1 

Appendix A – 3DRobotics Checklists and Operating Instructions 

System Description: 

The aircraft is a quad rotor frame of aluminum and fiberboard construction. Motors are four (4) 

880kv brushless electric motors controlled by SimonK electronic speed controls. Flight 

controller is a 3DRobotics Ardupilot Mega (APM) v2.6 flight controller using firmware version 

3.1.5. Main bus power is provided by a 3S Lithium Polymer battery of nominal 5000mah 

capacity. Larger batteries may be carried, with appropriate configuration of the current monitor. 

Aircraft is equipped with GPS receiver and external compass. Direct radio control is an FRSKY 

2.4ghz transmitter/receiver. Telemetry is provided through a 3DRobotics 900 MHz link to the 

separate laptop computer ground control station, allowing duplication of some controls and 

commands. Ground control station software is Mission Planner. Normal payload is a Go-Pro 

Hero 4 mounted on a Tarot 2D gimbal. Control of the gimbal can be accomplished via either the 

FRSKY transmitter or a joystick connected to the laptop GCS, allowing for separate personnel to 

operate the payload. Video is recorded on board on a miniSD card, and is downlinked via a 

5.8ghz transmitter to the payload operator station. 

This is a legacy aircraft, but is substantially similar to the current production Iris and X8 models: 

https://store.3drobotics.com/t/hobbyist-mapping

Documentation of Flight Controller software features and operation 

The Ardupilot flight control software is an open-source platform. This controller and firmware 

has been used by thousands of sophisticated hobby users and is supported by a robust 

community. Documentation describing the correct operation and features is contained within the 

following links, which are continually kept up to date. Applicant downloads the applicable 

pages for reference in the field, and continually checks for updates. Checklists and procedures 

follow these materials: 

Introduction: http://copter.ardupilot.com/

Configuration, including Failsafes and Geofence: http://copter.ardupilot.com/wiki/configuration/

Mission Planning and Analysis: http://copter.ardupilot.com/wiki/mission-planning-and-analysis/

Flight Controller hardware: http://copter.ardupilot.com/wiki/common-autopilots/commonapm25-and-26-overview/

Explanation of Flight Modes: http://copter.ardupilot.com/wiki/flying-arducopter/flight-modes/

Full Table of Contents: http://copter.ardupilot.com/wiki/common-appendix/common-table-ofcontents/
2 

3DRobotics Basic Checklist 

 
3 

3DR Quad Pre-mission Planning Addendum 

1. Proposed area legal to fly – airports, TFRs, etc. 

2. Weather forecast VMC or better, winds < 10 knots 

3. Charge all batteries – flight, aux bus, PO station, transmitter, camera, walkie talkie, 

laptop, external cameras 

4. Identify and brief all support and participating personnel 

5. Determine specific operating area and buffer zone 

6. Set Geo-fence lateral and vertical limits. 

7. Load auto mission if applicable. If no auto mission, confirm waypoint memory cleared. 

3DR Quad Pre-flight inspection/set-up Addendum 

1. Complete 3DR printed checklist 

2. Check CG with batteries installed 

3. Check gimbal vibration mounts, cables, SD card extension 

4. Set up PO tripod, extend antenna, connect controller to laptop if desired 

5. Check walkie talkies 

3DR Quad with Go-Pro/MinimOSD/Tarot Startup/Takeoff Sequence: 

1. Laptop – power on, connect telemetry antenna, start Mission Planner, sound on max 

2. Transmitter – throttle down, mode to STAB, power on, check voltage, check throttle 

3. Sensor station – connect battery, check screen – static/no signal (looking for interference) 

4. Place quad on level ground, in clear (preferably at launch point) 

5. Connect Main bus – listen for tones, motor twitch, check LEDs 

6. Connect Aux bus – check LEDs, look for gimbal initialization 

7. Connect Mission Planner (auto) – check signal strength connection, check mode STAB 

8. Camera power on – check PO video display, begin recording if desired 

9. Check Mission Planner parameters: 

a. Slightly tilt vehicle to check AI, gimbal stabilizes 

b. Confirm yaw/heading with known direction 

c. Check GPS – 3D position, HDOP less than 2.5 

d. Confirm battery voltage, no warnings 

e. Confirm location on map 

f. Load FP if desired 

10. VO in position 

11. Clear Area – Call “Taking Off” 

12. Arm – listen for voice confirmation 

13. Power up, take off in STAB, switch to other modes when safe. 

14. For landing, follow 3DR prepared checklist 

15. Post-mission – inspect vehicle, download dataflash logs 
1

DIY QUAD

Build Manual

V.A

2014
2

Thanks for purchasing a DIY Quad! 

