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Merged
ratheron merged 3 commits into from
Sep 24, 2026
Merged

Add the Holybro X500 drone #115

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c72a282
Add hb_x500
ratheron Sep 15, 2026
5eeeb94
Simplify docs
ratheron Sep 22, 2026
a52b492
Fix docs and tests
ratheron Sep 24, 2026
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40 changes: 40 additions & 0 deletions crazyflow/control/mellinger/params.toml
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Expand Up @@ -157,3 +157,43 @@ kw = [20000.0, 20000.0, 12000.0]
ki_m = [0.0, 0.0, 500.0]
kd_omega = [200.0, 200.0, 0.0]
int_err_max = [1.0, 1.0, 1500.0]

[hb_x500]
[hb_x500.core]
gravity_vec = [0.0, 0.0, -9.81]
mass = 2.28
L = 0.17678 # Distance from axis to rotor, i.e., arm / sqrt(2)
rpm2thrust = [0.0, 1e-6, 1e-9] # Unknown
rpm2torque = [0.0, 1e-9, 1e-12] # Unknown
thrust2torque = 0.01 # Unknown
mixing_matrix = [
[-1.0, -1.0, 1.0, 1.0],
[-1.0, 1.0, 1.0, -1.0],
[-1.0, 1.0, -1.0, 1.0]
]
pwm_min = 0
pwm_max = 1
thrust_min = 1 # in N per motor
thrust_max = 12.13 # in N per motor
mass_thrust = 0.02061006
torque_pwm_max = [0.4882887, 0.4882887, 0.4882887]

[hb_x500.state2attitude]
kp = [12.0, 12.0, 35.0]
kd = [6.0, 6.0, 8.0]
ki = [1.0, 1.0, 1.0]
int_err_max = [4.0, 4.0, 2.0]

[hb_x500.attitude2force_torque]
kR = [1.068132, 1.068132, 0.9155413]
kw = [0.3051804, 0.3051804, 0.1831083]
ki_m = [0.0, 0.0, 0.007629511]
kd_omega = [0.003051804, 0.003051804, 0.0]
int_err_max = [1.0, 1.0, 1500.0]

[hb_x500.body_rate2force_torque]
kR = [1.068132, 1.068132, 0.9155413]
kw = [0.3051804, 0.3051804, 0.1831083]
ki_m = [0.0, 0.0, 0.007629511]
kd_omega = [0.003051804, 0.003051804, 0.0]
int_err_max = [1.0, 1.0, 1500.0]
1 change: 1 addition & 0 deletions crazyflow/drones/__init__.py
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Expand Up @@ -19,6 +19,7 @@ class Drone(StrEnum):
cf2x_L250 = "cf2x_L250"
cf2x_P250 = "cf2x_P250"
cf2x_T350 = "cf2x_T350"
hb_x500 = "hb_x500"
Comment thread
ratheron marked this conversation as resolved.


# Sanity check at startup
Expand Down
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186 changes: 186 additions & 0 deletions crazyflow/drones/hb_x500.xml
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@@ -0,0 +1,186 @@
<mujoco model="hb_x500">
<compiler inertiafromgeom="false" meshdir="assets" autolimits="true" />

<asset>
<material name="black" rgba="0.102 0.102 0.102 1"/>
<material name="carbon" rgba="0.16 0.16 0.17 1"/>
<material name="gray" rgba="0.3 0.3 0.3 1"/>
<material name="dark-gray" rgba="0.2 0.2 0.22 1"/>
<material name="white" rgba="0.93 0.93 0.93 1"/>
<material name="green" rgba="0.13 0.62 0.28 1"/>
<material name="blue" rgba="0.13 0.33 0.64 1"/>

