Bill of Materials

August 17, 2026 · View on GitHub

The following is an example of the hardware components necessary to build a quadcopter supporting ALL of aerial-autonomy-stack's capabilities, including perception and multi-robot communication/swarming for about 6,000 USD

aircraft

Example AAS Quadcopter

#	Part	Description	Cost (USD)	Link
1	Holybro X650 Almost-ready-to-fly Kit	Quadcopter frame, motors, ESCs, propellers	699	URL
2	Holybro H-RTK ZED-F9P Ultralight	GNSS module (GPS, GLONASS, Galileo, BeiDou)	279	URL
3	Holybro Fixed Carbon Fiber GPS mount	GNSS module support	12	URL
4	Holybro Microhard Telemetry Radio V2*	Point-to-multipoint telemetry (1 ground + 1 per drone)	449	URL
5	RadioMaster Boxer RC CC2500	Radio controller	100	URL
6	RadioMaster R86C V2 Receiver	Receiver for the radio controller	28	URL
7	Matek Power Module PM12S-4A	5V and 12V supply for Doodle and Jetson	20	URL
8	Tattu G-Tech 6S 8000mAh 25C 22.2V	Lipo battery pack with XT60	162	URL
9	Pixhawk Jetson Baseboard Bundle	NVIDIA Orin NX 16GB + SSD + Pixhawk 6X + CSI ArduCam	1450	URL
10	ASIX AX88772A USB2.0 Ethernet Adapter	1 for `AIR_SUBNET`, 1 for `SIM_SUBNET` (for HITL only)	18	URL
11	Doodle Labs RM-2450-11N3	2.4GHz Nano radio module (1 ground + 1 per drone)	1700	URL
12	Doodle Labs EK-2450-11N3	Nano carrier/evaluation kit (1 ground + 1 per drone)	290	URL
13	DJI Livox Mid-360S**	LiDAR sensor	679	URL
14	Livox three-wire aviation connector**	Power and ethernet connector for the LiDAR	89	URL

*For a single drone, one can alternatively use the point-to-point SiK telemetry radio (89)

**LiDAR sensor, optional for a camera-only solution

%%{init: {'theme': 'base', 'themeVariables': { 'fontFamily': 'monospace'}}}%%
flowchart TB
    Batt[6S Battery]
    PDB[Holybro X650 Power Distribution Board]
    Matek[Matek Power Module]

    subgraph Jetson_Baseboard ["Jetson Baseboard"]
        direction TB
        6X[6X Autopilot]
        Orin[NVIDIA Jetson Orin]
        Orin <-->|"TELEM2 / ETH"| 6X
    end
    
    subgraph Doodle_Lab_Radio ["Doodle Lab Radio"]
        direction TB
        EvalKit[Evaluation Kit]
        RadioMod[Radio Module]
        EvalKit <-->|" "| RadioMod
    end

    ESCs[4x Tekko32 F4 45A]
    Jetson_Baseboard -->|"FMU PWM1-4"| ESCs
    
    Telem[Telemetry Radio]
    Doodle_Lab_Radio ~~~ Telem

    GPS[GPS Module]
    Lidar[Livox Mid-360S]
    Camera[CSI IMX219 ArduCam]

    RC_Rx[R86C Receiver]
    RC[RadioMaster Boxer RC]
    RC_Rx <-->|"bind <br/> FrSky X D16"| RC

    Batt -- "24V" --> PDB
    PDB -- "24V" --> Matek
    PDB -- "24V" --> Telem
    Matek -- "12V" --> Jetson_Baseboard

    Jetson_Baseboard <-->|"TELEM1"| Telem
    GPS -- "GPS1" --> Jetson_Baseboard
    Jetson_Baseboard <-->|"RC IN"| RC_Rx

    Jetson_Baseboard ~~~ Lidar
    Jetson_Baseboard ~~~ Camera
    Lidar ~~~ GPS
    
    Camera -- "CSI" --> Jetson_Baseboard
    Lidar -- "ETH" --> Jetson_Baseboard
    Matek -- "5V" --> Doodle_Lab_Radio
    Jetson_Baseboard <-->|"USB 2.0 ETH Adapter"| Doodle_Lab_Radio

    Matek -- "12V" --> Lidar

    linkStyle 4 stroke:teal,stroke-width:3px,stroke-dasharray: 8 4;
    linkStyle 5,6,7,8,17,19 stroke:red,stroke-width:4px;
    linkStyle 9,10,11,16,16,18 stroke:blue,stroke-width:3px;

Holybro X650 with 6X Autopilot Parameters

Select, flight-proven parameters for the Holybro X650 kit; for full .params files examples, check folder params/

