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Project Description
This project involves the development of a high-performance multicopter platform utilizing the Holybro Pix32 V6 flight controller. The vehicle is designed for advanced autonomous operations with precise altitude control, accurate positioning, and real-time telemetry. It integrates DroneCAN-based ESCs, RTK-capable GPS modules, a radar altimeter, and a long-range LiDAR for optimal performance in outdoor and semi-structured environments. The architecture emphasizes redundancy, modular communication, and tunable flight behavior using the ArduPilot open-source firmware.
The aim is to ensure seamless interoperability between all components, robust logging and diagnostics, and a configuration that can serve both development and production environments with minimal modification.
Methodology
The integration process followed a structured and iterative approach to ensure hardware compatibility, optimal firmware configuration, and field readiness:
1. Component Selection & Compatibility Mapping
- Selected components were verified to support ArduPilot 4.4+ firmware and interface via either CAN** or UART.
- All components were checked for update rate, operating voltage, supported parameters, and physical connector types.
- Pix32 V6 port mapping was referenced to ensure optimal allocation of UART and CAN peripherals.
2. Firmware & Initial Setup
- The Pix32 V6 flight controller was flashed with the latest ArduCopter firmware under Pixhawk6x category (compatible with Pix32 V6).
- USB connection was used for initial setup, followed by full power-up using the main power module to avoid low voltage on peripherals.
- All required peripherals were connected (ESCs, GPS modules, LiDAR, radar) using verified wiring for JST-GH and CAN connectors.
3. CAN and Serial Configuration
- CAN1 and CAN2 ports were activated using:
CAN_P1_DRIVER = 1CAN_P2_DRIVER = 1CAN_D1_PROTOCOL = 1(DroneCAN for ESCs, GPS, radar, etc.)
- Unique DroneCAN Node IDs and baud rates were assigned where needed.
- Serial ports were enabled and configured with:
- Correct
SERIALx_PROTOCOL,SERIALx_BAUD - Rangefinder and RTK telemetry settings based on manufacturer recommendations
- Correct
4. Parameter Configuration by Component
Each component was configured in detail:
- ESCs (Hobbywing X6 Plus):
- CAN communication enabled, ESC ID set via DroneCAN GUI
CAN_D1_UC_ESC_BM = 15,CAN_D1_UC_OPTION = 128- Telemetry for RPM, current, temperature validated
- GPS (Holybro F9P Rover + secondary):
- RTK and GPS blending configured
GPS_AUTO_SWITCH = 2,GPS_BLEND_MASK = 7,GPS1_TYPE = 9- Survey-in setup on base module through Mission Planner
- Radar Altimeter (Ainstein US-D1):
- Configured via CAN or Serial (depending on version)
RNGFND1_TYPE = 33,RNGFND1_MAX = 45,RNGFND1_GNDCLRtuned based on mounting
- LiDAR (Benewake TF03):
- Serial setup on
SERIAL4 RNGFND2_TYPE = 27,RNGFND2_MAX = 35,RNGFND2_GNDCLRmeasured
- Serial setup on
5. System Calibration & Testing
- Compass orientation corrected via
COMPASS_ORIENTand external compass prioritized - ESC function and direction verified via Mission Planner Motor Test
- Rangefinder values checked via Mission Planner “Status” tab
- GPS signal confirmed via RTK FIX and RTCM data injection monitoring
- Logs reviewed to confirm all sensor data is present and properly timestamped
6. Redundancy & Fail-Safe Planning
- Dual GPS blending used for positioning robustness
- Both radar and LiDAR configured for rangefinding fallback
- Battery voltage and current monitoring calibrated using
BATT_*parameters - Fail-safe behaviors (e.g. RTL, Land) configured based on GNSS and altitude sensor status
7. Documentation and Verification
- All parameter settings exported and stored for reproducibility
- Reference links embedded for each component’s ArduPilot setup documentation
- A summary “quick setup table” created for field engineers
Results and Deliverables
Hobbywing DroneCAN ESC Integration Details
Hobbywing ESCs with CAN interfaces support DroneCAN. This allows the autopilot to control the ESC/motor via CAN and also retrieve RPM, voltage, current, and temperature per motor.
Connection and Configuration
- Connect ESCs (using 4-pin I2C splitter if needed) to CAN1 port.
