Operatinal Setup
How to get a new hardware operational
Create New Firmware Config
The first step is to create the minimal functional set of file required to generate the firmware, please follow Add a new firmware to integrade the drone into our pipeline.
Why building the firmware from source ?
- Granular control on the firmware generation
- enable drivers (mainly the CRSF driver for radio)
- custom version tracking
- custom airframe config; this allow for easy setup.
Flight Controller Placement
Follow: "as close as possible to the centre-of-gravity (CoG), top-side up, and oriented so that the heading mark arrow points towards the front of the vehicle"
- Set the FMU position, see
EKF2_IMU_POS_X - Set the FMU orientation, see Flight Controller/Sensor Orientation (only using GUI in QGC)
Motors Setup
Motor distribution and placement based on the drone airframe, see PX4 Airframe Reference.
- Set the right number of motors
CA_ROTOR_COUNT - Set motor geometry placement (w.r.t center of mass), see parameters:
- Set flight controller output assignment, see
PWM_MAIN_FUNCn
- Set the right number of motors
ESCs Calibration values (only for PWM ESCs)
- TBA (parameters)
Checks:
Motor numbering and placement
Motor sping rotation acording to the airframe
Motor min. and max. spin values, see from step 7 onwards https://docs.px4.io/main/en/advanced_config/esc_calibration.html