.jpg
diff --git a/1_Assembly/BetaFlight_Aocoda/BetaFlight_Import_Config.png b/1_Assembly/BetaFlight_Aocoda/BetaFlight_Import_Config.png
diff --git a/1_Assembly/BetaFlight_Aocoda/BetaFlight_flash_finished.png b/1_Assembly/BetaFlight_Aocoda/BetaFlight_flash_finished.png
diff --git a/1_Assembly/BetaFlight_Aocoda/BetaFlight_interface.png b/1_Assembly/BetaFlight_Aocoda/BetaFlight_interface.png
diff --git a/1_Assembly/BetaFlight_Aocoda/Betaflight_Config_flash.png b/1_Assembly/BetaFlight_Aocoda/Betaflight_Config_flash.png
diff --git a/1_Assembly/BetaFlight_Aocoda/Betaflight_Config_save.png b/1_Assembly/BetaFlight_Aocoda/Betaflight_Config_save.png
diff --git a/1_Assembly/BetaFlight_Aocoda/Configurator_MotorDirection.png b/1_Assembly/BetaFlight_Aocoda/Configurator_MotorDirection.png
diff --git a/1_Assembly/BetaFlight_Aocoda/Configurator_MotorSetting.png b/1_Assembly/BetaFlight_Aocoda/Configurator_MotorSetting.png
diff --git a/1_Assembly/BetaFlight_Aocoda/Modes_Angle.png b/1_Assembly/BetaFlight_Aocoda/Modes_Angle.png
diff --git a/1_Assembly/BetaFlight_Aocoda/Modes_Arm.png b/1_Assembly/BetaFlight_Aocoda/Modes_Arm.png
diff --git a/1_Assembly/BetaFlight_Aocoda/Motor_ESC_Connection_step1.jpg b/1_Assembly/BetaFlight_Aocoda/Motor_ESC_Connection_step1.jpg
diff --git a/1_Assembly/BetaFlight_Aocoda/Motor_ESC_Connection_step2.jpg b/1_Assembly/BetaFlight_Aocoda/Motor_ESC_Connection_step2.jpg
diff --git a/1_Assembly/BetaFlight_Aocoda/Receiver_ports.png b/1_Assembly/BetaFlight_Aocoda/Receiver_ports.png
diff --git a/1_Assembly/BetaFlight_Aocoda/calibrate_acc.png b/1_Assembly/BetaFlight_Aocoda/calibrate_acc.png
diff --git a/1_Assembly/BetaFlight_Aocoda/current_scale.png b/1_Assembly/BetaFlight_Aocoda/current_scale.png
diff --git a/1_Assembly/BetaFlight_Aocoda/drone_battery_metter.jpg b/1_Assembly/BetaFlight_Aocoda/drone_battery_metter.jpg
diff --git a/1_Assembly/BetaFlight_Aocoda/install_betaflight.png b/1_Assembly/BetaFlight_Aocoda/install_betaflight.png
diff --git a/1_Assembly/BetaFlight_Aocoda/logo.png b/1_Assembly/BetaFlight_Aocoda/logo.png
diff --git a/1_Assembly/BetaFlight_Aocoda/power_voltage_calibration.png b/1_Assembly/BetaFlight_Aocoda/power_voltage_calibration.png
diff --git a/1_Assembly/BetaFlight_Aocoda/transmitter.png b/1_Assembly/BetaFlight_Aocoda/transmitter.png
diff --git a/1_Assembly/Chassis/Lightning_X_Lite.jpg b/1_Assembly/Chassis/Lightning_X_Lite.jpg
diff --git a/1_Assembly/Chassis/Lightning_X_Lite_step1.jpg b/1_Assembly/Chassis/Lightning_X_Lite_step1.jpg
diff --git a/1_Assembly/Chassis/Lightning_X_Lite_step2.jpg b/1_Assembly/Chassis/Lightning_X_Lite_step2.jpg
diff --git a/1_Assembly/autoploit.png → 1_Assembly/PX4_X500/autoploit.png b/1_Assembly/autoploit.png → 1_Assembly/PX4_X500/autoploit.png
diff --git a/1_Assembly/chassis.png → 1_Assembly/PX4_X500/chassis.png b/1_Assembly/chassis.png → 1_Assembly/PX4_X500/chassis.png
diff --git a/1_Assembly/drone.png → 1_Assembly/PX4_X500/drone.png b/1_Assembly/drone.png → 1_Assembly/PX4_X500/drone.png
diff --git a/1_Assembly/power.png → 1_Assembly/PX4_X500/power.png b/1_Assembly/power.png → 1_Assembly/PX4_X500/power.png
diff --git a/1_Assembly/Transmitter/protocols.png b/1_Assembly/Transmitter/protocols.png
diff --git a/2_0_Config4MuanlyFlight.md b/2_0_Config4MuanlyFlight.md
diff --git a/1_Assembly_X500.md → 2_1_X500_Pixhawk5.md b/1_Assembly_X500.md → 2_1_X500_Pixhawk5.md
@@ -1,4 +1,4 @@
-# Aesembly drone kits
+# Aesembly X500 drone kits
 This note shows main steps to build a drone from kits (hardware).
