Soldered components (schematics variant):
Use double-sided tape to attach ESP32 to the top frame part (ESP32 holder):
Use two washers to screw the IMU board to the frame:
Screw the IMU with M3x5 screws as shown:
Install the motors, attach MOSFETs to the frame using tape:
Screw the ESP32 holder with M1.4x5 screws to the frame:
Assembled drone:
Warning
The drone above is an early build, and it has inversed motor directions scheme. The photos only illustrate the assembly process in general.
Use standard motor directions scheme:
Motors connection table:
| Motor | Position | Direction | Prop type | Motor wires | GPIO |
|---|---|---|---|---|---|
| Motor 0 | Rear left | Counter-clockwise | B | Black & White | GPIO12 (TDI) |
| Motor 1 | Rear right | Clockwise | A | Blue & Red | GPIO13 (TCK) |
| Motor 2 | Front right | Counter-clockwise | B | Black & White | GPIO14 (TMS) |
| Motor 3 | Front left | Clockwise | A | Blue & Red | GPIO15 (TD0) |
Motors should be installed very tightly — any vibration may lead to bad attitude estimation and unstable flight. If motors are loose, use tiny tape pieces to fix them tightly as shown below:
