pixhawk-apm:plane 

supplemental 

mark I 

27 July 2014 

BIRDS~ EYEVIEW 

AEROBOTICS 
Disclaimers 

This document should not be treated as a full manual for the Pixhawk controller running APM:Piane. It is provided only as a 

FireFL Y6-specific supplement to the official APM:Piane User Manual, which can be viewed at http://plane.ardupilot.com. Please 

review the official APM:Piane User Manual in its entirety before proceeding. 
Revision History 

Dote Rev Comments 

27 July 2014 mkl Initial release 

Aggrovol 

ARS 
Pixhawk Configuration 

1. Configure your radio appropriately for the FireFL Y6 if 

you hove not already done so. Confirmed radios and 

related guidance con be found at 

www.BirdsEye View.oero 

2. Bind your receiver to your radio if you hove not 

already done so. 

3. Download and install the Mission Planner from our 

Downloads page, making sure that you allow driver 

software installation. 

NOTE: BirdsEyeView Aerobotics does not control 

Mission Planner. If you hove any issues installing 

drivers and/ or the Mission Planner, refer to the 

manuals at http://plone.ordupilot.com 

4. Download the FireFL Y6 Pixhowk Forward Flight 

Parameter file from our Downloads page and save it 

in a location on your computer where you will know to 

find it later. 

5. A PPM Encoder is required to interface the Pixhawk 

with the Bridge transition assistant. If you do not 

hove a PPM encoder, stop now and order one. 

6. Connect your PPM Encoder to the Pixhowk RC IN port 

being careful to keep correct connector orientation. 

7. Connect your receiver to the PPM Encoder using the 

following channels, being careful to keep correct 

connector orientation: 

Pixhawk Receiver 

Input Channel 

l AIL I Ch2 

2 ELEV I Ch3 

3 THRO I Chl 

AUX2 I Ch7 

8 OR * 

AUX3 I Ch8 

* See Appendix B of the FireFL Y6 Manual for details 

on this option. Also review any radio-specific 

guidance from our Manuals page for details on which 

channel is recommended for your particular radio. 
8. Launch Mission Planner and select the Config/Tuning 

tab at the top of the interface. Planner should be 

selected. highlighted green on the left side of the 

screen. At the bottom of the Planner options. you 

should see a checkbox for "Advanced View." Click this 

checkbox. 

9. Power on your radio if it is not already. 

10. Confirm that your Flight Mode slider is in the forward 

flight position. Review any radio-specific guidance 

from our Manuals page as necessary. 

11. Confirm that your computer is connected to the 

internet (required for firmware download/install). 

12. Connect the Pixhawk to the computer via USB. 

13. Select the Initial Setup tab at the top of the interface. 

Select Install Firmware on the left side of the screen if 

it does not do so automatically. The Mission Planner 

should begin downloading the current stable firmware 

releases for the Pixhawk. When the firmware 

downloads are complete. the screen should look like 

this: 
14. Review the guidance on our Downloads page for 

firmware versions that we hove confirmed to work 

with the Pixhawk on the FireFL Y6. Below the plane 

icon on the Install Firmware screen. you will see the 

latest stable APM:Piane release: 

If the version number listed here is one that is listed 

on our Downloads page. skip to Step 17. 

15.1f the APM:Piane version that is listed is anything other 

than a confirmed firmware version (as listed on our 

Downloads page). you will need to tell Mission Planner 

to load a confirmed version by clicking "Pick previous 

firmware" on the bottom right of the screen. Mission 

Planner will download a list of previously released 

firmwores and provide a pull down menu for you to 

select a confirmed release. Review the list and select 

an "AP ... " firmware with a confirmed version number. 

Here we are selectin APM:Piane 2.78b: 
16. Mission Planner will download the selected firmware 

load and once the download is complete you should 

see the con""irmed frmware version listed below the 

plane icon. 

17. AL Lhe Lop righL or Lhe inLerrace, click Lhe com porL pull 

down and select the port that shows "PX4 FMU," 

making sure Lhal Lhe baucj role is seL Lo 115200. Do 

not click connect at this time. 

