# AUTOPILOT



# QUICK START GUIDE

# PARTS

1 Pixhawk board with SD card 2 Buzzer 3 Safety switch 4 SD card USB adapter 5 Micro-USB cable 6 Six-wire cable x2 7 Power module 8 I 2 C splitter module 9 Four-position I 2 C splitter cable 10 Three-wire servo cable 11 Mounting foam 

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# MOUNT Use the provided foam to mount Pixhawk as close as possible to your vehicle’s center of gravity. Make sure to orient the board with the arrow pointing forward.

Vehicle front Attach the foam squares to the corners of the board. 

# GETTING STARTED With the help of APM firmware, Pixhawk turns any RC plane, copter, or rover into a full-featured personal drone. Once you have a fully-assembled frame, follow this guide to install Pixhawk. 

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# 1 Mount 

# 2 Connect 

# 3 Load firmware 

# 4 Calibrate 

# 1

# CONNECT

(Required) Connect the buzzer and safety switch.

(Optional) Connect a 3DR Radio to Pixhawk’s Telem port using the 6-wire cable provided with your 3DR Radio Kit to receive data and communicate with the autopilot in flight. (GPS or GPS+Compass required) Connect a 3DR GPS+Compass to provide the autopilot with positioning data during flight. This kit includes a 6-wire cable to connect the GPS ports. Connect the MAG to the I 2 C port using the 4-wire cable provided with the 3DR GPS+Compass. (Required) Connect the 3DR Power Module to the Power port using the 6-wire cable to direct power from your lithium

polymer (LiPo) battery to the autopilot.
(Optional) The I 2 C splitter expands the I 2 C port to allow up to four additional peripherals to connect to Pixhawk. Use the 4-wire cable to connect the I 2 C splitter and add a compass module, external LED, digital airspeed sensor, or other peripherals to your vehicle. 

# 2Connect the ground (-), power (+), and signal (S) wires to the RC pins using the provided 3-wire servo cable.

For a Spektrum DSM, DSM2, or DSM-X Satellite RC receiver, connect to the SPKT/DSM port.

Connect the red and black 2-wire cable from the power distribution board (PDB) to any of Pixhawk’s main ground (-, black wire) and power (+, red wire) output pins.


### LEARN MORE about assembling a copter with a power distribution board at 3dr.com/learn
. 

# CONNECT RADIO CONTROL FOR PPM RC RECEIVERS AND FUTABA S.BUS RECEIVERS



# CONNECT PDB (COPTERS ONLY) FOR SPEKTRUM SATELLITE RECEIVERS

FOR PWM RECEIVERS

Purchase a PPM Encoder module to connect a PWM RC receiver to Pixhawk at store.3dr.com
.

# LOAD FIRMWARE APM firmware is the brains of your autopilot operation and must be installed before using Pixhawk. To load firmware onto Pixhawk, install a mission planner application on your ground station computer. Choose either Mission Planner (Windows) or APM Planner for (Windows, Mac, and Linux). Both applications are available for free download from ardupilot.com
. For rovers, connect the throttle and steering wires to the main output signal pins. Pin 3 = Throttle Pin 4 = Steering

Mission planner Firmware 

# FOR COPTERS

FOR PLANES

FOR ROVERS Connect each signal wire from the PDB to the main output signal (S) pins by motor number. Connect one wire for each motor to the corresponding pin. Pin 1 = Motor 1 Pin 5 = Motor 5 Pin 2 = Motor 2 Pin 6 = Motor 6 Pin 3 = Motor 3 Pin 7 = Motor 7 Pin 4 = Motor 4 Pin 8 = Motor 8

For planes, connect the control channel wires to the main output signal pins. Pin 1 = Aileron Pin 2 = Elevator Pin 3 = Throttle Pin 4 = Rudder 

# CONNECT OUTPUTS



# 3

### Download Mission Planner (Windows)


# Mission Planner « Downloads 

### Sort by: Title | Hits | Date

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## MissionPlanner - Installer Select the installer package to download. 

### Ardupilot.com Downloads Mission Planner

After selecting the correct file, read the safety information and select Download. Open the file to run the setup wizard. Proceed through any security warnings, and install all suggested drivers. When the installation is complete, open the application, and connect Pixhawk to your computer using the micro-USB cable. Your computer will automatically install the correct drivers. Do not select Connect at this time; Pixhawk can only load firmware while unconnected to Mavlink. 

### Download APM Planner (Windows, Mac, and Linux)


# APM Planner 2.0 « Downloads 

### Sort by: Title | Hits | Date

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## APM Planner 2.0 Mac

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## APM Planner 2.0 Windows

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## APM Planner 2.0 Linux Select your platform to download. 

