SBUS Wiring
When building a quadrotor with the components of the RPG Quadrotor Setup the following image shows how to wire the FPV flight controller with an Up Board, a receiver, ESCs, and a Buzzer:
As shown in the image, due to active breaking of the ESCs, we recommend using a capacitor on the battery supply voltage to filter the voltage. The XSR receiver needs to be hacked to get the uninverted SBUS signal as described on the RC Setup page.
To measure the battery voltage on an ADC of a single board computer, a custom voltage divider can be build from two resistors as shown below:
The resistor values have to be chosen such that the voltage at the ADC does not exceed its specified maximum.
The resistance values should be measured with a multi meter and the voltage_divider_upper_res and voltage_divider_lower_res parameters should be adapted in the used voltage reader launch file.