#MicroLongRange OpenHD iNav Sub250g

The frame design borrows, remixes, and is inspired by the original #MLR from Dave_C_FPV.

https://www.thingiverse.com/thing:4054381

Flight controller is running iNav. To get Telemetry to OpenHD only a free serial port is connected to the RPi and the MavLink telemetry output is selected in port in iNav configurator.

https://github.com/iNavFlight/inav/wiki

OpenHD is running on an RPi-ZeroW on the Multirotor and a RPi4B on the groundstation. There are many options for the Digital video link VRX/VTX using WIFI radios in raw broadcast mode. This provides a high speed low latency digital video link. Similar to the DJI FPV system.

The OpenHD Wiki and instructions are found here:

https://github.com/OpenHD/Open.HD/wiki https://openhd.gitbook.io/open-hd/

Digital System

• RaspberryPi-Zero Linux SBC
• Asus AC-56 Digital Transmitter
• Waveshare 5MP Digital Camera

Multirotor

• Matek F722SE-Mini
• Matek M8Q-5883L GPS-Compass
• Diatone F30 Esc
• TBS Crossfire
• Mamba 1404/3750Kv
• 3A BEC

All of the TPU parts are re-designed to best fit the OpenHD system and iNav. These should be interchangeable with most parts from the #MLR builds as most major dimensions are kept the same.

The body of the frame was redesigned to accommodate the RPi underneath the quad, the flight controller/ESC was split flat, leaving a large long open space for mounting the Wifi cards. If you are using a short card you can stack the ESC/FC normally. If you are using any of the long dongles, like the ASUS AC-56 the stacks need to be split.

The arms come from the original #MLR build, I think the Flywoo Explorer LR arms should also fit however I don't have a set to confirm.

Digital 5.8Ghz Wifi Broadcast Options

• AR9271 150M [very good results with this card, also $11USD]
• ASUS AC-56 [also very good, more $]
• WISE TIGER Wifi Adapter Ac 600Mbps [tiny, available on amazon]

Ground Station Card

• Alfa Long-Range Dual-Band AC1200 Wireless USB 3.0

Check the OpenHD wiki for more options and power ratings.

Air Units

• RPi-ZeroW, Tiger Wifi, Zero Cam - weight 10g - $30 USD
• RPi-ZeroW, ASUS AC-56, Waveshare M12 Lens Digital 5MP Camera - weight 29g - $60USD
• RPi-ZeroW, AR9271, Waveshare 12MP - weight 26g - $35USD

Building

Recommended to print the design on paper or 3D printer to check dimensions of the hardware you are using as there are many different cameras, WIFI adapters, flight controllers, ESC combos.

Updates March 23rd

• CARBON_1.5mm_LowerDeck_M2
• CARBON_1.5mm_UpperDeck_M2

The standard frame is for rear M3 mounting of the Matek F722SE Mini which uses M3 holes in the FC. Most FC 20x20 boards are M2. New Decks are sized for Front/Rear 20x20xM2.