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docs: update connection article (en) (#363)

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* Add instructions on how to connect FMU to Raspberry Pi by UART

* Remove sitl connection section

Co-authored-by: Oleg Kalachev <okalachev@gmail.com>
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oponfil
2022-08-27 02:36:11 +07:00
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docs/en/connection.md
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@@ -26,9 +26,10 @@ USB connection is the preferred way to connect to the flight controller.
UART connection is another way for the Raspberry Pi and FCU to communicate.
1. Connect Raspberry Pi to your FCU using a UART cable.
2. [Connect to the Raspberry Pi over SSH](ssh.md).
3. Change the connection type in `~/catkin_ws/src/clover/clover/launch/clover.launch` to UART:
1. Connect the TELEM 2 port on the flight controller using a UART cable to the Raspberry Pi pins following this instruction: the black cable (*GND*) to Ground, the green cable (*UART_RX*) to *GPIO14*, the yellow cable (*UART_TX*) to *GPIO15*. Do not connect the red cable (*5V*).
2. Set the PX4 parameters: `MAV_1_CONFIG` to TELEM 2, `SER_TEL2_BAUND` to 921600 8N1. In PX4 of version prior to v1.10.0 the parameter `SYS_COMPANION` should be set to 921600.
3. [Connect to the Raspberry Pi over SSH](ssh.md).
4. Change the connection type in `~/catkin_ws/src/clover/clover/launch/clover.launch` to UART:
```xml
<arg name="fcu_conn" default="uart"/>
@@ -40,15 +41,4 @@ UART connection is another way for the Raspberry Pi and FCU to communicate.
sudo systemctl restart clover
```
> **Hint** Set the `SYS_COMPANION` PX4 parameter to 921600 to enable UART on the FCU.
## SITL connection
In order to connect to a local or a remote [SITL](sitl.md) instance set the `fcu_conn` parameter to `udp` and `fcu_ip` to the IP address of the SITL instance (`127.0.0.1` if you are running the instance locally):
```xml
<arg name="fcu_conn" default="udp"/>
<arg name="fcu_ip" default="127.0.0.1"/>
```
**Next**: [Using QGroundControl over Wi-Fi](gcs_bridge.md)