- Wire Note:
CAN_Hwire color may vary between red and gray depending on model.
Required Parameters:
CAN_P1_DRIVER = 1 ; First CAN driver
CAN_D1_PROTOCOL = 1 ; DroneCAN
CAN_D1_UC_ESC_BM = 15 ; Send outputs 1-4 over CAN
CAN_D1_UC_OPTION = 128 ; Check 'Hobbywing ESC' manually or set value
Configuring ESCs
By default, ESCs are set to:
- Baudrate: 500,000 (incorrect)
- Node IDs: All set to 1 (conflict)
To test ESCs before reconfiguration:
- Disconnect all other DroneCAN devices from CAN1
- Set:
CAN_P1_BITRATE = 500000 - Reboot autopilot and power ESCs
- Motors should stop beeping
- Go to Mission Planner → Setup → Motor Test and test motor spin
Permanent configuration steps:
-
Keep
CAN_P1_BITRATE = 500000 -
Download DroneCAN GUI Tool (v1.2.25+)
-
Determine SLCAN or MAVLink COM port
-
Open DroneCAN GUI and connect to port
-
Set
Local Node ID, open Panels → Hobbywing ESC Panel -
For each ESC:
- Set Baudrate to
1,000,000 - Set ThrottleID and NodeID to motor number (1–4)
- Optionally:
Msg1Rate(RPM)Msg2Rate(voltage/current/temp)
- Set Baudrate to
-
Repeat for each ESC
-
Set:
CAN_P1_BITRATE = 1000000
Testing and Telemetry
Once setup:
- ESCs report RPM, voltage, current, and temperature
- Data available in:
- Mission Planner → Status tab
- Onboard logs (BIN files)
- Perform motor spin test using Motor Test in Mission Planner
For full documentation:
ArduPilot Hobbywing ESC Setup
Ainstein US-D1 Radar Altimeter Integration
The Ainstein US-D1 is a compact, high-precision radar altimeter with the following specs:
- Range: up to 50 meters
- Update Rate: 100 Hz
- Weight: 110g
Connecting to Autopilot
The US-D1 is available in two versions: Serial and CAN.
Serial Version (example using SERIAL4)
SERIAL4_PROTOCOL = 9 ; Rangefinder (Lidar)
SERIAL4_BAUD = 115 ; 115200 baud
RNGFND1_TYPE = 11 ; USD1 Serial
RNGFND1_MIN = 0.5 ; Minimum range in meters
RNGFND1_MAX = 45 ; Maximum range in meters
RNGFND1_GNDCLR = 0.1 ; Distance from sensor to ground when landed
CAN Version
CAN_P1_DRIVER = 1 ; Enable CAN1
CAN_D1_PROTOCOL = 7 ; USD1 Protocol
RNGFND1_TYPE = 33 ; USD1_CAN
RNGFND1_MIN = 0.5
RNGFND1_MAX = 45
RNGFND1_GNDCLR = 0.1
Testing the Sensor
- View output via Mission Planner → Status tab
- Look for field:
rangefinder1
Using with AP_Periph CAN Node
If your flight controller lacks an available UART or CAN port, the Serial version of USD1 can be used with an AP_Periph CAN Node (e.g., Matek L431).
- Flash the AP_Periph with firmware supporting rangefinders.
- Connect USD1 Serial to UART2 (TX2/RX2) of the node.
- On AP_Periph, set:
RNGFND_BAUDRATE = 115
RNGFND_MAX_RATE = 50
RNGFND_PORT = 1 ; UART2 (TX2, RX2)
RNGFND1_TYPE = 11
RNGFND1_ORIENT = 0
🔧 RNGFND_PORT = 0 → RX1/TX1
RNGFND_PORT = 1 → RX2/TX2
- On autopilot:
RNGFND1_TYPE = 24 ; DroneCAN
RNGFND1_ORIENT = 25 ; Downward
RNGFND1_ADDR = 0 ; For sensor_id 0
Check CAN Inspector in Mission Planner for:
uavcan_equipment_range_sensor_Measurement
Use this to verify sensor_id.
