Drone build — autonomous UL8 on ArduPilot
We are building an autonomous 8″ long-range quadrotor on ArduPilot — an open build log on Xenobyte. Not a cinema drone: a craft that can fly missions and teach us how control, sensors, and firmware fit together.
Goal
- A reliable platform for waypoints, loiter, and later richer missions.
- Learn by building: Pixhawk, ELRS, GPS/RTK, optical flow, LiDAR avoidance, tuning.
- Document every choice so the stack stays reproducible.
Reading order
- Start with the clarifying posts under Parts & explainers (project intro, power, ports).
- Then follow the eight build steps below.
- Dive into each part post for specs and decisions.
Firmware updates and deferred work live on their own pages.
Build steps
- Step 1 — Airframe & mechanics
- Step 2 — Flight controller & power
- Step 3 — Position & heading
- Step 4 — Radio & telemetry
- Step 5 — Low-speed sensing
- Step 6 — Obstacle awareness
- Step 7 — Config & first flights
- Step 8 — Grow autonomy
Parts & explainers
Per-part build log plus clarifying posts (intro, power, ports).
- Pixhawk 6X Mini
- PM02D Power Module
- Pixhawk 6X Cable Set (Mini)
- Micro M9N GPS (IST8310)
- CAN Hub (27 cm)
- DroneCAN H-RTK F9P Helical
- H-RTK Helical Mount (Vertical)
- H-Flow (Optical Flow + Distance)
- AOS UL8 V5 Frame
- RadioMaster TX16S MK3 MAX (ELRS)
- RadioMaster ELRS RX (voor Pixhawk + ArduPilot)
- ArduPilot + ELRS (Pixhawk 6X Mini)
- LDRobot LD-06 — 360° proximity LiDAR
- T-Motor Pacer 60A V2 4-in-1 ESC
- T-Motor F100 2810 — 1100KV
- HQProp LR8×4.2×3
- What we are building: autonomous long-range quadrotor
- Power & capacitors on our UL8
- Ports & wiring on the Pixhawk 6X Mini
Later
Parts we deliberately defer (camera, Remote ID, …) live on a separate page.
Firmware
Releases and tools to update the FC, radio, ELRS, ESC, and DroneCAN peripherals.