18. Click the blue plane icon. Mission Planner will ask if you 

are sure that you want to upload the chosen 

firmware. Click "Yes" 

19. Monitor the firmware installation vic the green status 

bar al Lhe boLLom or Lhe screen. A successrul 

firmware load will result in a full green bar with a 

"Done" messoge jusL below Lhe sLaLus bar lo lhe lerl. 

20. Select the Flight Data tab at the top of the interface 

and click CONNECT next to the com port pull down. 

This will open communications between the autopilot 

and :he computer. 

To conrirm LhoL commL,nicalions have been 

established. you can move the au:opilot around and 

you should notice that the Heads Up Display (HUD) on 

the upper left portion of the screen moves in 

response. 



38. Select the Flight Data tab at the top of the interface. 

Place the Pixhawk on a flat surface and verify that it 

indicates level in the HUD. If it is not indicating level, 

cycle power on the Pixhawk by disconnecting and 

reconnecting the USB cable, without jarring the 

Pixhowk on reconnect. Click CONNECT to reestablish 

communications and observe if the HUD now indicates 

level. If so, move the Pixhawk around and verify that 

the HUD reflects the movement of the autopilot. If so. 

your Pixhawk is configured and you con skip to the 

next section. 

39. If the HUD still does not indicate level with the Pixhowk 

sitting on a level surface, select the Initial Setup tab at 

the top of the interface. Select Mandatory 

Hardware/ Accel Calibration from the options on the 

left. 
40. Click the "Calibrate Level" button in the center of the 

Make sure that the Pixhawk is not jarred or vibrated 

during this process. The "Calibrate Level" button will 

stay gray for 5-10 seconds and then indicate 

"Complete". 

41. Return to the Flight Data tab and you should see a 

level HUD now. If so. move the Pixhawk around and 

verify that the HUD reflects the movement of the 

autopilot. If not repeat steps 39-40. 

WARNING: Do not install or fly a Pixhawk that does not 

pass sensor checks! 
FireFL YS Installation Prep 

There are no required modifications to the FireFL Y6 in order 

to equip the Pixhawk. However. you may choose to make 

the following modifications if desired: 

1. Power Module integration - if you choose to use the 

3DR power module with your Pixhawk, you will need 

to splice it into one of the FireFL Y6's Deans battery 

pigtails. We recommend the left side of the 

aircraft. as this is the most elegant way to integrate 

the Pixhawk with the Bridge transition assistant. 

You will need to enable the power module in Mission 

Planner by going to the Initial Setup tab in the 

Optional Hardware/Battery Monitor section. You 

must also remove the red power wire from the PPM 

Encoder's Chi cable to isolate the PMU. 

2. Telemetry - if you choose to equip a telemetry 

module, you may want to modify the Payload 

Compartment to incorporate the radio. We often 

do this by carving an area on one side of the 

Payload Compartment to accommodate the radio. 

See our recommendations for incorporating the 

Naza VU/LED in our Naza-M Lite Supplemental on 

our Manuals page for ideas on how to accomplish 

this. 

3. Airspeed Kit - if you choose to equip an airspeed kit. 

we recommend extending the pitot tube out from 

the nose of the aircraft. as close to parallel to the 

bottom of the Payload Compartment as you can 

manage (important), approximately l.9in (48mm) in 

front of the nose surface. You will need to enable 

the airspeed sensor in Mission Planner by going to 

the Initial Setup tab in the Optional 

Hardware/ Airspeed section. 

Special Considerations 

In our testing of the Pixhawk, we have found it to be an 

excellent forward flight autopilot for full autonomous 

operations. That said, we have also found that the Pixhawk's 

attitude solution when not equipped with at GPS leaves 

something to be desired. As a result: 

At this time, we do not recommend equipping a Pixhawk 

without GPS. 

WARNING: FBWA Mode performance suffers when the 

Pixhawk does not have GPS. Do not equip or fly 

a Pixhawk without GPS! 

TIP: The FireFL Y6 offers a convenient spot for mounting a 

forward flight GPS on the clear mounting plate atop 

the power distribution system. no modifications 

required.