<!-- Holybro X500 V2 (PX4 Development Kit). Meshes come from the official STEP
(x500v2-frame.step, 2022-07-19): https://holybro.com/products/px4-development-kit-x500-v2
STLs are binary and in millimetres. The STEP is Y-up with the camera bracket on -X, so
parts are rotated (x, y, z) = (-x_step, z_step, y_step). The body origin is on the
underside of the bottom plate, roughly the CoM with a battery fitted.
x points forward (camera bracket), y left, z up. -->
<mesh name="frame" file="hb_x500/hb_x500_frame.stl" scale="1e-3 1e-3 1e-3"/>
<mesh name="arm_plastics" file="hb_x500/hb_x500_arm_plastics.stl" scale="1e-3 1e-3 1e-3"/>
<mesh name="motors" file="hb_x500/hb_x500_motors.stl" scale="1e-3 1e-3 1e-3"/>
<mesh name="tubes" file="hb_x500/hb_x500_tubes.stl" scale="1e-3 1e-3 1e-3"/>
<!-- Every screw and nut on the frame and the GPS mounts -->
<mesh name="screws" file="hb_x500/hb_x500_screws.stl" scale="1e-3 1e-3 1e-3"/>
<!-- Own design -->
<mesh name="battery_holder" file="hb_x500/hb_x500_battery_holder.stl" scale="1e-3 1e-3 1e-3"/>
<!-- Own design -->
<mesh name="leg" file="hb_x500/hb_x500_leg.stl" scale="1e-3 1e-3 1e-3"/>
<!-- Own design -->
<mesh name="propguard_center" file="hb_x500/hb_x500_propguard_center.stl" scale="1e-3 1e-3 1e-3"/>
<mesh name="propguard_left" file="hb_x500/hb_x500_propguard_left.stl" scale="1e-3 1e-3 1e-3"/>
<mesh name="propguard_right" file="hb_x500/hb_x500_propguard_right.stl" scale="1e-3 1e-3 1e-3"/>
<mesh name="propguard_arm" file="hb_x500/hb_x500_propguard_arm.stl" scale="1e-3 1e-3 1e-3"/>
<!-- Reconstructed from product images of the 1045 (Holybro 530084):
https://www.premium-modellbau.de/holybro-s500-v2-1045-ersatzpropeller-2x-cw-2x-ccw
https://holybro.com/products/spare-parts-s500-v2-kit -->
<mesh name="propL" file="hb_x500/hb_x500_PropL.stl" scale="1e-3 1e-3 1e-3" smoothnormal="true"/>
<mesh name="propR" file="hb_x500/hb_x500_PropR.stl" scale="1e-3 1e-3 1e-3" smoothnormal="true"/>
<mesh name="propHub" file="hb_x500/hb_x500_PropHub.stl" scale="1e-3 1e-3 1e-3" smoothnormal="true"/>
<!-- Reconstructed from vendor drawing of the Holybro 30 degree H-RTK mount:
https://www.unmannedtechshop.co.uk/products/holybro-30-gps-antenna-mount-h-rtk-helical
https://cdn.shopify.com/s/files/1/0914/9972/5181/files/30_AntennaMount_Dimensions_1800x1800_47d5d653-a047-444d-a3a7-cb5a3b054260.webp -->
<mesh name="gps_mount" file="hb_x500/hb_x500_gps_mount.stl" scale="1e-3 1e-3 1e-3"/>
<mesh name="gps_tube" file="hb_x500/hb_x500_gps_tube.stl" scale="1e-3 1e-3 1e-3" smoothnormal="true"/>
<!-- Reconstructed SMA adapter collar between mount and antenna -->
<mesh name="gps_sma" file="hb_x500/hb_x500_gps_sma.stl" scale="1e-3 1e-3 1e-3"/>
<!-- Reconstructed from the dimension drawing of the ArduSimple helical tripleband L-band IP67:
https://www.ardusimple.de/product/lightweight-helical-tripleband-l-band-antenna-ip67/
https://www.ardusimple.com/wp-content/uploads/2021/02/helical3b_dimensions.jpg -->
<mesh name="gps_antenna" file="hb_x500/hb_x500_gps_antenna.stl" scale="1e-3 1e-3 1e-3" smoothnormal="true"/>
<!-- The whole `drone` body fused into one mesh with transforms baked in (123408 faces) -->
<mesh name="hb_x500_fused" file="hb_x500/hb_x500_fused.stl" scale="1e-3 1e-3 1e-3"/>
</asset>

