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Merge branch 'master' into stm

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Oleg Kalachev
2026-08-11 23:17:04 +03:00
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docs/assembly.md
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@@ -27,3 +27,29 @@ Soldered components ([schematics variant](https://miro.com/app/board/uXjVN-dTjoo
<br>Assembled drone:
<img src="img/assembly/7.jpg" width=600>
See an alternative assembly process photos here: https://drive.google.com/drive/folders/1FG5BH9RCzdf1XmJcC70PymiRMXcz6Fx7?usp=sharing.
## Motor directions
> [!WARNING]
> The drone above is an early build, and it has **inversed** motor directions scheme. The photos only illustrate the assembly process in general.
Use standard motor directions scheme:
<img src="img/motors.svg" width=200>
Motors connection table:
|Motor|Position|Direction|Prop type|Motor wires|GPIO|
|-|-|-|-|-|-|
|Motor 0|Rear left|Counter-clockwise|B|Black & White|GPIO12 *(TDI)*|
|Motor 1|Rear right|Clockwise|A|Blue & Red|GPIO13 *(TCK)*|
|Motor 2|Front right|Counter-clockwise|B|Black & White|GPIO14 *(TMS)*|
|Motor 3|Front left|Clockwise|A|Blue & Red|GPIO15 *(TD0)*|
## Motors tightening
Motors should be installed very tightly — any vibration may lead to bad attitude estimation and unstable flight. If motors are loose, use tiny tape pieces to fix them tightly as shown below:
<img src="img/motor-tape.jpg" width=600>