Configuration
This chapter will guide through the whole process from setting up the system to using the offboard control mode.
Requirements
- Linux/Unix PC with development environment
- Pixhawk with PX4 Flight Stack
- STM32F4-discovery (altho the interface can run on a PC too)
- FTDI Cables
- Radio Telemetry Link (might be replaced with FTDI Link)
QGroundControl
QGroundControl is the software controlling the PX4 flight stack, it's used by normal users to setup flights and specific missions. The devs recommends the daily build for development, but since it's very unstable and takes a while to compiles under QT, I recommend using the binary stable version :
Once downloaded, execute the star-qgroundcontrol.sh shell file, then follow the video tutorial to configure your pixhawk with it :
If you are a bit lost, and have a custom built quadcopter for example, use "Generic Quadcopter frame" as the airframe.
Once you configured the sensors (compass, accelerometer, gyroscope) and level horizon, you can proceed directly to parameters, and change the following settings in :
- Commander : COM_RC_IN_MODE to Joystick : NO_RC_CHECKS (will disable the RC Controller)
- MAVLink : Check these values :
- MAV_COMP_ID = 1
- MAV_FWDEXTSP = 1
- MAV_SYS_ID = 1
- MAV_TEST_PAR = 1
- MAV_TYPE = 2
- System :
- SYS_AUTO_START = 4010
- SYS_COMPANION = 57600 (not 157600)
- SYS_RESTART_TYPE = 0
PX4 Toolchain
Once finished again, follow the Toolchain Installation Guide. Please note that this toolchain will not be used to compile the C UART Interface, you'll have to install the summon-arm-toolchain which I'll mention later on.
The previous installation will allow you to change, recompile and flash the PX4 firmware manually and even run a basic and advanced simulations.
Offboard control configurations
Alternative configurations can be found at dev offboard control tutorial.
Original C UART Interface testing
If you are sure how your drone operates, you can proceed to the C UART Interface testing, to do so, follow the README of first version of the interface.
Modified C UART Interface testing
When tested successfully on the field, you can now proceed to test the modified version of the software (Follow the guide to set it up on the STM32F4-discovery).