These instructions will show you how to assemble a Quad using the Pixhawk 

autopilot system and ArduCopter/APM:Copter firmware. If you plan to use 

other components in your build, please adjust these instructions accordingly. 

For online instructions, visit 3dr.com/diy-quad-kit.

Frame parts 3

Electronics 4

Tools 4

1 Motor assembly 5

2 Power system wiring 8

3 Body plate assembly 10

4 Pixhawk assembly 15

5 Leg assembly 21

6 Calibration 22

7 Propeller assembly 22

Contents
3

Frame parts

30 mm bolts (6)

25 mm bolts (30)

5 mm bolts (32)

nylon bolts (4)

30 mm male-female stando	s (4)

19 mm hollow spacers (20)

18 mm female-female stando	s (12)

base plate

top plate

Pixhawk plate

accessory plate

metal nuts (42)

nylon nuts (4)

thumb nuts (2)

leg plates (8)

leg support plates (4)

motor plates (8)

velcro strips (one pair)

velcro straps (3)

dual lock

15 cm four-wire cable

15 cm female-female servo cable

30 cm male-female servo cable

15 cm six-wire cable

zip ties

blue arms (2)

black arms (2)

power distribution board

threadlocker
4

Electronics

To complete this build, you will need the following tools not included with your kit:

•	 Phillips screwdriver

•	 Double-side foam tape or other mounting adhesive

•	 Soldering equipment

Note: The electronics for this build require soldering. If you’re unfamiliar with soldering, 

our friends at Sparkfun have some great tutorials that can get you started, including this 

comic. For an example of exactly what soldering you’ll be doing in this build, view this 

video tutorial.

Tools

This build uses the Pixhawk autopilot 

system, including these components:

•	 Pixhawk autopilot

•	 u-blox GPS with Compass

•	 Telemetry radios

•	 Radio control system

•	 ArduCopter/APM:Copter firmware

Click here for more information 

about these components and to view 

compatible radio control systems.
5

1 Motor 

assembly

Follow these instructions to assemble 

one motor.

1 Attach motor to arm

Place a motor plate on top of the arm 

with the short end of the plate facing 

towards the end of the arm. Place the 

motor on top of the plate, and align 

the two small holes in the motor, 

plate, and arm. Orient the motor with 

the cables as close as possible to the 

hole in the side of the arm.

Apply threadlocker to two 5 mm 

bolts, and secure the motor and plate 

to the arm from below by accessing 

through the two large holes in the 

bottom of the arm. When applying 

threadlocker, use less than one drop, 

and cover only four or five threads 

where the bolt connects with the 

motor. Make sure to insert the bolts 

into the holes in the bottom of the 

motor and not into the slots where 

they could interfere with the motor.
6

2 Thread motor cables through arm

Thread the motor cables through the 

hole in the side of the arm.

3 Attach bottom plate to arm

Place a motor plate against the 

bottom of the arm with the short end 

of the plate facing towards the end 

of the arm. Apply threadlocker to the 

ends of three 25 mm bolts (less than 

one drop covering four or five threads 

at the end of the bolt). Place a 19 mm 

hollow spacer between each of the 

pairs of holes in the two motor plates. 

Place the bolt through the motor 

plates and spacer, and secure from 

below with a metal nut.

Repeat these instructions for all 

motors.
7

2 Power system

wiring

Follow these instructions to connect 

the power system.

1 Solder Deans to ESCs

Solder a Deans connector to the red 

and black wires on each electronic 

speed controller (ESC). Check the 

Deans connectors for the + and – 

markings, and solder the + side to 

the red wire and the – side to the 

black wire. Don’t forget to add heat 

shrink tubing to the wires before 

soldering, and shrink the tubing over 

the finished connections.

