pixhawk-apm:copter 

supplemental 

mark II 

8 January 2015 

BIRDS~ EYEVIEW 

AEROBOTICS 
Disclaimers 

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

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

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

Rev Comments 

22 Sept 2014 mkl Initial release 

8 January 2015 mkll Updated guidance on required PowerPACK modifications 

Aggroval 

ARS 

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://copter.ordupilot.com 

4. Download the FireFL Y6 Pixhowk Hover 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 

4 RUDD I Ch4 

5 AUX2 I Ch7 

TIP: To minimize wire clutter. carefully remove 

connections 6-8 from the PPM encoder as they ore 

unused in the FireFL Y6. 
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 hover 

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 Y6 icon 

on the Install Firmware screen. you will see the latest 

stable APM:Copter release: 

If the version number listed here is one that is listed 

on our Downloads page. skip to Step 17. 

15.1f the APM:Copter 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 firmwares and provide a pull down menu for 

you to select a confirmed release. Review the list and 

select an "AC. .. " firmware with a confirmed version 

number. Here we ore selectin APM:Copter 3.1.2: 
16. Mission Planner will download the selected firmware 

load and once the download is complete you should 

see the confirmed firmware version listed below the 

Y6 icon. 

17. At the top right of the interface, click the com port pull 

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

making sure that the baud rate is set to 115200. Do 

not click connect at this time. 

18. Oick the Y6 icon. Mission Planner will ask if you are 

sure Lhal you wanl Lo upload Lhe chosen firmware. 

Oick "Yes" 

19 . Monitor the f irmware installation via the green status 

bar at the bottom of the screen. A successful 

firmware load will result in a full green bar with a 

"Done" message just below the status bar to the left. 

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 the computer. 

To confirm that communications have been 

established, you can move the autopilot 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 Accel" button in the center of the 

page. 

--

Follow the onscreen and audible prompts. placing the 

Pixhawk on each of its sides when prompted and 

pressing any key. At the end of this process you 

should see/hear a "Calibration successf ul" message. 

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! 

42. Your Pix hawk is now configured for use with t he 

FireFL Y6; however, please not e that you will need t o 

calibrate the compass and w ill likely need to 

recalibrate t he accelerometer after installation in t he 

aircraft. Refer to t he APM:Copter manual f or 

additional details on compass and acceleromet er 

calibration. 

TIP: A telemetry link is highly recomm ended for 

simplifying t he post-installation calibration tasks as 

well as enabling advanced functionality. 

Special Considerations 

The APM:Copter "Y6B" configuration has a different motor 

numbering scheme than what is reflected on the Bridge 

transition assistant. As a result it is recommended that you 

connect the motors to the Bridge Ml-6 outputs using the Y6 

motor numbering scheme shown in the FireFL Y6 Manual: 

V6 

where blue indicates an upper motor and red indicates a 

lower motor. 

Then connect the Pixhawk outputs to the Bridge HVR-IN 

ports in this manner. being careful to keep correct connector 

orientation: 

Pixhawk Bridge 

Output HVR-IN Port 

l 2 

2 5 

3 l 

4 4 

5 3 

6 6 
Connections between the Pixhawk PPM encoder and the 

Bridge HVR-OUT ports should be made as follows, being 

careful to keep correct connector orientation: 

Pixhowk Bridge 

HVR-OUT PPM Input Port 

l A 

2 E 

3 T 

4 R 

5 u 

For installation of the GPS/Compass we recommend 

following the guidance for the "AWACS mod" described in 

the FireFL Y6 Naza M-Lite Supplemental. If you are 

equipping another Pixhowk or APM 2.6 for forward flight 

control, it is possible to share GPS between the two 

controllers ... this will be covered in a future blog post and/or 

on update to this document 

WARNING: Do not equip or fly a Pixhawk for hover control 

without installing a GPS/Compass and properly 

calibrating the compass!