Matrice 100 (Pixhawk 1)
The DJI® Matrice quadcopter is a fully customizable and programmable flight platform. This build log provides build and configuration instructions for using the frame with the 3DR Pixhawk flight controller.
Key information:
Frame: DJI Matrice 100
Flight controller: Pixhawk 1
Parts List
DJI Matrice 100 Just ESCs motors, and frame.
Motor Connections
See the Pixhawk Wiring Quickstart for autopilot assembly instructions.
Wiring Diagram
Wiring Harness
PWM Connections
Other views
Autopilot Outputs
| Output | Rate | Actuator |
|---|---|---|
MAIN1 | 400 Hz | Front right, CCW |
MAIN2 | 400 Hz | Back left, CCW |
MAIN3 | 400 Hz | Front left, CW |
MAIN4 | 400 Hz | Back right, CW |
AUX1 | 50 Hz | RC AUX1 |
AUX2 | 50 Hz | RC AUX2 |
AUX3 | 50 Hz | RC AUX3 |
Parameters
At high throttle the inner loop causes oscillations with default x quad gains. At low throttle, higher gains give a better response, this suggests that some gain scheduling based on the throttle may improve the overall response and this could be implemented in mc_att_control. For now we will just tune it so that there are no oscillations at low or high throttle, and take the bandwidth hit at low throttle.
MC_PITCHRATE_P: 0.05
MC_PITCHRATE_D: 0.001
The battery has 6 cells instead of the default 3
BAT_N_CELLS: 6
Video
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