From ffe2d3d5e4fb3894cb5ccfe598236d1862f1b2d6 Mon Sep 17 00:00:00 2001 From: oponfil <69752190+oponfil@users.noreply.github.com> Date: Sat, 27 Aug 2022 02:36:11 +0700 Subject: [PATCH] docs: update connection article (en) (#363) * Add instructions on how to connect FMU to Raspberry Pi by UART * Remove sitl connection section Co-authored-by: Oleg Kalachev --- docs/en/connection.md | 18 ++++-------------- 1 file changed, 4 insertions(+), 14 deletions(-) diff --git a/docs/en/connection.md b/docs/en/connection.md index e86176ca..82cf537e 100644 --- a/docs/en/connection.md +++ b/docs/en/connection.md @@ -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 @@ -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 - - -``` - **Next**: [Using QGroundControl over Wi-Fi](gcs_bridge.md)