Pixhawk - Revision history

Openuas at 07:53, 18 December 2019

2019-12-18T07:53:43Z

← Older revision		Revision as of 01:53, 18 December 2019
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	{{#ev:youtubeplaylist\|PL_KSX9GOn2P-CVsy-lRSHAnUwVF9wI_pZ}}		{{#ev:youtubeplaylist\|PL_KSX9GOn2P-CVsy-lRSHAnUwVF9wI_pZ}}
	<br style="clear:both">		<br style="clear:both">

			[[Category:Autopilots]]

Openuas at 17:58, 17 December 2019

2019-12-17T17:58:34Z

← Older revision		Revision as of 11:58, 17 December 2019
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	* If the Pixhawk is in view, one can monitor the system (B/E) led of the autopilot (left, FMU side). After 10 seconds, the system led will blink slower, meaning the autopilot has booted and the FBW can be flashed. After 20 second, the system led will blink slow (1Hz), meaning the FBW cannot be flashed any more.		* If the Pixhawk is in view, one can monitor the system (B/E) led of the autopilot (left, FMU side). After 10 seconds, the system led will blink slower, meaning the autopilot has booted and the FBW can be flashed. After 20 second, the system led will blink slow (1Hz), meaning the FBW cannot be flashed any more.
	* Whether the current code is APM, PX4 or Paparazzi, the flashing steps remain the same.		* Whether the current code is APM, PX4 or Paparazzi, the flashing steps remain the same.

			Issues:
	* In case of problems such as in figure 6, most of the time it can be solved by re-powering the Pixhawk (e.g. re-plugging the USB, and removing the battery), wait for 10 seconds for the computer to recognize the USB device, and click the upload button again.		* In case of problems such as in figure 6, most of the time it can be solved by re-powering the Pixhawk (e.g. re-plugging the USB, and removing the battery), wait for 10 seconds for the computer to recognize the USB device, and click the upload button again.
			* Users reported swapping USB cables fixed their upload issues

	[[File:Upload problems.jpg\|thumb\|Figure 6; upload problems]]		[[File:Upload problems.jpg\|thumb\|Figure 6; upload problems]]

Jkg: fix github link to iris airframe

2019-10-07T19:00:53Z

fix github link to iris airframe

← Older revision		Revision as of 13:00, 7 October 2019
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	In short, the steps you'll need to run through are roughly the following:		In short, the steps you'll need to run through are roughly the following:

	*1. Define your aircraft and settings for the Pixhawk (e.g. see the [https://github.com/paparazzi/paparazzi/blob/master/conf/airframes/~~TUDELFT~~/~~tudelft_iris_indi~~.xml Iris airframe] )		*1. Define your aircraft and settings for the Pixhawk (e.g. see the [https://github.com/paparazzi/paparazzi/blob/master/conf/airframes/tudelft/iris_indi.xml Iris airframe] )
	*2. Connect the Pixhawk via USB to your computer, and upload the AP firmware		*2. Connect the Pixhawk via USB to your computer, and upload the AP firmware
	*3. Replug the USB, and upload the FBW code. Replug USB again.		*3. Replug the USB, and upload the FBW code. Replug USB again.

Openuas: /* Features */

2019-03-20T21:40:07Z

Features

← Older revision		Revision as of 15:40, 20 March 2019
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	The features that are not yet supported by Paparazzi are the following:		The features that are not yet supported by Paparazzi are the following:
	*The multicolor ~~led~~		*The multicolor LED
	*The buzzer		*The buzzer
	*The on-board arm button		*The on-board arm button

Openuas: /* Features */

2019-03-20T21:39:38Z

Features

← Older revision		Revision as of 15:39, 20 March 2019
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	*The on-board arm button		*The on-board arm button
	*The SD card SDIO		*The SD card SDIO
	*~~SBus out,~~ RC downlink (e.g. gps info, battery info)		*RC downlink (e.g. gps info, battery info)

	=Videos=		=Videos=

Kevindehecker at 11:11, 17 January 2017

2017-01-17T11:11:08Z

← Older revision		Revision as of 05:11, 17 January 2017
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	** Click the build button (8).		** Click the build button (8).
	** After the compilation was completed successfully (9), plug in the USB cable to computer and the Pixhawk.		** After the compilation was completed successfully (9), plug in the USB cable to computer and the Pixhawk.
	** ~~After 5~~ seconds click upload (10).		** Between 10 to 20 seconds after replugging, click upload (10).
	** You should see "upload successful" (11).		** You should see "upload successful" (11).

