# 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 Pi xhawk controller running APM :Piane. It is provided onl y as a FireFLY6-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 Jul y 2014 mkl Initial release Aggrovol
ARS

# Pixhawk Configuration 1. Configure your radio appropriatel y for the FireFLY6 if you hove not alread y done so

. Confirmed radios and related guidance con be found at www

.BirdsEyeView

.oero 

### 2. Bind your recei ver to your radio if you hove not alread y done so. 

### 3. Download and install the Mission Planner from our Downloads page , making sure that you allow dri ver software installation.

NOTE: BirdsE yeView Aerobotics does not control Mission Planner

. If you hove an y issues installing drivers and/ or the Mission Planner, refer to the manuals at http://plone

.ordupilot.com



### 4. Dow nload the FireFLY6 Pi xhow k Forw ard 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 Pi xhowk RC IN port being careful to keep correct connector orientation. 7. Connect your rece iver to the PPM Encoder using the follow ing channels , being careful to keep correct connector orientation : 

# Pixhaw k Receiver Input Channel 

# l AIL 

# I Ch2 2 

# E LEV 

# I Ch3 3 T HRO 

# I Chl AUX2 

# I Ch7 8 OR * 

# AUX3 

# I Ch8

* See Appendi x B of the FireFLY6 Manual for details

on this option

. Also review an y radio-specific guidance from our Manuals page for details on w hich 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 FireFLY6. 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 atthistime.



### 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" messogejusL 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 pulldown. 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 notjarred 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 Pixhawkthat does not pass sensor checks!

# FireFLYS Installation Prep There are no required modifications to the FireFLY6 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 FireFLY6'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 orfly a Pixhawk without GPS!

TIP: The FireFLY6 offers a convenient spot for mounting a forward flight GPS on the clear mounting plate atop the power distribution system. no modifications required.