Open Modular Drone - TIRREX Project

Version 1.0.1

Site de ressource pour l'assemblage et l'utilisation des drones Tirrex

Notice-de-configuration

First Start

Set up the wifi, you have to connect to the drone wifi with following SSID :“drone_wifi_bridge” and password : “password”. You can configure it by going on the adress 192.168.4.1/wifi set up the wifi id and password corresponding to your rooter

Put a static ip adress in the dhcp server of your router.

Connect to the esp32 server with

192.168.*.*/config0 with * the ip adress of your drone and set up following parameters:

config0_esp32_frelon.png{width=“148” height=“216”}

and on 192.168.*.*/config1 with following parameters :

config1_esp32_frelon.png{width=“149” height=“217”}

ESC

Tune ESC Gains by following this tutorial (see bottom).

Frelon avec moteur 1404 Xing 4600 : ESC Configurator - for Bluejay, BLHeli_S and AM32.pdf

F_relon avec moteur Xing 6000 Kv : ESC Configurator - for Bluejay, BLHeli_S and AM32 (2).pdf

Set up PX4 drone parameters

a good start for the parameters can be found here : frelon3_indoor_21_05_2024.params

You can also choose to make all the configuration again from start by tuning following points :

  1. Airframe : Quadrotor X → apply and restart
  2. bind la radiocommande avec le récepteur RC en appuyant sur le boutton du récepteur tout en démarrant le drone et en faisant “bind” sur l’emmetteur. → Redémarrer le drone
  3. Calibrate the RC
  4. Tune flight modes (arm / kill / offboard / flight modes)
  5. Power : number of cells 2 | Empty 3.5V | Full 4.2V | Source : Power Module et faire la calibration en mesurant la tension
  6. Parameter :
    • Sys_has_mag → 0
    • Ser_TEL1_BAUD → 921600
    • UXRCE_DDS_CFG → TELEM2
    • EKF2_HGT_REF → Vision
    • DSHOT_TEL_CFG → telem/serial4 Depending on a free telem port available on the pixhawk
  7. Actuator →
    • DShot 600
  8. Sensor calibration → do all the calibration and change orientation if needed
Last updated on 6 Jan 2025
Published on 6 Jan 2025
 Edit on GitHub