Multirotor
Multirotors are the primary use for the 305ap and the configuration it has been flight-tested in. The standard firmware (avianautomata_305ap_default) includes everything needed.
Supported Frames
With eight motor outputs, the 305ap can drive any PX4 multirotor geometry up to eight motors: quadcopter (X, +, H, wide), hexacopter, octocopter, Y6, and coaxial or custom geometries defined in QGroundControl.
Setup
- Airframe: in Vehicle Setup → Airframe, pick the closest frame (for example Generic Quadcopter) and apply. The board has no default airframe, so this step is required.
- Geometry and outputs: in Vehicle Setup → Actuators, check the motor positions and spin directions match your frame, and assign each output (MAIN 1–8) to its motor.
- Output protocol: set the protocol for every timer group the motors use. Only MAIN 1–2 default to DShot. See ESC Configuration.
- Motor test: with propellers off, spin each motor from the Actuators tab and confirm position and direction.
- Sensors, radio, flight modes and power: see QGroundControl Setup.
Example: Quad X on DShot600
| Setting | Value |
|---|---|
| Airframe | Generic Quadcopter |
| MAIN 1–4 | Motor 1–4 (positions as in the Actuators diagram) |
PWM_MAIN_TIM0 (MAIN 1–2) | DShot600 |
PWM_MAIN_TIM1 (MAIN 3–4) | DShot600 |
Mounting
- Mount the board on M3 rubber isolators through the M4 holes. Hard-mounting passes frame vibration straight into the IMUs (see Board Layout).
- Keep the flight controller away from the ESCs, battery leads and power distribution, which carry large, changing currents.
- For a reliable heading on a vehicle with busy 5 V loads (gimbal servos, companion computer, video), use a GPS + compass module on a mast. See Magnetometer.
First Flight and Tuning
Follow First Flight. PX4's default gains fly most mid-size quads. For a well-tuned vehicle, run Autotune, then refine with PID Tuning and Filter Tuning.
Useful Parameters
| Parameter | Purpose |
|---|---|
MPC_THR_HOVER | Initial hover throttle; the hover thrust estimator refines it in flight |
MPC_XY_VEL_MAX, MPC_Z_VEL_MAX_UP | Speed limits in Position mode |
MC_AIRMODE | Keep authority at zero throttle (useful for acrobatic flying) |
COM_DISARM_LAND | Disarm delay after landing |
See the PX4 multicopter documentation for frame-specific guidance.