PX4 Configuration

TBD

ArduPilot Configuration

# GPS module
GPS1_TYPE           1               # Auto, here GPS1 refers to the primary GPS, not the 6X port; if connecting to the GPS2 port (SERIAL4) remember to set SERIAL3_PROTOCOL (GPS1 port) to -1/None

# DShot ESCs (Tekko32 F4 45A)
SERVOx_FUNCTION     0               # Disabled, for SERVO1 to 4, these are channels 1 to 4 on IO PWM
MOT_PWM_TYPE        6               # DShot600, for the Tekko32 F4 45A ESCs, using the first 4 channels on FMU PWM, i.e. SERVO9 to 12
SERVO9_FUNCTION     33              # Motor 1, channel 1 on FMU PWM
SERVO10_FUNCTION    34              # Motor 2, channel 2 on FMU PWM
SERVO11_FUNCTION    35              # Motor 3, channel 3 on FMU PWM
SERVO12_FUNCTION    36              # Motor 4, channel 4 on FMU PWM
SERVOx_MIN          1000            # For SERVO9 to 12
SERVOx_MAX          2000            # For SERVO9 to 12
SERVOx_TRIM         1000            # For SERVO9 to 12
# If needed to configure the ESCs, remove the propellers and set BRD_SAFETY_DEFLT to 0 (Disabled) or make sure BRD_SAFETY_MASK ignores channels 9 to 12
# In QGC -> Vehicle Configuration -> Motors, use the sliders to verify motor numbering and spin direction; reverse with SERVO_BLH_RVMASK, if necessary

# Motor thrust curve exponent (T-Motor MN4014 KV330s with Gemfan 1555 propellers)
MOT_THST_EXPO       0.7             # For 15in props, 0.0 is linear, 1.0 is second order curve
MOT_SPIN_ARM        0.05            # Lower spin speed when armed
# (optional) lower MOT_SPIN_MIN from the 0.15 defaults to 0.1

# Limit RPY acceleration (in centidegrees per square second)
ATC_ACCEL_P_MAX     30000           # Very slow
ATC_ACCEL_R_MAX     30000           # Very slow
ATC_ACCEL_Y_MAX     18000           # Slow

# 6S battery (Tattu G-Tech 6S 8000mAh 25C 22.2V)
MOT_BAT_VOLT_MAX    25.2            # 6 cells x 4.2V
MOT_BAT_VOLT_MIN    19.8            # 6 cells x 3.3V
BATT_CAPACITY       8000            # 8000mAh
BATT_MONITOR        21              # INA2XX
# Check MOT_BAT_CURR_TC is set to the default of 5.0

# Gyro filter
ATC_RAT_PIT_FLTD    10              # Pitch axis rate controller derivative frequency in Hz, default is 20
ATC_RAT_RLL_FLTD    10              # Roll axis rate controller derivative frequency in Hz, default is 20
# Check INS_GYRO_FILTER, the gyro filter cutoff frequency is 20

# Harmonic notch filter
INS_HNTCH_ENABLE    1               # Enable (reboot to set the other parameters)
INS_HNTCH_MODE      1               # Throttle tracking
INS_HNTCH_REF       0.325           # Anchor point, based on MOT_THST_HOVER, automatically learned when MOT_HOVER_LEARN is 2
INS_HNTCH_FREQ      65              # Base frequency, lower than the default 80 for the X650
INS_HNTCH_BW        32              # Half of INS_HNTCH_FREQ
# Check INS_HNTCH_OPTS is set to 0

# Speed limits
LOIT_SPEED          500             # 5m/s maximum horizontal speed in LOITER
PILOT_SPEED_UP      250             # 2.5m/s climb rate in LOITER
PILOT_SPEED_DN      150             # 1.5m/s descent rate in LOITER
WPNAV_SPEED         500             # 5m/s maximum horizontal speed in AUTO/GUIDED
WPNAV_SPEED_UP      250             # 2.5m/s climb rate in AUTO/GUIDED
WPNAV_SPEED_DN      150             # 1.5m/s descent rate in AUTO/GUIDED
RTL_SPEED           500             # 5m/s maximum horizontal speed in RTL
ACRO_Y_RATE         120             # 120 deg/s maximum yaw rate in ACRO
PILOT_Y_RATE        120             # 120 deg/s maximum yaw rate in LOITER and other piloted modes