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	* After flashing the FBW, it is required to re-power the Pixhawk.		* After flashing the FBW, it is required to re-power the Pixhawk.
	* The flashing of the FBW is disabled 20 seconds after power up. Re-power to reset the time.		* The flashing of the FBW is disabled 20 seconds after power up. Re-power to reset the time.
			* If the Pixhawk is in view, one can monitor the system (B/E) led of the autopilot (left, FMU side). After 10 seconds, the system led will blink slower, meaning the autopilot has booted and the FBW can be flashed. After 20 second, the system led will blink slow (1Hz), meaning the FBW cannot be flashed any more.
	* Whether the current code is APM, PX4 or Paparazzi, the flashing steps remain the same.		* Whether the current code is APM, PX4 or Paparazzi, the flashing steps remain the same.
	* In case of problems such as in figure 6, most of the time it can be solved by re-powering the Pixhawk (e.g. re-plugging the USB, and removing the battery), wait for 5 seconds for the computer to recognize the USB device, and click the upload button again.		* In case of problems such as in figure 6, most of the time it can be solved by re-powering the Pixhawk (e.g. re-plugging the USB, and removing the battery), wait for 10 seconds for the computer to recognize the USB device, and click the upload button again.

	[[File:Upload problems.jpg\|thumb\|Figure 6; upload problems]]		[[File:Upload problems.jpg\|thumb\|Figure 6; upload problems]]
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	{{Box Code\|conf/airframes/<yourairframe>.xml\|<source lang="xml">		{{Box Code\|conf/airframes/<yourairframe>.xml\|<source lang="xml">
	<modules main_freq="512">		<modules main_freq="512">
	<module name="px4_flash" />		<module name="px4_flash">
			<configure name="PX4IO_UART" value="uart6"/>
			</module>
	...		...
	</source>}}		</source>}}

Kevindehecker: Changed video link

2017-01-09T10:49:48Z

Changed video link

@@ Line 102: / Line 102: @@
 </source>}}
 This enables uploading through the PX4 bootloading and activates the usb-serial device after startup.
 =Features=
@@ Line 128: / Line 122: @@
 *The SD card SDIO
 *SBus out, RC downlink (e.g. gps info, battery info)

Flixr: use wiki links!

2016-12-13T19:15:28Z

use wiki links!

← Older revision		Revision as of 13:15, 13 December 2016
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	It is also possible to directly upload to the Pixhawk by means of the JTAG port, but this is not recommended as it involves soldering and permanently removes the PX4 bootloader (which means reverting to PX4 or APM firmware is complicated). Therefor, this wiki focuses on flashing through the PX4 bootloader.		It is also possible to directly upload to the Pixhawk by means of the JTAG port, but this is not recommended as it involves soldering and permanently removes the PX4 bootloader (which means reverting to PX4 or APM firmware is complicated). Therefor, this wiki focuses on flashing through the PX4 bootloader.

	An step-by-step example on flying Paparazzi with a Pixhawk can be found on the [~~https://wiki.paparazziuav.org/wiki/Iris~~ Iris] page.		An step-by-step example on flying Paparazzi with a Pixhawk can be found on the [[Iris]] page.

	=Intro=		=Intro=

	This page is intended as a guide on how to get the Paparazzi autopilot running on a Pixhawk board. For the specifications and pin-out details we recommend to look at the [https://pixhawk.org/modules/pixhawk Pixhawk site]. Details on how to flash the board with Paparazzi can be found [~~https://wiki.paparazziuav.org/wiki/Pixhawk~~#Flashing below]. A complete step by step example on how to get a drone flying with Paparazzi + Pixhawk is provided with the [~~https://wiki.paparazziuav.org/wiki/Iris~~ Iris drone]. A list of features that are currently (not) supported in Paparazzi can be found [~~https://wiki.paparazziuav.org/wiki/Pixhawk~~#Features here].		This page is intended as a guide on how to get the Paparazzi autopilot running on a Pixhawk board. For the specifications and pin-out details we recommend to look at the [https://pixhawk.org/modules/pixhawk Pixhawk site]. Details on how to flash the board with Paparazzi can be found [[#Flashing\|below]]. A complete step by step example on how to get a drone flying with Paparazzi + Pixhawk is provided with the [[Iris]] drone. A list of features that are currently (not) supported in Paparazzi can be found [[#Features\|here]].