For more:
Ainstein US-D1 Product Page
ArduPilot USD1 Integration
Benewake TF03 LiDAR Integration
The Benewake TF03 is a robust time-of-flight LiDAR sensor capable of operating in outdoor conditions with long-range measurements. It is suitable for terrain following, obstacle detection, and precision landing applications.
Specifications
- Range: 50–180 meters (depending on surface reflectivity)
- Update Rate: 100 Hz
- Weight: 77 g
- Interface: UART (default), can be configured for CAN
Benewake Downloads
Other models: TF02 (20–40m), TF-Luna (3–8m), also supported
Connecting to Autopilot (UART Mode)
The TF03 can be connected to any free UART (e.g., SERIAL4 or SERIAL5).
Example (using SERIAL5):
SERIAL5_PROTOCOL = 9
SERIAL5_BAUD = 115
RNGFND1_TYPE = 27 ; Benewake TF03
RNGFND1_MIN = 0.1
RNGFND1_MAX = 180 ; adjust based on environment
RNGFND1_GNDCLR = 0.1 ; sensor height from ground when landed
RNGFND1_ORIENT = 25 ; downward
Note: UART TX/RX wires may be color-coded differently — refer to manufacturer’s datasheet
Using TF03 with DroneCAN
TF03 supports CAN mode if configured via Benewake’s configuration tool.
CAN Setup Parameters:
RNGFND1_TYPE = 34 ; Benewake DroneCAN
CAN_P1_DRIVER = 1
CAN_D1_PROTOCOL = 1
RNGFND1_MIN = 0.1
RNGFND1_MAX = 180
RNGFND1_ORIENT = 25
Follow DroneCAN setup instructions after flashing the correct firmware and verifying node IDs.
Sensor Testing
To verify the TF03 is working:
- Open Mission Planner → Flight Data → Status tab
- Look for:
rangefinder1 - Move object in front of sensor and check if distance changes
For more:
ArduPilot Benewake Integration
Recommended Configuration Summary
This section summarizes the best practices and optimal port/protocol configuration for all components used in the multicopter build. Decisions are based on interface stability, bandwidth, compatibility with ArduPilot, and ease of integration.
| Component | Interface | Port (Pix32 V6) | Protocol / Type | Baud Rate / Notes |
|---|---|---|---|---|
| Hobbywing X6 Plus | CAN | CAN1 | DroneCAN ESC (UC) | 1,000,000 bps (requires configuration) |
| Holybro H-RTK F9P | CAN | CAN1 | DroneCAN GPS + Compass | Auto-config (GPS_TYPE = 9) |
| Mateksys M9N-G4-3100 | UART | SERIAL4 (GPS2/UART8) | NMEA GPS | 115200 bps |
| Ainstein US-D1 | CAN | CAN1 | USD1_CAN | Use CAN_D1_PROTOCOL = 7 |
| Benewake TF03 | UART | SERIAL5 (Telem3) | TF03 UART | 115200 bps – stable & avoids CAN bus load |
| RC Receiver (CRSF) | UART | SERIAL6 (USER/UART3) | RCIN | 420000-115200 bps (usually 115200 default) |
⚙️ Why this configuration?
- CAN1 is used for all DroneCAN devices (ESC + GPS + US-D1), keeping them on a dedicated, high-speed bus.
- TF03 remains on UART to reduce CAN bus congestion and avoid node ID conflicts.
- M9N GPS provides redundancy via UART without competing for CAN bandwidth.
- CRSF or FPort receivers require a true UART and work reliably on SERIAL6.
