# 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 FireFLY6-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 FireFLY6 if you hove not already done so

. Confirmed radios and related guidance con be found at
www

.BirdsEyeView

.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 FireFLY6 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 FireFLY6

.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 FireFLY6. 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. Miss io n Planner will download the selected firmware load and o n ce the down load is complete you should see the confirmed firmware version listed below the Y6 icon.



### 17. At th e top ri g ht of the interface, click the com port pull down and se lect th e po rt that shows 

### "PX4 FMU," maki ng s ure that th e ba ud rate is set to 115200. Do not click connect at this time.



### 18

.Oick the Y6 icon. M ission Plan ner will a sk if you are sure Lhal you wanl Lo u pload Lhe chosen firmware. Oick " Yes " 1 9

. Monitor the f irmware insta llatio n via t he green status bar at the bottom of the screen. A s u ccessful firmware load will resul t in a full green bar with a "Done" messagejust below the status bar to the left. 20. Se lect the Flight Data tab at the top of th e in terface and click CONN ECT 

### next to the com port pu lldown

. This will open communi cations between th e a utopi lot and t he com p uter.

To co nfirm that communications have been estab lis hed , you can move the autopil ot a round and you s h o uld 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 u l" 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 Pixhawk is now configured for u se w ith t he FireFL 

### Y6; however, please not e that you wi ll need t o calibrate the compass and w ill like ly n eed to re calibrate t he accelerometer after installation in t he aircraft

. Refer to t he APM:Copter ma nu al f or additional detai ls on com p ass and acce leromet e r calibration.

TIP: A telemetry link is h ig hly recom m ended for simp lifying t he post-insta llation ca librat ion tasks as well as enabling advanced function a lity

.

# 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 FireFLY6 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 6Connections 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!