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Updates to main readme. Add much more info to usage article. Move simulator building to simulation's readme. Improve assembly article. Many fixes. Updates in diagrams.
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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