Darkmatter Electronics — Ardupilot Build Guide

// DARKMATTER //

ArduPilot BUILD & FLIGHT GUIDE

Optimized for 2.5" — 15" Builds  |  7" 6S Reference Build

GUIDE IS LIVE — LET'S BUILD
🛸

PREPARATION & SELECTION

01 / 08
Reference Build
7"
Battery Config
6S2P
Capacity
8400mAh
Chemistry
Li-Ion
📐 Frame Size Selection

Choose your frame size based on mission requirements. This guide supports 2.5" to 15" builds. The reference build throughout this guide is a 7-inch quad.

⚙️ Parts Selection

Select the stack, motors, camera, VTX, and propellers appropriate for your chosen frame. Match all components to your size and power class.

🔋 Battery Contact

For 6S2P 8400mAh Li-Ion batteries — contact Drag or Shobhit directly.

🔧

HARDWARE ASSEMBLY

02 / 08
1
Frame Assembly
Assemble the frame and mount the motors. Ensure all screws are torqued and thread-locked.
2
Stack Installation
Connect the FC and ESC. DARKMATTER STACK H760 → use the 8-pin connector. Mount with VISHNU ESC name facing DOWN toward the frame.
3
Mission Planner Connection
Connect the FC to Mission Planner. Follow the user manual steps for flashing Ardupilot firmware.
4
Port Selection
Wait for the initial disconnect/re-connect. When two COM ports appear, connect to the Mavlink COM port.
5
Initial Sensor Check
Verify movement in the HUD. Blow air on the barometer — readings must change. If they don't, contact DARKMATTER.
🔌

WIRING & RADIO SETUP

03 / 08
⛔ NO PROPS YET

Do not put propellers on during any wiring or software step. They go on much later — only after all calibrations are done.

🗺️ Module Wiring
// UART Connections
GPS / Compass → UART2
Nebula D (ELRS) → UART6

// Power
GPS Power → 4V5 pad
Nebula D Power → 4V5 pad
📡 Radio Calibration

Go to SETUP → MANDATORY HARDWARE → RADIO CALIBRATION

Verify Darkmatter Nebula D is bound to your transmitter and bars are moving. Identify which channel maps to which button.

🎚️ Flight Modes — Assign These Three
Mode 1 → STABILIZE
Mode 2 → ALT_HOLD
Mode 3 → LOITER

If the switch isn't working, adjust via the Full Parameter List.

🔒 Arming Switch Setup

Go to CONFIG → Full Parameter List. Find RCIN_X (X = your arming channel).

Set RCIN_X_OPTION → Arm 4.2 and Above (153).

⚠️ Keep this switch OFF at all times during the build. Verify in the Data Tab.

⚡

POWER & ESC CONFIGURATION

04 / 08
🚨 SMOKE STOPPER — MANDATORY

Connect a smoke stopper between the ESC and battery when powering on for the first time. This protects your entire build from any wiring mistakes. No exceptions.

🔊 Expected Startup Tones
ESC boots → Ti-Ni-Ni (3-beep)
FC boots → Ti-Ni (2-beep)

If you don't hear the second beep, set the parameters below.

⚙️ Fix Parameters (if no 2nd beep)
ParameterValueNote
MOT_PWM_TYPE6DShot600
SERVO_DSHOT_ESC2BLHeli_S / BlueJay
FRAME_CLASS1Quadcopter
FRAME_TYPE12BetaflightX

Then press CTRL + F → Reboot. You should now hear the tribeep.

💡 LED Status Guide
Not Ready
Solid Yellow
Ready
Solid Blue
Flying
Solid Green
Low Battery ⚡
Flashing Yellow

Connect an active buzzer to B+ and B− pads for audio alerts: ready, low battery, lost model.

🌀

MOTOR & GPS CHECKS

05 / 08
⚡ Motor Test Safety

Spin at maximum 5–10% throttle for no more than 10 seconds. Props are still off at this stage.

🔄 Motor Direction

Verify motor numbering and spin direction match Ardupilot's layout for your frame type.

Wrong direction? → Swap any two motor wire terminals on that motor.

🛰️ GPS Verification

Serial Ports tab → confirm the correct UART is set to GPS.

GPS: NO GPS → ❌ Check wiring
GPS: NO FIX → ✅ OK — indoors / just started
GPS: 3D FIX → ✅✅ Ideal — ready to fly
✅ Pre-Flight Inspection Checklist
🧭

MANDATORY CALIBRATIONS

06 / 08
1
Compass Setup
Go to SETUP → MANDATORY HARDWARE → COMPASS. Deselect Compass 2 and 3. Set Automatically Learn Offsets: OFF. Click Reboot.
2
Compass Calibration
Calibrate until fitness value is ≤ 5.5. Follow the rotation pattern shown in this video:

▶ Watch Compass Calibration Guide
3
Accelerometer & Level Calibration
Once compass is done, calibrate Accelerometer and Level on a flat surface. Align the build against a wall or table edge to ensure it's perfectly level.
🎛️

INITIAL TUNING & PARAMETERS

07 / 08
📋 Initial Tune Parameters

Go to SETUP → MANDATORY HARDWARE → INITIAL TUNE PARAMETERS

Airscrew Size → 7 (for 7" build)
Cell Count → 6
Battery Type → LI-ION

Click Calculate, then Write to FC.

📸 Take a Photo of the Popup!

After clicking Calculate, a popup appears with values. Photograph it — you'll need these numbers for post-flight tuning.

🚀

MAIDEN FLIGHT & VERIFICATION

08 / 08
🔩 Propellers — NOW you can install them

Attach propellers only at this stage. Arm from a distance first to verify motor and prop direction before any actual flight.

✈️ Maiden Flight Protocol

Fly 2–3 minutes. Perform these maneuvers to gather tuning data:

Yaw left/right → check heading response
Throttle punches → check altitude hold
Pitch & roll → check attitude response
🏁 Post-Flight Parameter Updates

Land, connect FC to Mission Planner, find MOT_THST_HOVER in logs (e.g. 0.18), then update these before your next flight:

ParameterValue
ATC_THR_MIX_MAN0.5
PSC_ACCZ_P= MOT_THST_HOVER (e.g. 0.18)
PSC_ACCZ_I= 2× MOT_THST_HOVER (e.g. 0.36)
📊 Alt Hold / Loiter Behaviour
✅
Stable — no driftBest result. Nothing to do.
🟡
Slow random driftAcceptable. Minor tune refinement may help.
🔴
Consistent directional driftNeeds attention — recheck compass calibration.
🚨
Rapid / random movementNOT SAFE. Land immediately. Recalibrate everything.
🎯 Professional Grade Position Hold Requirements
Compass Fitness
≤ 5.5
GPS HDOP
< 1.0

A stable Altitude Hold is required before you can achieve good Position Hold (Loiter).

NEED HELP? WE'VE GOT YOU.

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