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54 lines
1.6 KiB
Markdown
54 lines
1.6 KiB
Markdown
# Brief assembly guide
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Soldered components ([schematics variant](https://miro.com/app/board/uXjVN-dTjoo=/?moveToWidget=3458764612338222067&cot=14)):
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<img src="img/assembly/1.jpg" width=600>
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<br>Use double-sided tape to attach ESP32 to the top frame part (ESP32 holder):
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<img src="img/assembly/2.jpg" width=600>
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<br>Use two washers to screw the IMU board to the frame:
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<img src="img/assembly/3.jpg" width=600>
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<br>Screw the IMU with M3x5 screws as shown:
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<img src="img/assembly/4.jpg" width=600>
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<br>Install the motors, attach MOSFETs to the frame using tape:
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<img src="img/assembly/5.jpg" width=600>
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<br>Screw the ESP32 holder with M1.4x5 screws to the frame:
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<img src="img/assembly/6.jpg" width=600>
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<br>Assembled drone:
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<img src="img/assembly/7.jpg" width=600>
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## Motor directions
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> [!WARNING]
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> The drone above is an early build, and it has **inversed** motor directions scheme. The photos only illustrate the assembly process in general.
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Use standard motor directions scheme:
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<img src="img/motors.svg" width=200>
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Motors connection table:
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|Motor|Position|Direction|Prop type|Motor wires|GPIO|
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|Motor 0|Rear left|Counter-clockwise|B|Black & White|GPIO12 *(TDI)*|
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|Motor 1|Rear right|Clockwise|A|Blue & Red|GPIO13 *(TCK)*|
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|Motor 2|Front right|Counter-clockwise|B|Black & White|GPIO14 *(TMS)*|
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|Motor 3|Front left|Clockwise|A|Blue & Red|GPIO15 *(TD0)*|
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## Motors tightening
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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:
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<img src="img/motor-tape.jpg" width=600>
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