	The Pixhawk consists of the PX4IO (designed around a stm32f1) and the PX4FMU (designed around a stm32f4), which are glued together in one pcb. Uploading of the autopilot (which runs only on the PX4FMU) happens directly from computer over USB to the PX4FMU, by means of the PX4 bootloader. In the original PX4 and APM Pixhawk software, the compiled PX4IO code (which runs the Fly By Wire) is embedded with the PX4FMU code, and the PX4FMU code would flash the PX4IO board at startup. But, in Paparazzi, the PX4IO is flashed from the computer --> USB -> PX4FMU --> internal UART --> PX4IO, directly from Paparazzi Center. This means PX4IO board can be flashed without changing the autopilot, and vice versa.		The Pixhawk consists of the PX4IO (designed around a stm32f1) and the PX4FMU (designed around a stm32f4), which are glued together in one pcb. Uploading of the autopilot (which runs only on the PX4FMU) happens directly from computer over USB to the PX4FMU, by means of the PX4 bootloader. In the original PX4 and APM Pixhawk software, the compiled PX4IO code (which runs the Fly By Wire) is embedded with the PX4FMU code, and the PX4FMU code would flash the PX4IO board at startup. But, in Paparazzi, the PX4IO is flashed from the computer --> USB -> PX4FMU --> internal UART --> PX4IO, directly from Paparazzi Center. This means PX4IO board can be flashed without changing the autopilot, and vice versa.
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	*3. Replug the USB, and upload the FBW code. Replug USB again.		*3. Replug the USB, and upload the FBW code. Replug USB again.

	Details on steps 2 and 3 can be found in [~~https://wiki.paparazziuav.org/wiki/Pixhawk~~#Flashing Flashing]. Details on step 1 can be found [[#Airframe config\|further below]].		Details on steps 2 and 3 can be found in [[#Flashing\|Flashing]]. Details on step 1 can be found [[#Airframe config\|further below]].

	=Flashing=		=Flashing=

Kevindehecker at 10:55, 9 December 2016

2016-12-09T10:55:29Z

← Older revision		Revision as of 04:55, 9 December 2016
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	</source>}}		</source>}}
	Configuration of the baud at 1500000 is strongly recommended, as this will remain backwards compatible with the PX4 code and bootloader. However, in Paparazzi the baud rate is slowed down to 230400 10s after start up, as the Pixhawk hardware actually does not seem to support flawless data transfers at those speeds. At least not in Paparazzi.		Configuration of the baud at 1500000 is strongly recommended, as this will remain backwards compatible with the PX4 code and bootloader. However, in Paparazzi the baud rate is slowed down to 230400 10s after start up, as the Pixhawk hardware actually does not seem to support flawless data transfers at those speeds. At least not in Paparazzi.
	*Define the ~~imu~~ to be:		*Define the IMU to be:
	{{Box Code\|conf/airframes/<yourairframe>.xml\|<source lang="xml">		{{Box Code\|conf/airframes/<yourairframe>.xml\|<source lang="xml">
	<module name="imu" type="px4fmu_v2.4"/>		<module name="imu" type="px4fmu_v2.4"/>
	</source>}}		</source>}}
	Which uses the l3gd20 gyro and the lsm303d accelero. The Pixhawk has two IMU's, so alternatively you can also use the MPU6000 ~~imu~~:		Which uses the l3gd20 gyro and the lsm303d accelero. The Pixhawk has two IMU's, so alternatively you can also use the MPU6000 IMU:
	{{Box Code\|conf/airframes/<yourairframe>.xml\|<source lang="xml">		{{Box Code\|conf/airframes/<yourairframe>.xml\|<source lang="xml">
	<module name="imu" type="mpu6000"/>		<module name="imu" type="mpu6000"/>

Kevindehecker at 10:53, 9 December 2016

2016-12-09T10:53:51Z

← Older revision		Revision as of 04:53, 9 December 2016
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	*The dual processor setup (main stm32f4 and co stm32f1 processor), in a AP (AutoPilot) + FBW (Fly By Wire)		*The dual processor setup (main stm32f4 and co stm32f1 processor), in a AP (AutoPilot) + FBW (Fly By Wire)
	*Dual IMU (selectable from airframe config)		*Dual IMU (selectable from airframe config)
	**~~MPU6050~~, 3axis acc + gyro + magneto		**MPU6000, 3axis acc + gyro + magneto
	**LSM303 3-axis acc + magneto, L3G 3-axis gyro		**LSM303 3-axis acc + magneto, L3G 3-axis gyro
	*External GPS + Magneto		*External GPS + Magneto