<default>
<default class="hb_x500">
<default class="visual">
<geom group="2" type="mesh" contype="0" conaffinity="0" />
</default>
<default class="collision">
<geom group="3" condim="1" />
</default>
<site group="5" />
</default>
</default>

<worldbody>
<body name="drone" pos="0 0 0.25" childclass="hb_x500">
<site name="CoM" />
<inertial pos="0.0 0.0 0.0" mass="2.28" diaginertia="0.024 0.024 0.044" />

<!-- Meshes -->
<geom mesh="frame" material="black" class="visual" />
<geom mesh="arm_plastics" material="blue" class="visual" />
<geom mesh="battery_holder" material="black" class="visual" pos="0.029 0 -0.013" quat="0 0.70710678 0.70710678 0"/>
<geom mesh="battery_holder" material="black" class="visual" pos="-0.041 0 -0.013" quat="0 0.70710678 0.70710678 0"/>
<!-- LemonRC 4300 mAh 14.8 V 35C, 136 x 43 x 33 mm, 422 g:
https://www.reichelt.de/de/de/shop/produkt/lipo_akku_lemonrc_4300_-_14_8v_35c_-385695 -->
<geom name="battery" type="box" size="0.068 0.0215 0.0165" pos="0 0 -0.0435" material="white" class="visual" />
<geom mesh="tubes" material="carbon" class="visual" />
<geom mesh="screws" material="gray" class="visual" />
<geom mesh="motors" material="black" class="visual" pos="0 0 0.0065" />

<!-- Collision geometry is estimated based on the visual mesh. We use a sphere for maximum
computational efficiency with larger swarms. Used by default-->
<geom name="col_sphere" type="sphere" size="0.41" pos="0 0 0.071" class="collision" contype="1" conaffinity="1" />
<!-- For higher accuracy with lower performance, you can use a box. By default off. -->
<geom name="col_box" type="box" size="0.327 0.327 0.1675" pos="0 0 0.0875" class="collision" rgba="0.5 0.5 0.5 0" contype="0" conaffinity="0" />

<!-- Motors and Propellers. Motor centres: 176.78 mm on both axes (500 mm wheelbase).
Hub underside is 4.5 mm below its origin and seats on the shaft shoulder at 64.5 mm. -->
<site name="motor0" pos="0.17678 -0.17678 0.069" />
<site name="motor1" pos="-0.17678 -0.17678 0.069" />
<site name="motor2" pos="-0.17678 0.17678 0.069" />
<site name="motor3" pos="0.17678 0.17678 0.069" />
<body name="prop0" pos="0.17678 -0.17678 0.069" euler="0 0 45">
<geom mesh="propL" material="black" class="visual"/>
<geom mesh="propHub" material="gray" class="visual"/>
</body>
<body name="prop1" pos="-0.17678 -0.17678 0.069" euler="0 0 135">
<geom mesh="propR" material="black" class="visual"/>
<geom mesh="propHub" material="gray" class="visual"/>
</body>
<body name="prop2" pos="-0.17678 0.17678 0.069" euler="0 0 225">
<geom mesh="propL" material="black" class="visual"/>
<geom mesh="propHub" material="gray" class="visual"/>
</body>
<body name="prop3" pos="0.17678 0.17678 0.069" euler="0 0 315">
<geom mesh="propR" material="black" class="visual"/>
<geom mesh="propHub" material="gray" class="visual"/>
</body>