2 Number ESCs

Use tape (or other method) to label 

each ESC with a number one through 

four.

Deans to ESC:

negative = black

positive = red - +
8

3 Connect ESCs to PDB

Connect the Deans connectors 

(red) on the ESCs to the Deans 

connectors on the power distribution 

board (PDB) in any order.

Take a look at the PDB and find the 

pins labelled M1 through M4 

(motors 1 through 4), and make a 

note of which color wire connects to 

each. Now connect the three-wire 

cables from each ESC to these pins 

on the PDB according to the ESC 

numbers. This is where the order is 

critical. Connect the ESC that you 

labelled as “1” to the pins on the PDB 

labelled “M1”, ESC 2 to PDB pins M2, 

ESC 3 to PDB pins M3, and ESC 4 to 

PDB pins M4. Connect the white wire 

to the signal pin (labelled “M1”), the 

red wire to the power pin (labelled 

“+”), and the black wire to the ground 

pin (labelled “-”).

4 Connect PDB to power module

Attach the XT60 connector (yellow) 

on the PDB to the XT60 connector on 

the power module.
9

3 Body plate 

assembly

Follow these instructions to assemble 

the body plates.

1 Add velcro straps to base plate

Thread the two velcro straps through 

the slots in the base plate. These 

straps will hold the battery to the 

bottom of your copter. The perfectly 

flat side of the plate (without the 

protruding nuts) should face down. 

Your kit includes two velcro strips to 

attach to the battery and the bottom 

of the copter. To install, attach the 

strip with loops (fuzzy) to the bottom 

of the plate between the straps, and 

attach the strip with hooks (smooth) 

to your battery.

2 Attach arms to base plate

Now we’ll attach the four arms with 

assembled motors to the base plate. 

Using the innermost hole in the arm 

and the hole in the base plate marked 

below, insert a 30 mm screw from 

the bottom, up through the plate and 

the arm. Attach the two black arms 

and two blue arms as shown in 

relation to the shape of the plate. 

(Attach the black arms to the more 

elongated end of the plate.)

Visit the APM:Copter Wiki and learn 

more about which batteries to use 

with your copter.
10

It may be helpful to secure each arm 

in place temporarily with a metal nut.

3 Label motors

Use tape (or other method) to label 

the motors by the numbers shown 

here.

4 Connect ESC and motor cables 

Connect the motor cables to the 

corresponding ESC cables according 

to the labelled numbers (connect

 motor 1 to ESC 1, motor 2 to ESC 2, 

etc). The order of the three cables 

determines which direction the 

motors will spin and is critical for the 

copter to fly correctly. The diagram 

above shows which motors need to 

spin clockwise (CW) and counterclockwise (CCW).

The images below show the correct wiring to produce each direction of rotation. The motor 

cables are differentiated by color. To differentiate the ESC cables, orient the ESC with the 

label facing up, and use the relation of the cables to the label.

top = blue

center = red

bottom = black

COUNTERCLOCKWISE (CCW) ROTATION WIRING

top = blue

center = black

bottom = red

CLOCKWISE (CW) ROTATION WIRING
11

5 Assemble electronics onto base 

plate

The base plate holds the power 

system: power distribution board 

(PDB), power module, and four 

electronic speed controllers (ESCs). 

Place the assembled power system 

onto the base plate. Attach the four 

ESCs to the base plate using zip ties. 

Orient the ESCs with the labels 

down into the holes in the plate. 

Alternatively, you can mount the 

ESCs to the front of the copter, 

perpendicular to the plates, by 

securing the zip ties to the small slots 

along the front edge of the plates. In 

this case, orient the ESCs with the 

labels facing out. Ensure that the 

power module XT60 connector 

protrudes from the back end of the 

copter (behind one of the black 

arms) where it can easily connect to 

the battery.

6 Assemble top plate

Remove any nuts that you may 

have used to secure the arms 

temporarily to the base plate, and 

add the top plate directly on top of 

the arms. Secure the four existing 

screws with metal nuts, and add a 

nylon nut on top of each metal nut.

TOP VIEW

1

1

1

1

2

2

2

2

3

3

3

3

3

3

3

3
12

Secure the arms to the plates through 

the holes in the end of the arms and 

the holes in the plates shown below. 