Updated Parameter Set
General CAN & Serial Setup
CAN_P1_DRIVER = 1
CAN_D1_PROTOCOL = 1 ; For DroneCAN ESC & GPS
CAN_D1_UC_ESC_BM = 15 ; Outputs 1–4 to CAN
CAN_D1_UC_OPTION = 128 ; Hobbywing ESC
SERIAL4_PROTOCOL = 5 ; GPS (Mateksys)
SERIAL4_BAUD = 115200
SERIAL5_PROTOCOL = 9 ; Rangefinder (TF03 UART)
SERIAL5_BAUD = 115200
SERIAL6_PROTOCOL = 23 ; RC input (CRSF)
SERIAL6_OPTIONS = 0
SERIAL7_PROTOCOL = 10 ; SLCAN diagnostics (optional)
GPS Configuration
GPS_TYPE = 9 ; DroneCAN (F9P)
GPS_TYPE2 = 1 ; UART (M9N)
GPS_AUTO_CONFIG = 1
GPS_AUTO_SWITCH = 1
Rangefinder Configuration
RNGFND1_TYPE = 33 ; Ainstein US-D1 CAN
RNGFND1_MIN = 0.5
RNGFND1_MAX = 45
RNGFND1_GNDCLR = 0.1
RNGFND1_ORIENT = 25
RNGFND2_TYPE = 27 ; Benewake TF03 UART
RNGFND2_MIN = 0.1
RNGFND2_MAX = 180
RNGFND2_GNDCLR = 0.1
RNGFND2_ORIENT = 25
EKF3 Height Source
EK3_SRC1_POSZ = 2 ; Rangefinder
EK3_RNG_USE_HGT = 70
EK3_ALT_SOURCE = 0 ; Baro default
Compass Setup
COMPASS_USE = 0 ; Disable internal
COMPASS_USE2 = 1 ; Enable external
COMPASS_AUTO_ROT = 2
This configuration prioritizes clean bus separation, reduces cross-talk, and ensures high-priority rangefinders and GPS units are given the bandwidth they need.
H-RTK F9P (RTK GPS) Integration & Best Practices
The Holybro H-RTK F9P provides centimeter-level accuracy using RTK (Real Time Kinematic) positioning. It requires two GPS modules: a rover (on the UAV) and a base station for correction data. RTK significantly improves GPS accuracy.
Recommended Setup Overview
| Module | Interface | Port (Pix32 V6) | Type | Baud Rate / Notes |
|---|---|---|---|---|
| H-RTK Rover | CAN | CAN1 | DroneCAN | Auto Baud, GPS_TYPE = 9 |
| H-RTK Base | UART | via Telemetry Radio | RTCM Out | 57600 or 115200 typical |
Use Holybro SiK Telemetry Radio v3 or any MAVLink-compatible telemetry set.
Best Configuration
Parameters for Rover (DroneCAN version):
CAN_P1_DRIVER = 1
CAN_D1_PROTOCOL = 1
GPS_TYPE = 9 ; DroneCAN
NTF_LED_TYPES = 231 ; Enable DroneCAN LED status
COMPASS_USE2 = 1
COMPASS_AUTO_ROT = 2
If using two GPSs, use:
GPS_TYPE2 = 1 ; Secondary GPS (UART)
GPS_AUTO_SWITCH = 2 ; Use blending
GPS_BLEND_MASK = 7 ; Blend horizontal, vertical, and speed
Disable safety switch if no external switch is present:
BRD_SAFETY_DEFLT = 0
RTK Base Station Setup in Mission Planner
- Open Mission Planner → Setup → RTK/GPS Inject
- Choose correct COM port and connect
- Enter
SurveyIn Acc= 2 (meters or better) - Enter
Survey Time= 60 seconds or more - Click Restart to begin surveying
Survey Status:
- In Progress: Surveying ongoing
- Position is valid: Survey complete
- Use FixedLLA: Store current position as fixed base location
After survey, click “Save Current Pos”, name it, and click “Use” next time for instant setup.
RTK Status Indicators
- RTK Float: Intermediate accuracy (centimeter-level with correction)
- RTK Fixed: Best accuracy (millimeter-level)
- Orange LED on F9P:
- Blinking: Receiving RTCM data
- Solid: RTK Fixed solution achieved
F9P Internal Configuration via DroneCAN
- Go to Mission Planner → Setup → Optional Hardware → DroneCAN
- Click MAVLink CAN1 to query node
- Select Menu → Parameters
- Modify internal F9P parameters as needed
- Click Commit Params to save
Compass Setup (F9P with IST8310)
If compass calibration fails:
COMPASS_ORIENT = 6 ; Yaw270 (orientation fix for IST8310)
Calibrate compass via Setup → Mandatory Hardware → Compass, set external GPS compass as priority = 1
Notes
- Make sure autopilot is powered by a power module, not USB-only, during setup.
- Firmware: Use ArduCopter 4.1.5+ to allow auto node ID allocation for multiple CAN GPS units
- Multiple aircraft using same base station must use consistent RTCM protocol/rates