# Compass configuration
# The F9P external IST8310 compass should be automatically recognized with ID 6589xx on COMPASS_DEV_ID, auto-populating COMPASS_EXTERNAL, COMPASS_ORIENT
# The 6X internal BMM150 compass should be automatically recognized with ID 331777 on COMPASS_DEV_ID2
# Note: the order of the detected COMPASS_DEV_ID[2-8] varies and could become corrupted
# To force a fresh reassignment of COMPASS_DEV_ID[2-8], backup the parameters, set FORMAT_VERSION 0, reboot, load the parameters, and re-calibate
COMPASS_USE3        0               # Disable non-existent COMPASS_USE3, assuming the IST8310 and BMM150 are on COMPASS_DEV_ID and COMPASS_DEV_ID2, respectively
COMPASS_EXTERNAL    1               # External, assuming the IST8310/6589xx is recognized on COMPASS_DEV_ID
COMPASS_ORIENT      6               # Yaw270, assuming the IST8310/6589xx is recognized on COMPASS_DEV_ID, see: https://docs.holybro.com/gps-and-rtk-system/f9p-h-rtk-series/ardupilot-ist8310-compass-orientation
# In QGC -> Vehicle Configuration -> Sensors -> Sensor Settings, set the external compass as Priority 1 (COMPASS_PRIO1_ID) and the internal compass as Priority 2 (COMPASS_PRIO2_ID)

# Failsafes
CIRCLE_OPTIONS      0               # Disable using the pitch/roll stick control circle mode's radius and rate
GUID_TIMEOUT        3.0             # (default) Guided mode timeout after which vehicle will stop or return to level if no updates are received
GUID_OPTIONS        0               # (default) If the 3rd bit is not set, interprets att_msg.thrust as a [0,1] climb-rate target
FS_THR_ENABLE       1               # Commands an RTL if the RC link is lost, requires configuring "Failsafe No pulses" on the Boxer RC using protocol FrSky X D16 with the R86C receiver
RC_FS_TIMEOUT       5               # The timeout before the RC failsafe engages
FS_GCS_ENABLE       1               # Commands an RTL if the QGC link is lost
FS_GCS_TIMEOUT      5               # The timeout before the GCS failsafe engages
FS_OPTIONS          0               # Never ignore the failsafes (not in AUTO/GUIDED, nor in pilot-controlled modes)
BATT_LOW_VOLT       22.0            # Triggers the low failsafe at 3.6V per cell (Tattu G-Tech 6S 8000mAh 25C 22.2V)
BATT_LOW_MAH        1600            # Triggers the low failsafe when 20% of 8000mAh (Tattu G-Tech 6S 8000mAh 25C 22.2V)
BATT_FS_LOW_ACT     2               # Commands an RTL when either of the low thresholds is breached
BATT_CRT_VOLT       21.0            # Triggers the critical failsafe at 3.5V per cell (Tattu G-Tech 6S 8000mAh 25C 22.2V)
BATT_CRT_MAH        800             # Triggers the critical failsafe when 10% of 8000mAh (Tattu G-Tech 6S 8000mAh 25C 22.2V)
BATT_FS_CRT_ACT     1               # Commands an immediate LAND when either of the low thresholds is breached
RSSI_TYPE           2               # Sets the Received Signal Strength Indicator (RSSI) source to an RC Channel PWM value
RSSI_CHANNEL        16              # Tells the flight controller to read Channel 16 for the RSSI data (when using the FrSky X D16 protocol)

# In QGC -> Vehicle Configuration -> Radio, calibrate the Radiomaster Boxer RC (revise FS_THR_VALUE, if necessary)
# In QGC -> Vehicle Configuration -> Flight Modes, set one switch for Loiter/AltHold/Stabilized, one for RTL
# In QGC -> Vehicle Configuration -> Flight Safety, set RTL settings
# In QGC -> Vehicle Configuration -> Sensors, calibrate accelerometer, level horizon, and compass (outdoors)

Radio Configuration

To (i) pair an RC and (ii) set up the network IDs and trasmission power of SiK point-to-point or Microhard point-to-multipoint telemetry radios with AT commands, read SETUP_AVIONICS.md

Triple Redundancy for RTL

For safety, the proposed configuration allows triggering an emergency RTL through 3 independent channels:

Flight mode change using a switch on the RC (Boxer-R86C link)
Flight mode change from QGC user interface (telemetry radio link)
Flight mode change using a one-liner in the aircraft_container_N tmux (Doodle Labs link)

# PX4
ros2 topic pub /Drone${DRONE_ID}/fmu/in/vehicle_command px4_msgs/msg/VehicleCommand "{command: 20, target_system: ${DRONE_ID}, target_component: 1, source_system: 255, source_component: 0, from_external: true}"

# ArduPilot
case "$DRONE_TYPE" in vtol|tail) MODE=QRTL;; *) MODE=RTL;; esac; ros2 service call /mavros/set_mode mavros_msgs/srv/SetMode "{base_mode: 0, custom_mode: '$MODE'}"