Use 30 mm bolts and thumb nuts to 

attach the black arms, and use 25 

mm bolts and metal nuts to attach 

the blue arms. Finally, attach the base 

and top plates together with 25 mm 

bolts, 19 mm hollow spacers, and 

metal nuts where marked below.

BOTTOM VIEW
13

7 Thread cables through top plate

Locate the following three cables, and 

thread them up through the central 

space in the top plate: PDB two-wire 

cable (red and black), PDB four-wire 

cable (multicolor), and power module 

six-wire cable (red and black). These 

cables will connect to Pixhawk.
14

4 Pixhawk 

assembly

Follow these instructions to assemble 

the Pixhawk and accessory plates.

1 Mount Pixhawk

Separate the four foam pieces 

provided with the Pixhawk kit, and 

attach them to the bottom four 

corners of the board. Mount Pixhawk 

to the Pixhawk plate with the arrow 

facing as shown below (towards the 

less elongated end of the plate).

2 Mount buzzer and switch

The switch (button) snaps into the 

round hole in the accessory plate. 

Thread the switch cable through the 

hole in the accessory plate from the 

top, and gently pull the switch into 

place. Using double-sided foam tape, 

mount the buzzer to the underside of 

the accessory plate.

BOTTOM VIEW
15

3 Mount GPS

Place the base of the GPS mast over 

the four holes in the accessory plate 

with the shorter side of the top of the 

mast facing the left side of the plate 

(the arrow-shaped holes in the plate 

face forward). Add a mounting screw 

to each hole, and secure with nuts.

Remove the adhesive backing from 

the mast and place the GPS module 

onto the mast with the connectors 

facing the shorter side and the 

arrow on the GPS pointing in the 

same direction as the arrow-shaped 

holes in the plate.

4 Insert SD card

Insert the micro-SD card into the 

slot at the end of Pixhawk. The 

APM:Copter sticker can be attached 

to the front of Pixhawk.
16

5 Connect modules to Pixhawk

Connect the buzzer, switch, splitter, 

GPS, power, and telemetry modules 

to Pixhawk.

To ensure the most secure cable 

assembly, thread the cables through 

the holes in the plates where 

possible. Where the cables dangle 

away from the frame, such as along 

the mast, use zip ties to secure the 

cables to the frame.

Note: Pixhawk’s DF13 connectors 

can be fragile when disconnected 

and reconnected multiple times. Do 

not pull on the cables to disconnect, 

use a fingernail or small, flat tool to 

loosen the edges of the connector 

until it pops out. Buzzer and switch: Connect the buzzer to Pixhawk’s BUZZER port, and connect the switch (safety 

button) to the SWITCH port. These components are mandatory for Pixhawk.

I2C splitter: Connect the four-wire cable to one of the ports on the splitter and to Pixhawk’s I2C port.

GPS with compass: Use the long cables provided with the GPS mast to connect the GPS with 

compass module to Pixhawk. Connect the four-wire cable to the GPS’ MAG port and to one of the 

ports on the I2C splitter. Connect the six-wire cable to the GPS port on the GPS module and to 

Pixhawk’s GPS port.

Power module: Connect the six-wire cable (red and black cable protruding from the central space in 

the top plate of the copter) to Pixhawk’s POWER port.

Telemetry radio: Connect the six-wire cable to a telemetry radio module and Pixhawk’s TELEM 1 port.

1

1

2

2

3

3

4

5

4

5
17

6 Connect RC receiver

7 Connect motor outputs

Connect backup power (optional)

Locate the four-wire cable (multicolor) protruding from the 

central space in the top plate. Connect it to the main output 

signal (s) pins on Pixhawk according to motor number. Recall 

your notes from the power system wiring and see which color 

wire corresponds to motor 1. Ensure that that color wire is 

connected to the main output 1 signal (s) pin. Do not rely on 

the colors of the wires shown here, the accuracy of this 

component is critical.