<body name="propguard0" pos="0.17678 -0.17678 0.0245" euler="0 0 -135">
<geom mesh="propguard_center" material="white" class="visual" quat="0 0 0.70710678 0.70710678"/>
<geom mesh="propguard_left" material="white" class="visual" quat="0 0 0.70710678 0.70710678"/>
<geom mesh="propguard_right" material="white" class="visual" quat="0 0 0.70710678 0.70710678"/>
<geom mesh="propguard_arm" material="black" class="visual" quat="0 0 0.70710678 0.70710678"/>
<geom mesh="propguard_arm" material="black" class="visual" quat="0.27059805 0.27059805 -0.65328148 -0.65328148"/>
<geom mesh="propguard_arm" material="black" class="visual" quat="0.27059805 0.27059805 0.65328148 0.65328148"/>
</body>
<body name="propguard1" pos="-0.17678 -0.17678 0.0245" euler="0 0 -225">
<geom mesh="propguard_center" material="green" class="visual" quat="0 0 0.70710678 0.70710678"/>
<geom mesh="propguard_left" material="green" class="visual" quat="0 0 0.70710678 0.70710678"/>
<geom mesh="propguard_right" material="green" class="visual" quat="0 0 0.70710678 0.70710678"/>
<geom mesh="propguard_arm" material="black" class="visual" quat="0 0 0.70710678 0.70710678"/>
<geom mesh="propguard_arm" material="black" class="visual" quat="0.27059805 0.27059805 -0.65328148 -0.65328148"/>
<geom mesh="propguard_arm" material="black" class="visual" quat="0.27059805 0.27059805 0.65328148 0.65328148"/>
</body>
<body name="propguard2" pos="-0.17678 0.17678 0.0245" euler="0 0 45">
<geom mesh="propguard_center" material="green" class="visual" quat="0 0 0.70710678 0.70710678"/>
<geom mesh="propguard_left" material="green" class="visual" quat="0 0 0.70710678 0.70710678"/>
<geom mesh="propguard_right" material="green" class="visual" quat="0 0 0.70710678 0.70710678"/>
<geom mesh="propguard_arm" material="black" class="visual" quat="0 0 0.70710678 0.70710678"/>
<geom mesh="propguard_arm" material="black" class="visual" quat="0.27059805 0.27059805 -0.65328148 -0.65328148"/>
<geom mesh="propguard_arm" material="black" class="visual" quat="0.27059805 0.27059805 0.65328148 0.65328148"/>
</body>
<body name="propguard3" pos="0.17678 0.17678 0.0245" euler="0 0 -45">
<geom mesh="propguard_center" material="white" class="visual" quat="0 0 0.70710678 0.70710678"/>
<geom mesh="propguard_left" material="white" class="visual" quat="0 0 0.70710678 0.70710678"/>
<geom mesh="propguard_right" material="white" class="visual" quat="0 0 0.70710678 0.70710678"/>
<geom mesh="propguard_arm" material="black" class="visual" quat="0 0 0.70710678 0.70710678"/>
<geom mesh="propguard_arm" material="black" class="visual" quat="0.27059805 0.27059805 -0.65328148 -0.65328148"/>
<geom mesh="propguard_arm" material="black" class="visual" quat="0.27059805 0.27059805 0.65328148 0.65328148"/>
</body>
<body name="leg0" pos="0.17678 -0.17678 0.0245" euler="0 0 -135">
<geom mesh="leg" material="black" class="visual" quat="0 0 0.70710678 0.70710678"/>
</body>
<body name="leg1" pos="-0.17678 -0.17678 0.0245" euler="0 0 -225">
<geom mesh="leg" material="black" class="visual" quat="0 0 0.70710678 0.70710678"/>
</body>
<body name="leg2" pos="-0.17678 0.17678 0.0245" euler="0 0 45">
<geom mesh="leg" material="black" class="visual" quat="0 0 0.70710678 0.70710678"/>
</body>
<body name="leg3" pos="0.17678 0.17678 0.0245" euler="0 0 -45">
<geom mesh="leg" material="black" class="visual" quat="0 0 0.70710678 0.70710678"/>
</body>

