DJI 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

{% youtube %}https://www.youtube.com/watch?v=3OGs0ONemGc{% endyoutube %}