 
 Toturial in details can be found [https://docs.px4.io/main/en/frames_multicopter/holybro_x500V2_pixhawk5x.html](https://docs.px4.io/main/en/frames_multicopter/holybro_x500V2_pixhawk5x.html).
@@ -20,25 +20,25 @@ Toturial in details can be found [https://docs.px4.io/main/en/frames_multicopter
     - FRsky X8R
 ## 2. Overview of main elements 
 <figure>
-    <img src="1_Assembly/autoploit.png"
+    <img src="1_Assembly/PX4_X500/autoploit.png"
          alt="drawing" style="width:700px;"/>
 </figure> 
 
 ## 3. Steps
 ### 3.1 Build chassis
 <figure>
-    <img src="1_Assembly/chassis.png"
+    <img src="1_Assembly/PX4_X500/chassis.png"
          alt="drawing" style="width:400px;"/>
 </figure> 
 
 ### 3.2 Connect power module
 <figure>
-    <img src="1_Assembly/power.png"
+    <img src="1_Assembly/PX4_X500/power.png"
          alt="drawing" style="width:400px;"/>
 </figure> 
 
 ### 3.3 Drone is ready.
 <figure>
-    <img src="1_Assembly/drone.png"
+    <img src="1_Assembly/PX4_X500/drone.png"
          alt="drawing" style="width:400px;"/>
 </figure> 
diff --git a/2_2_LightningXLite_Kakute.md b/2_2_LightningXLite_Kakute.md
@@ -0,0 +1,87 @@
+# 1 Develop kits
+1. Drone frame:
+    - Chassis TransTEC Lightning X Lite
+    - Motor FPV 致盈EX2306 PLUS [site in Taobao](https://item.taobao.com/item.htm?spm=a1z10.5-c-s.w4002-22611654657.27.52b858176s1EdF&id=634695941707)
+2. ESC:
+    - [Tekko32 F4 Metal 4in1 65A ESC (65A)](https://holybro.com/collections/fpv-esc/products/tekko32-f4-metal-4in1-65a-esc-65a)
+    - [HAKRC 3260A ESC BLHeli-32 ](https://item.taobao.com/item.htm?spm=a1z10.5-c-s.w4002-22611654657.32.193244beujIlvo&id=624599427940)
+3. Autopilot and framework
+    - Kakute H7 v1.3 [site in Taobo](https://item.taobao.com/item.htm?spm=a1z0d.6639537/tb.1997196601.28.56917484ySIhA5&id=684452325988)     
+    - Ardupilot 4.3
+4. Onboard computer and OS
+    - Navidia NX
+    - Ubuntu 20.04
+5. Transmitter
+    - RadioLink AT9S Pro
+    - RadioLink R12DSM [Site in Tabo](https://item.taobao.com/item.htm?spm=a1z10.3-c-s.w4002-22611654662.9.59a41dc7RXezIK&id=561805355565)
+
+
+# 2. Assembly and configuratin steps for manual flights
+## 2.1 Build chassis
+First, take parts from Lightning X Lite and prepare alex keys.
+<figure>
+    <img src="1_Assembly/Chassis/Lightning_X_Lite.jpg"
+    height="200">
+</figure>
+
+We build the base like the picture below. Then, we add the upper part and use M3 screws to fiex them together. 
+
+|                        |                          |
+| ----------------------------------- | ----------------------------------- |
+| ![](1_Assembly/Chassis/Lightning_X_Lite_step1.jpg) | ![](1_Assembly/Chassis/Lightning_X_Lite_step2.jpg) |
+
+
+It is the time to place them on the chassis
+
+### 2.2 Link ESC with power and actuation modules
+Lets take Tekko32 for example.
+
+First, we its order for motors.
+<figure>
+    <img src="1_Assembly/ArduPilot_Kakute/Tekko32_Pins.png"
+         height="150">
+</figure>
+
+Then we place four motors in the correct order. We weld them like this 
+
+|                        |                          |
+| ----------------------------------- | ----------------------------------- |
+| ![](1_Assembly/ArduPilot_Kakute/Motor_ESC_Connection_step1.jpg) | ![dog](1_Assembly/ArduPilot_Kakute/Motor_ESC_Connection_step2.jpg) |
+
+
+After that, we weld a power wire with XT60 and a 35v 470uf capacitance to the power input of Tekko32.
+
+<figure>
+    <img src="1_Assembly/ArduPilot_Kakute/Motor_ESC_Connection_step3.jpg"
+         height="250">
+</figure>
+
+### 2.3 Connect autopilot to ESC 
+### Kakute H7 to Tekko32
+Following the instrcution shown below
+<figure>
+    <img src="1_Assembly/ArduPilot_Kakute/KakuteH7_Tekko32.png"
+         height="250">
+</figure>
+we weld them like 
+<figure>
+    <img src="1_Assembly/ArduPilot_Kakute/KakuteH7_Tekko32_2.jpg"
+         height="250">
+</figure>
+
+
+#### Kakute H7 to HAKRC
+<figure>
+    <img src="1_Assembly/ArduPilot_Kakute/Kakute_HAKRC.png"
+         height="200">
+</figure>
+
+### 2.4 Connect transmitter and receiver
+It can been that [RadioLink R12DSM](https://item.taobao.com/item.htm?spm=a1z10.3-c-s.w4002-22611654662.9.59a41dc7RXezIK&id=561805355565) supports S.BUS and PPM protocols.
