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123 lines
4.6 KiB
Markdown
123 lines
4.6 KiB
Markdown
# Initial setup
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## Installing QGroundControl
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**QGroundControl** is a software package that can be used to flash, configure and calibrate the flight controller.
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<img src="../assets/qgc.png" alt="QGroundControl" class="zoom">
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Download and install the version for your operating system [from the official QGroundControl website](https://docs.qgroundcontrol.com/en/getting_started/download_and_install.html). When asked, agree to install additional drivers.
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Consult the [official QGroundControl user guide](https://docs.qgroundcontrol.com/en/) if anything goes wrong.
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## Preparing the MicroSD card
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Prepare the MicroSD card for your flight controller.
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<img src="../assets/pix-sd.png" alt="Pixracer и MicroSD-карта" class="zoom center" width=400>
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* Put the card into your computer (use an adapter if necessary).
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* Format the card to FAT32 filesystem. Right click on the SD card icon in Windows Explorer and select "Format". Use the Disk Utility in macOS.
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* Use "Safely Remove Hardware" and unplug the card.
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* Put the card into your flight controller.
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## Flashing the flight controller
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Main article: https://docs.qgroundcontrol.com/en/SetupView/Firmware.html
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> **Note** Do not connect your flight controller prior to flashing.
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We recommend using the modified version of PX4 by CopterExpress for the Clover drone, especially for autonomous flights. Download the latest stable version **<a class="latest-firmware v4" href="https://github.com/CopterExpress/Firmware/releases">from our GitHub</a>**.
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Flash the flight controller with this firmware:
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<img src="../assets/qgc-firmware.png" alt="QGroundControl firmware upload" class="zoom">
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1. Open the *Vehicle Setup* tab.
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2. Select the *Firmware* menu.
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3. Connect your flight controller to your PC over USB.
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4. Wait for the flight controller to connect to QGroundControl.
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5. Select *PX4 Flight Stack* in the right bar.
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To use the recommended Copter Express firmware:
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* Check *Advanced Settings* checkbox.
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* Select *Custom firmware file...* from the dropdown list.
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* Press *OK* and select the file that you've downloaded.
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To use the latest official stable firmware just press *OK*.
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Wait for QGroundControl to finish flashing the flight controller.
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> **Warning** Do not unplug the flight controller during the flashing process.
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Read more about the firmware in the "[Pixhawk Firmware](firmware.md)" article.
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## Configuring the flight controller
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> **Hint** You can use the [Raspberry Pi to access the flight controller over Wi-Fi](gcs_bridge.md) for the rest of the setup process.
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This is how the main QGroundControl settings window will look like:
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<img src="../assets/qgc-requires-setup.png" alt="QGroundControl overview" class="zoom">
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1. Parameters that require setup: *Airframe*, *Radio*, *Sensors*, *Flight Modes*.
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2. Current firmware version.
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3. Current flight mode.
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4. Error messages.
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### Selecting the airframe
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<img src="../assets/qgc-frame-apply.png" alt="QGroundControl frame selection" class="zoom">
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1. Open the *Vehicle Setup* tab.
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2. Select the *Airframe* menu.
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3. Select the *Quadrotor X* airframe type.
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4. Select the *Generic Quadrotor X* from the dropdown menu.
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5. Return to the top of the list and press *Apply and Restart* button, confirm by pressing *Apply*.
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6. Wait for the settings to be applied and for the flight controller to restart.
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### Setting parameters
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Open the *Vehicle Setup* tab and select the *Parameters* menu. You can use the *Search* field to find parameters by name.
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<img src="../assets/qgc-parameters.png" alt="QGroundControl parameters" class="zoom">
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Press the *Save* button to save the changed value to the flight controller. Changing some parameters require rebooting the flight controller. You can do that by pressing the *Tools* button and selecting the *Reboot vehicle* option.
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#### Configuring PID regulators
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##### Averaged PID coefficients for the Clover 4 drone
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* `MC_PITCHRATE_P` = 0.087
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* `MC_PITCHRATE_I` = 0.037
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* `MC_PITCHRATE_D` = 0.0044
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* `MC_PITCH_P` = 8.5
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* `MC_ROLLRATE_P` = 0.087
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* `MC_ROLLRATE_I` = 0.037
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* `MC_ROLLRATE_D` = 0.0044
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* `MC_ROLL_P` = 8.5
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* `MPC_XY_VEL_P` = 0.11
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* `MPC_XY_VEL_D` = 0.013
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* `MPC_XY_P` = 1.1
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* `MPC_Z_VEL_P` = 0.24
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* `MPC_Z_P` = 1.2
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##### Averaged PID coefficients for the Clover 3 drone
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* `MC_PITCHRATE_P` = 0.145
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* `MC_PITCHRATE_I` = 0.050
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* `MC_PITCHRATE_D` = 0.0025
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* `MC_ROLLRATE_P` = 0.145
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* `MC_ROLLRATE_I` = 0.050
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* `MC_ROLLRATE_D` = 0.0025
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> **Hint** Note that you should fine-tune the PID parameters for each drone individually. <!-- TODO: add PID article link -->
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#### Cicruit breaker parameters
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1. Set `CBRK_USB_CHK` to 197848 to allow flights with the USB cable connected.
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2. Disable safety switch check: `CBRK_IO_SAFETY` = 22027.
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**Next**: [Sensor calibration](calibration.md).
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