This project is licensed under the Apache License 2.0.
© 2025 Mateusz.

FPV: Converting a 5" Racing Drone into an Autonomous Smart Platform

This project documents the conversion of a classic 5" racing FPV drone into an advanced, autonomous aerial platform using BetaFlight firmware and a Raspberry Pi companion computer.

Current Hardware Setup

• Frame: 5" Mark4 copy
• Flight Controller (FC): SpeedyBee F405 V3
• ESC: 50A 4-in-1 BLHeli_S (included with FC)
• Motors: EMAX MT2204 II PLUS 2300KV ×4
• Propellers: iFlight 5"
• Receiver: HappyModel EP1 RX 2.4GHz (ELRS)
• FPV Camera: 9IMOD 1800TVL 5MP (OSD, Starlight Sensor)
• VTX: SpeedyBee TX800 (IRC Tramp compatible)
• Antenna: 80cm 5.8GHz
• GPS: HGLRC M100 (UART-based)
• Companion Computer: Raspberry Pi
• Computer vison camera: Raspberry Pi Camera Module 3

Project Goals

• Build and test basic FPV functionality using Betaflight ✅
• Integrate GPS and enable telemetry ✅
• Flash and configure BetaFlight on SpeedyBee F405 V3 ✅
• Interface Raspberry Pi via MAVLink (UART)
• Interface Raspberry Pi via MSP ✅
• Achieve basic autonomous functionality (Loiter, RTL, GPS hold) ✅
• Enable real-time data logging, camera streaming, and Python-based mission scripting on RPi
• Enable GPS-denied navigation
• Enable fully autonomous flight
• Enable object detection
• Enable object avoidance via Computer Vision and Lidar

Configuration Notes

• FC Firmware: BetaFlight
• UART Assignments:
  • UART1:
  • UART2: Receiver (ELRS)
  • UART3: GPS (HGLRC M100)
  • UART4: VTX control (IRC Tramp)
  • UART5: ESC telemetry
  • Usb C - Raspbery Pi usb

FPV System Specs

• Camera: 1800TVL 5MP, 1/8" starlight sensor, 2.1mm lens, WDR
• VTX: SpeedyBee TX800, 25–800mW, 40 channels, IRC Tramp protocol
• Raspberry Pi Camera Module 3 (computer vision)

Documentation

• SpeedyBee F405 V3 Manual
• TX800 VTX Manual
• Camera Specs

🤝 Contributions

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Author: Mateusz
License: Apache 2.0