<!-- Left/right GPS arms on the top plate: 164 mm between clamp pins,
12 mm tube diameter, 135.6 mm platform height, 436.2 mm antenna baseline. -->
<body name="gps_left" pos="0 0.05 0.032" euler="0 0 90">
<geom mesh="gps_mount" material="black" class="visual"/>
<geom mesh="gps_tube" material="carbon" class="visual"/>
<geom mesh="gps_sma" material="gray" class="visual"/>
<geom mesh="gps_antenna" material="black" class="visual" pos="0.1681 0 0.1396"/>
</body>
<body name="gps_right" pos="0 -0.05 0.032" euler="0 0 -90">
<geom mesh="gps_mount" material="black" class="visual"/>
<geom mesh="gps_tube" material="carbon" class="visual"/>
<geom mesh="gps_sma" material="gray" class="visual"/>
<geom mesh="gps_antenna" material="black" class="visual" pos="0.1681 0 0.1396"/>
</body>

<!-- Cameras -->
<camera name="track_cam" pos="-2.5 0 1.25" xyaxes="0 -1 0 1 0 2" mode="trackcom" />
<camera name="fpv_cam" pos="0.115 0 -0.03" euler="0 -90 -90" fovy="70" resolution="640 480" />
</body>

<body name="drone_fused" pos="0 0 0.25" childclass="hb_x500">
Comment thread
ratheron marked this conversation as resolved.
<inertial pos="0.0 0.0 0.0" mass="2.28" diaginertia="0.024 0.024 0.044" />
<geom mesh="hb_x500_fused" material="dark-gray" class="visual" />
<geom name="col_sphere_fused" type="sphere" size="0.41" pos="0 0 0.071" class="collision" contype="1" conaffinity="1" />
<geom name="col_box_fused" type="box" size="0.327 0.327 0.1675" pos="0 0 0.0875" class="collision" rgba="0.5 0.5 0.5 0" contype="0" conaffinity="0" />
</body>
</worldbody>

</mujoco>
15 changes: 15 additions & 0 deletions crazyflow/dynamics/so_rpy/params.toml
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Expand Up @@ -80,3 +80,18 @@ cmd_f_coef = 0.96836458
rpy_coef = [-188.9910, -188.9910, -138.3109]
rpy_rates_coef = [-12.7803, -12.7803, -16.8485]
cmd_rpy_coef = [138.0834, 138.0834, 198.5161]

[hb_x500]
mass = 2.28
J = [ # approximated
[24e-3, 0.0, 0.0],
[0.0, 24e-3, 0.0],
[0.0, 0.0, 44e-3]
]
thrust_min = 1.0 # in N per motor
thrust_max = 12.13 # in N per motor
acc_coef = 0.0
cmd_f_coef = 0.9121643489648786
rpy_coef = [-51.42302192586755, -51.42302192586755, -26.929070173696157]
rpy_rates_coef = [-8.93635377240008, -8.93635377240008, -8.646484332625702]
cmd_rpy_coef = [47.3447720777806, 47.3447720777806, 25.310886504404653]
16 changes: 16 additions & 0 deletions crazyflow/dynamics/so_rpy_rotor/params.toml
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Expand Up @@ -85,3 +85,19 @@ thrust_time_coef = 0.02055366
rpy_coef = [-188.9910, -188.9910, -138.3109]
rpy_rates_coef = [-12.7803, -12.7803, -16.8485]
cmd_rpy_coef = [138.0834, 138.0834, 198.5161]

[hb_x500]
mass = 2.28
J = [ # approximated
[24e-3, 0.0, 0.0],
[0.0, 24e-3, 0.0],
[0.0, 0.0, 44e-3]
]
thrust_min = 1.0 # in N per motor
thrust_max = 12.13 # in N per motor
acc_coef = 0.0
cmd_f_coef = 0.9122876298664497
thrust_time_coef = 0.04493428195421334
rpy_coef = [-51.42302192586755, -51.42302192586755, -26.929070173696157]
rpy_rates_coef = [-8.93635377240008, -8.93635377240008, -8.646484332625702]
cmd_rpy_coef = [47.3447720777806, 47.3447720777806, 25.310886504404653]
21 changes: 21 additions & 0 deletions crazyflow/dynamics/so_rpy_rotor_drag/params.toml
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Expand Up @@ -110,3 +110,24 @@ drag_matrix = [
rpy_coef = [-188.9910, -188.9910, -138.3109]
rpy_rates_coef = [-12.7803, -12.7803, -16.8485]
cmd_rpy_coef = [138.0834, 138.0834, 198.5161]

