Version: 0.2.0
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Ardupilot Example

Table of Contents

1. Setup Ardupilot

  • NOTE: For Ardupilot, recommend to use Mission planner with Windows
  • The QGroundControl also can be used but not recommended

1.1. Install Mission Planner

  • Install Ardupilot Mission Planner from the link

1.2. Install the Ardupilot Firmware

  • Install Ardupilot OS with matching version of your flight controller
  • Open QGroundControl, click the Q Logo, Vehicle Settings
  • Click Firmware and upload the downloaded firmware

  • Setup the flight controller parameters

    AHRS_EKF_TYPE parameter to 2 or Enable EKF2

    EK2_ENABLE parameter to 1 or Enable

    EK3_ENABLE parameter to 0 or Disable

    GPS_TYPE parameter to 0 or None

    EK2_GPS_TYPE parameter to 3 or No gps

    EK2_POSNE_M_NSE parameter to 0.1

    EK2_VELD_M_NSE parameter to 0.1

    EK2_VelNE_M_NSE parameter to 0.1

    COMPASS_ENABLE, COMPASS_USE, COMPASS_USE2, COMPASS_USE3 parameters to 0

    VISO_TYPE parameter to 2

1.3. Connect RC and calibrate the Remote Controller

  • Connect RC controller receiver to FC
RC receiver with Pixhawk
  • Calibrate RC with Ardupilot Mission Planner
RC Calibration with Mission Planner

2. Connect Ardupilot with UART

  • To connect Ardupilot and companion board with uart, use usb-to-tts and connect it to TEL1 on px4 board
Companion Board and Pixhawk Connection
  • Then set the port with QGroundContol
  • Setting baud rate as same as the SLAMBOX configuration
  • See how to configure SLAMBOX (link)
  • NOTE: the SLAMBOX's baud rate and Ardupilot's baud rate should be SAME
  • To get data from Ardupilot FC, need to set the parameters of Ardupilot to send data
  • Note that the SR1 means the telem1 port of FC
Set Parameters to get data from Ardupilot

3. Update SLAMBOX Setting

  • Update SLAMBOX Mavlink setting with command below
  • Check the details here
# Enable Mavlink
$MAVLINK_ENABLE 1#
# Change baudrate
$MAVLINK_BAUD 921600#
# Set Mavlink type to px4
$MAVLINK_TYPE 1#