+
+Also, check pins of Kakute at [Holybro Kakute H7 V1](https://ardupilot.org/copter/docs/common-holybro-kakuteh7.html).
+
+Therefore, the three ports of R12DSM should be connected to Kakute in the following way:
+- "+" of R12DSM ----> 5V of Kakute
+- "-" of R12DSM ----> GND of Kakute
+- "S.B/PPM" of R12DSM ----> RX6 of Kakute
diff --git a/2_3_LightningXLite_Aocoda.md b/2_3_LightningXLite_Aocoda.md
@@ -0,0 +1,78 @@
+# 1 Develop kits
+1. Drone frame:
+    - Chassis TransTEC Lightning X Lite
+    - Motor FPV 致盈EX2306 PLUS [site in Taobao](https://item.taobao.com/item.htm?spm=a1z10.5-c-s.w4002-22611654657.27.52b858176s1EdF&id=634695941707)
+2. ESC: Aocoda 60A 4 in 1 [site in Taobao](https://item.taobao.com/item.htm?spm=a1z0d.6639537/tb.1997196601.4.55627484xw5sv5&id=682898024012)
+
+3. Autopilot and framework
+    - Aocoda RC H743 [site in Taobo](https://item.taobao.com/item.htm?spm=a1z0d.6639537/tb.1997196601.4.55627484xUOMZu&id=679995875558)     
+    - BetaFlight 4.4.0
+4. Onboard computer and OS
+    - Navidia NX
+    - Ubuntu 20.04
+5. Transmitter
+    - RadioLink AT9S Pro
+    - RadioLink R12DSM [Site in Tabo](https://item.taobao.com/item.htm?spm=a1z10.3-c-s.w4002-22611654662.9.59a41dc7RXezIK&id=561805355565)
+6. Work station
+    - Ubuntu 20.04
+
+# 2 Assembly MAVs
+## 2.1 Build chassis
+First, take parts from Lightning X Lite and prepare alex keys.
+<figure>
+    <img src="1_Assembly/Chassis/Lightning_X_Lite.jpg"
+    height="200">
+</figure>
+
+We build the base like the picture below. Then, we add the upper part and use M3 screws to fiex them together. 
+
+|                        |                          |
+| ----------------------------------- | ----------------------------------- |
+| ![](1_Assembly/Chassis/Lightning_X_Lite_step1.jpg) | ![](1_Assembly/Chassis/Lightning_X_Lite_step2.jpg) |
+
+
+It is the time to place them on the chassis
+
+### 2.2 Link ESC with power and actuation modules
+Lets take Tekko32 for example.
+
+First, we its order for motors.
+<figure>
+    <img src="1_Assembly/BetaFlight_Aocoda/Acoda_ESC.png"
+         height="250">
+</figure>
+
+We weld a power wire with XT60 and a 35v 470uf capacitance to the power input of Acoda ESC. Then, we weld four motors in the correct order. We weld them like this 
+
+|                        |                          |
+| ----------------------------------- | ----------------------------------- |
+| ![](1_Assembly/BetaFlight_Aocoda/Motor_ESC_Connection_step1.jpg) | ![dog](1_Assembly/BetaFlight_Aocoda/Motor_ESC_Connection_step2.jpg) |
+
+
+### 2.3 Connect autopilot to ESC 
+
+We can find the pins of ESC and autopilot at the [Aocoda 60A 4 in 1](https://item.taobao.com/item.htm?spm=a1z0d.6639537/tb.1997196601.4.55627484xw5sv5&id=682898024012) and [Aocoda RC H743](https://item.taobao.com/item.htm?spm=a1z0d.6639537/tb.1997196601.4.55627484xUOMZu&id=679995875558).  
+
+<figure>
+    <img src="1_Assembly/BetaFlight_Aocoda/Aocoda_RCH743_pins.png"
+         height="400">
+</figure>
+
+More specifically, they share the same strcture and we can connect them directly like this
+<figure>
+    <img src="1_Assembly/BetaFlight_Aocoda/Autopilot_ESC.jpg"
+         height="250">
+</figure>
+
+
+## 2.4 Connect receiver to autopilot
+It can been from [Site in Tabo](https://item.taobao.com/item.htm?spm=a1z10.3-c-s.w4002-22611654662.9.59a41dc7RXezIK&id=561805355565) that R12DSM supports S.BUS and PPM protocols working with 4.8v-6v.
+
+Also, check pins of Aocoda and find RX1 is for receivers. Note that R12DSM needs to be connected 5v instead of 4.5v (example in the image).
+
+
+Therefore, the three ports of R12DSM should be connected to Kakute in the following way:
+- "+" of R12DSM ----> 5V of Aocoda
+- "-" of R12DSM ----> GND of Aocoda
+- "S.B/PPM" of R12DSM ----> RX1 of Aocoda
+