[hb_x500]
mass = 2.28
J = [ # approximated
[24e-3, 0.0, 0.0],
[0.0, 24e-3, 0.0],
[0.0, 0.0, 44e-3]
]
thrust_min = 1.0 # in N per motor
thrust_max = 12.13 # in N per motor
acc_coef = 0.0
cmd_f_coef = 0.9234799918739313
thrust_time_coef = 0.07111262651857447
drag_matrix = [
[-0.8031707417931839, 0.0, 0.0 ],
[0.0, -0.8031707417931839, 0.0 ],
[0.0, 0.0, -1.013867567938818 ]
]
rpy_coef = [-51.423019722268464, -51.423019722268464, -26.92907102709692]
rpy_rates_coef = [-8.9363626451314, -8.9363626451314, -8.646483972362423]
cmd_rpy_coef = [47.34477305534468, 47.34477305534468, 25.310887633982862]
1 change: 1 addition & 0 deletions docs/user-guide/control/parametrize.md
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Expand Up @@ -61,6 +61,7 @@ The following configurations ship with pre-fitted parameters:
| `"cf2x_P250"` | Crazyflie 2.x, plus propellers |
| `"cf2x_T350"` | Crazyflie 2.x, thrust upgrade kit |
| `"cf21B_500"` | Crazyflie 2.1 Brushless |
| `"hb_x500"` | Holybro X500 V2 |

Pass the drone name as a plain string:

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3 changes: 2 additions & 1 deletion docs/user-guide/dynamics/parametrize.md
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Expand Up @@ -21,7 +21,7 @@ The following configurations ship with pre-fitted parameters. They cover both th
```python
from crazyflow.drones import Drone

list(Drone) # [Drone.cf21B_500, Drone.cf2x_L250, Drone.cf2x_P250, Drone.cf2x_T350]
list(Drone) # [Drone.cf21B_500, Drone.cf2x_L250, Drone.cf2x_P250, Drone.cf2x_T350, Drone.hb_x500]
```

| `drone` | Platform |
Expand All @@ -30,6 +30,7 @@ list(Drone) # [Drone.cf21B_500, Drone.cf2x_L250, Drone.cf2x_P250, Drone.cf2x_T3
| `"cf2x_P250"` | Crazyflie 2.x, plus propellers |
| `"cf2x_T350"` | Crazyflie 2.x, thrust upgrade kit |
| `"cf21B_500"` | Crazyflie 2.1 Brushless |
| `"hb_x500"` | Holybro X500 V2 |

If your drone is not listed, you can [add it](../adding-drones.md). The fitted models need coefficients identified from flight data with the [system identification pipeline](system-identification.md).

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6 changes: 4 additions & 2 deletions tests/unit/test_sim.py
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Expand Up @@ -14,6 +14,7 @@
from scipy.spatial.transform import Rotation as R

from crazyflow.control import Control
from crazyflow.dynamics import supported_dynamics
from crazyflow.exception import ConfigError
from crazyflow.sim import Dynamics, Sim
from crazyflow.sim.data import ControlData, SimData
Expand Down Expand Up @@ -738,9 +739,10 @@ def test_build_data(control: Control):


@pytest.mark.unit
@pytest.mark.parametrize("drone", ["cf2x_L250", "cf2x_P250", "cf2x_T350", "cf21B_500"])
@pytest.mark.parametrize("drone", ["cf2x_L250", "cf2x_P250", "cf2x_T350", "cf21B_500", "hb_x500"])
def test_fused_model(device: str, drone: str):
sim = Sim(drone=drone, fused_mjx_model=True, device=device)
dynamics = supported_dynamics(drone)[0] # Test for all drones, but on one available dynamics
sim = Sim(drone=drone, dynamics=dynamics, fused_mjx_model=True, device=device)
sim.reset()
sim.step(1)
sim.close()
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