Development Guide

Matrice 100

Matrice 100
Figure: Matrice 100

Parts List

Motor Connections

Figure: Connections
Wiring Harness
Figure: Wiring Harness
PWM Connections
Figure: PWM Connections
Figure: Top
Figure: Back
No Stack
Figure: No Stack
No Top Deck
Figure: No Top Deck
Output Rate Actuator
MAIN1 400 Hz Front right, CCW
MAIN2 400 Hz Back left, CCW
MAIN3 400 Hz Front left, CW
MAIN4 400 Hz Back right, CW
AUX1 50 Hz RC AUX1
AUX2 50 Hz RC AUX2
AUX3 50 Hz RC AUX3


  • At high throttle the inner loop causes oscillations with default x quad gains. At low throttle, higher gains give a better response, this suggests that some gain scheduling based on the throttle may improve the overall response and this could be implemented in mc_att_control. For now we will just tune it so that there are no oscillations at low or high throttle, and take the bandwidth hit at low throttle.
    • MC_PITCHRATE_P: 0.05
    • MC_PITCHRATE_D: 0.001
  • The battery has 6 cells instead of the default 3
    • BAT_N_CELLS: 6