### Ardupilot.com Downloads APM Planner 2.0



# INSTALL PLANNERWhen prompted, follow the directions to load the firmware. Once the status bar shows that the down
load is complete, power cycle the board by disconnecting and reconnecting the USB. If you hear a musical tone, your firmware installation is complete. If you hear a series of tones followed by three beeps, disconnect the USB and reconnect while holding down the safety button. Upon restart, listen for a series of tones followed by two beeps indicating that your firmware has loaded successfully.

beep BEEP beep... BEEP BEEP 

#  Pixhawk needs your attention: beep BEEP beep... BEEP BEEP BEEP Everything is OK: musical tone 

#  Select Initial Setup, Install Firmware , and select your vehicle.



# CALIBRATE With Pixhawk connected to your computer, select the communication option from the drop-down menu for PX4 FMU , set the rate to 115200 , and select the Connect icon. Select Initial Setup and Mandatory Hardware to access the calibration wizards.



## Remove propellers before performing calibration. 

# ! 

# 4

# SELECT FRAME TYPE (COPTERS ONLY)

CALIBRATE COMPASS

Select the options to enable the compass; to allow automatic declination calculation; and to specify Pixhawk. Select Live Calibration to launch the wizard, and follow the prompts.



### Show Me videos demonstrating live calibration techniques at 3dr.com/learn
.

For copter, select your frame orientation.

# CALIBRATE ACCELEROMETER

SELECT FLIGHT MODES 

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6 RC CALIBRATION

Left stick

Right stick Select Accel Calibration , check the box for AC 3.0+, select Calibrate , and follow the prompts to calibrate Pixhawk’s accelerometer. Make sure to wait a couple of seconds before and after changing the positions of the vehicle.

Select Radio Calibration to teach Pixhawk to work with your RC transmitter. Turn on your transmitter, select Calibrate Radio , and move all sticks and switches to their extreme positions. Select Click when Done once the red bars are set for all available channels.

Move each switch on your transmitter to its available positions. The mission planner will indicate the currently selected position with green highlighting. Select a mode for each switch position, and select Save Modes to assign.

# LED MEANINGS
Flashing red and blue: initializing. Please wait.
Double flashing yellow: error. System refuses to arm. Flashing blue: disarmed, searching for GPS. Autonomous, loiter, and return-to-launch modes require GPS lock. Flashing green: disarmed, GPS lock acquired. Ready to arm. Quick double tone when disarming from the armed state.
Solid green plus single long tone: armed with GPS lock. Ready to fly!
Flashing yellow: RC failsafe activated.

Flashing yellow plus quick repeating tone: battery failsafe activated.

Flashing yellow and blue plus high-high-high-low tone: GPS glitch or GPS failsafe activated.

Quick, constant blinking: performing system check. Please wait.

Solid: ready to arm. Proceed to the arming procedure. Intermittent blinking: system ready. Press the safety button to activate. 

# SAFETY SWITCH MEANINGS

Learn more about LED meanings and buzzer tones at 3dr.com/learn

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13 14 15 1 Spektrum DSM receiver 2 Telemetry (radio telemetry) 3 Telemetry (on-screen display) 4 USB 5 SPI (ser i al peripheral interface) bus 6 Power module 7 Safety switch button 8 Buzzer 9 Serial 10 GPS module 11 CAN (controller area network) bus 12 I 2 C splitter or compass module 13 Analog to digital converter 6.6 V 14 Analog to digital converter 3.3 V 15 LED indicator 

# PORTS

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1 Input/output reset button 2 SD card 3 Flight management reset button 4 Micro-USB port 

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ground power signal

1 Radio control receiver input 2 S.Bus output 3 Main outputs 4 Auxiliary outputs 

### 3 4Processor 32-bit ARM Cortex M4 core with FPU 168 Mhz/256 KB RAM/2 MB Flash 32-bit failsafe co-processor Sensors ST Micro 16-bit gyroscope ST Micro 14-bit accelerometer/magnetometer MEAS barometer MPU6000 accelerometer/magnetometer Power Ideal diode controller with automatic failover Servo rail high-power (7 V) and high-current ready All peripheral outputs over-current protected, all inputs ESC protected Interfaces 5x UART serial ports, 1 high-power capable, 2x with HW flow control Spektrum DSM/DSM2/DSM-X Satellite input Futaba S.BUS input and output PPM sum signal RSSI (PWM or voltage) input I 2 C, SPI, 2x CAN, USB 3.3 and 6.6 ADC inputs Dimensions Weight 38 g (1.3 oz) Width 50 mm (2.0”) Height 15.5 mm (.6”) Length 81.5 mm (3.2”) 

# SPECIFICATIONS SPECIAL NOTE

SUPPORT For more information about Pixhawk and other documentation, visit 3dr.com/learn . For more instruction on using APM firmware and planner software, visit ardupilot.com
. For customer support, contact us at help@3dr.com or call our support line at +1 (858) 225-1414 Monday through Friday, 8 am to 5 pm, PST

Pixhawk Kit User Guide V6 © 3D Robotics, Inc. 5 February 2014 Please note that these instructions describe basic setup for Pixhawk and do not represent the complete set of configuration procedures required to build a copter, plane, or rover. For more information on ESC calibration, battery monitoring, failsafes, mode descriptions, and more, visit ardupilot.com . Do not operate your vehicle without a complete understanding of the online instructions.