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96 lines
3.6 KiB
Markdown
96 lines
3.6 KiB
Markdown
Pixhawk / Pixracer firmware flashing
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===
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Pixhawk or Pixracer firmware may be flashed using QGroundControl or command line utilities.
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Modified firmware for Clover
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---
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It is advisable to use a specialized build of PX4 with the necessary fixes and better defaults for the Clover drone. Use the latest stable release in our [GitHub repository](https://github.com/CopterExpress/Firmware/releases) with the word `clever`, for example, `v1.8.2-clever.5`.
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<div id="release" style="display:none">
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<p>Latest stable release: <strong><a id="download-latest-release"></a></strong>.</p>
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<ul>
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<li>Firmware for Pixracer (<strong>Clover 4 / Clover 3</strong>) – <a id="firmware-pixracer" href=""><code>px4fmu-v4_default.px4</code></a>.</li>
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<li>Firmware for Pixhawk (<strong>Clover 2</strong>) – <a id="firmware-pixhawk" href=""><code>px4fmu-v2_lpe.px4</code></a>.</li>
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</ul>
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</div>
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<script type="text/javascript">
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// get latest release from GitHub
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fetch('https://api.github.com/repos/CopterExpress/Firmware/releases').then(function(res) {
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return res.json();
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}).then(function(data) {
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// look for stable release
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let stable;
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for (let release of data) {
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let clever = release.name.indexOf('clever') != -1;
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if (clever && !release.prerelease && !release.draft) {
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stable = release;
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break;
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}
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}
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let el = document.querySelector('#download-latest-release');
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el.innerHTML = stable.name;
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el.href = stable.html_url;
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document.querySelector('#release').style.display = 'block';
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for (let asset of stable.assets) {
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console.log(asset.name);
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if (asset.name == 'px4fmu-v4_default.px4') {
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document.querySelector('#firmware-pixracer').href = asset.browser_download_url;
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} else if (asset.name == 'px4fmu-v2_lpe.px4') {
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document.querySelector('#firmware-pixhawk').href = asset.browser_download_url;
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}
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}
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});
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</script>
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QGroundControl
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---
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Open the Firmware section in QGroundControl. Then, connect your Pixhawk or Pixracer via USB.
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Choose PX4 Flight Stack. If you wish to install the official firmware (with EKF2 for Pixhawk), choose "Standard version". In order to flash custom firmware, choose "Custom firmware file..." and click OK.
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> **Warning** Do not unplug your flight controller from USB during flashing!
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Firmware variants
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---
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The name of the firmware file contains information about the target flight controller and build variant. For example:
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* `px4fmu-v4_default.px4` — firmware for Pixhawk with EKF2 and LPE (**Clover 3** / **Clover 4**).
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* `px4fmu-v2_lpe.px4` — firmware for Pixhawk with LPE (**Clover 2**).
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* `px4fmu-v2_default.px4` — firmware for Pixhawk with EKF2.
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* `px4fmu-v3_default.px4` — firmware for newer Pixhawk versions (rev. 3 chip, see Fig. + Bootloader v5) with EKF2 and LPE.
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> **Note** In order to flash the `px4fmu-v3_default.px4` file, you may need to use the `force_upload` command in the command prompt.
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Command prompt
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---
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PX4 may be compiled from the source and automatically flashed to the flight controller from the command prompt.
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To do this, clone the PX4 repository:
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```bash
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git clone https://github.com/PX4/Firmware.git
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```
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Select the appropriate version (tag) using `git checkout`. Then compile and upload the firmware:
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```
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make px4fmu-v4_default upload
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```
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Where `px4fmu-v4_default` is the required firmware variant.
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In order to upload the `v3` firmware to Pixhawk, you may need to use the `force_upload` option:
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```
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make px4fmu-v3_default force-upload
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```
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