> For the complete documentation index, see [llms.txt](https://docs.auterion.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.auterion.com/vehicle-operation/dragon-setup/dragon-sr/hardware-integration.md).

# Hardware integration

## Required hardware

* Multirotor frame with motors and props (defaults are based on 10" X-type quadcopter)
* Skynode S with supported MIPI camera and MIPI cable
* ESC: 4in1 that supports DSHOT protocol and Skynode S compatible JST-SH cable
* RC Receiver (optional): supporting CRSF or SBUS protocols
* Supported data link radio
* External compass (optional)
* GNSS receiver module (optional)

## Wiring

For the wiring instructions refer to component specific documentation and Skynode S's [Interfaces](/hardware-integration/skynode-s/interfaces.md).

## Motor mapping

The table below provides the default output mapping for Dragon SR, that can be used to prepare the cable to connect Skynode S with the 4in1 ESC

{% hint style="danger" %}
Some ESCs might have different motor numbering - please check!
{% endhint %}

| Motor name  | Skynode S PWM output | Typical ESC motor number |
| ----------- | -------------------- | ------------------------ |
| Front left  | PWM1                 | 4                        |
| Back left   | PWM2                 | 3                        |
| Front right | PWM3                 | 2                        |
| Back right  | PWM4                 | 1                        |

| Motor name  | Skynode S PWM output | Typical ESC motor number |
| ----------- | -------------------- | ------------------------ |
| Front left  | PWM1                 | 4                        |
| Back left   | PWM2                 | 3                        |
| Front right | PWM3                 | 2                        |
| Back right  | PWM4                 | 1                        |

## Receiver wiring

The receiver can be connected to Skynode S in different ways, depending if telemetry and/or analog VTx is meant to be used.

#### **Default: CRSF receiver without telemetry and analog VTx**

The autopilot comes pre-configured for CRSF protocol based receivers connected to RC\_In input on Skynode S [Interfaces](/hardware-integration/skynode-s/interfaces.md#extras-1) port. There is no additional configuration needed in that case.

#### CRSF receiver with telemetry and/or analog VTx is being used

In order to use CRSF telemetry connect the receiver to TELEM2 serial interface on [Interfaces](/hardware-integration/skynode-s/interfaces.md#extras-1). Refer to [Radio Controller setup](/vehicle-operation/dragon-setup/dragon-sr/software-setup.md#radio-controller) to configure the autopilot.

#### SBUS receiver

SBUS receiver can be connected to Radio Controller input of Skynode S interfaces.[ Additional software setup](/vehicle-operation/dragon-setup/dragon-sr/software-setup.md#radio-controller) is required.