Pixhawk is compatible with PPM RC receivers or PWM receivers with an additional PPM encoder 

module. Connect the three-wire cable (red, black, and white) from your PPM receiver or PPM 

encoder to Pixhawk’s RC pins with the white wire connected to the signal (s) pin, the black wire 

connected to the ground (-) pin, and the red wire connected to the power (+) pin. Click here for 

more information on using a PPM encoder or Spektrum Satellite receiver.

Connect the two-wire cable (red and black) protruding from the top plate to provide a backup 

power source for Pixhawk. Connect the black wire to any of Pixhawk’s main output ground 

(-) pins and the red wire to any of the main output power pins (+). This configuration is best 

supplemented with a zener diode (visit the APM:Copter Wiki to learn more), but the backup 

power method can be used without implementing the additional diode. If you do not wish to 

connect backup power, leave the cable disconnected.
18

8 Assemble plates

Add a 5 mm nylon bolt to the four 

holes in the accessory plate marked 

below, and attach a 30 mm standoff 

to each one below the plate. Add 

the Pixhawk plate to the ends of the 

standoffs and secure with metal nuts.

metal nuts

nylon bolts

Pixhawk plate

30 mm spacers

accessory plate
19

Place the assembled plates over the 

exposed bolts in the top plate, with 

the arrows facing towards the blue 

arms, and secure with metal nuts.

9 Mount remaining components

Select a location on the copter to 

mount the I2C splitter, telemetry 

radio, and RC receiver. Use dual lock 

or double-sided foam tape to mount 

the components. Check that all 

components are connected securely 

to Pixhawk.

Where you place the components on 

the copter is ultimately limited by 

the length of the cables between 

modules. Experiment with the 

different length cables provided with 

your kit, and find the best place for 

each module on your copter. (mast not pictured)

top plate

metal nuts

Pixhawk plate
20

5 Leg assembly

Follow these instructions to assemble 

one leg.

1 Assemble leg

Align the leg plates, and place a 

standoff between each of the bottom 

three pairs of holes in the plates.

Secure each standoff to the plates 

with a 5 mm bolt on each end. Insert 

the support plate into the horizontal 

slots at the top of the leg.

2 Attach leg to arm

Align the two holes in the top of the 

leg with the two holes in the center of 

the arm. Orient the leg with the point 

facing towards the center of the 

copter. Insert two 25 mm bolts 

through the arm and the leg, and 

secure with metal nuts.

Repeat these steps for each leg of 

your copter.

leg support plate

18 mm spacers

5 mm bolts

5 mm bolts

18 mm female-to-female 

threaded standos (3)

leg plates (2) leg support plate 5 mm bolts (6) 25 mm bolts (2) metal nuts (2)

metal nuts

25 mm bolts
21

6 Calibration

Your Y6 assembly is almost 

complete. Now it’s time to go 

online, download software, and begin 

calibrating Pixhawk to work with your 

new frame. Do not proceed to 

propeller assembly with performing 

calibration.

View the calibration instructions online at 

3dr.com/diy-y6-kit.

7 Propeller 

assembly

Follow these instructions to assemble 

propellers.

1 Assemble propellers

Remove the rings from the 

propeller package. Select the ring 

with the smaller internal diameter, 

and insert it into the back of the 

propeller hub.
22

2 Assemble propeller adapters

Select the propeller adapters and 

the longer screws provided with the 

adapters. Do not use the x-shaped 

plate. Apply threadlocker to the three 

small screws included with the 

propeller adapters (less than one 

drop covering four to five threads). 

Attach an adapter to the top of each 

motor.

3 Add propellers

Your Quad uses SF and SFP 

propellers. These propellers are 

labelled on the package and on the 

propeller itself. Add SF and SFP 

propellers to the arms shown in the 

diagram below with the writing on 

the propeller facing towards the sky. 

The right propeller order and 

orientation is critical for your 

copter to fly correctly. Add the 

washer above the propeller, and 

secure the nut tightly on top.

Ensure that the writing on the propellers faces the 

sky.
23

Your Quad build is now complete! Before your first flight, 

please read all safety information 

and first flight instructions at 

copter.ardupilot.com/wiki/tableof-contents/.

For customer support, contact us 

at help@3dr.com or call our 

support line at +1 (858) 225-1414

Monday through Friday, from 8 

am to 5 pm, PST.

COMPLETE QUAD