From 375f421c61c5b431d3628b3a30af2d3e94a8fe5e Mon Sep 17 00:00:00 2001 From: Hamish Willee Date: Thu, 3 Jul 2025 14:53:12 +1000 Subject: [PATCH] Link fixes galore (#25151) --- docs/en/SUMMARY.md | 12 +- docs/en/advanced/rtk_gps.md | 2 +- docs/en/advanced_config/bootloader_update.md | 5 +- .../bootloader_update_from_betaflight.md | 10 +- docs/en/advanced_config/ethernet_setup.md | 2 +- docs/en/advanced_config/prearm_arm_disarm.md | 4 +- docs/en/advanced_config/tuning_the_ecl_ekf.md | 8 +- docs/en/advanced_features/precland.md | 4 +- docs/en/advanced_features/satcom_roadblock.md | 19 +-- docs/en/assembly/quick_start_cuav_v5_plus.md | 4 +- docs/en/assembly/quick_start_cube.md | 7 +- docs/en/assembly/quick_start_durandal.md | 8 +- .../assembly/quick_start_holybro_pix32_v5.md | 4 +- docs/en/assembly/quick_start_pixhawk.md | 2 +- docs/en/assembly/quick_start_pixhawk4.md | 8 +- docs/en/assembly/quick_start_pixhawk4_mini.md | 2 +- docs/en/assembly/quick_start_pixhawk5x.md | 2 +- docs/en/assembly/quick_start_pixhawk6c.md | 2 +- docs/en/assembly/quick_start_pixhawk6x.md | 2 +- docs/en/assembly/quick_start_pixracer.md | 2 +- .../camera/camera_intel_realsense_t265_vio.md | 10 +- docs/en/camera/fc_connected_camera.md | 12 +- docs/en/camera/mavlink_v2_camera.md | 6 +- docs/en/can/index.md | 2 +- .../en/companion_computer/auterion_skynode.md | 13 +- .../companion_computer_peripherals.md | 11 +- .../holybro_pixhawk_jetson_baseboard.md | 43 +---- docs/en/companion_computer/index.md | 5 +- .../video_streaming_wfb_ng_wifi.md | 12 +- docs/en/complete_vehicles_fw/index.md | 3 +- .../complete_vehicles_mc/amov_F410_drone.md | 2 +- docs/en/complete_vehicles_mc/crazyflie2.md | 4 +- docs/en/complete_vehicles_mc/crazyflie21.md | 2 +- docs/en/complete_vehicles_mc/index.md | 2 +- docs/en/concept/architecture.md | 3 +- docs/en/concept/events_interface.md | 10 +- docs/en/concept/system_startup.md | 2 +- docs/en/config/index.md | 5 +- .../config_mc/pid_tuning_guide_multicopter.md | 2 +- docs/en/contribute/code.md | 3 +- docs/en/contribute/dev_call.md | 4 +- docs/en/contribute/docs.md | 12 +- docs/en/contribute/git_examples.md | 6 +- docs/en/contribute/licenses.md | 4 +- docs/en/debug/consoles.md | 2 +- docs/en/debug/probe_bmp.md | 12 +- docs/en/debug/profiling.md | 8 +- docs/en/debug/swd_debug.md | 2 +- docs/en/development/development.md | 2 +- docs/en/dronecan/index.md | 6 +- docs/en/flight_controller/auav_x2.md | 2 +- .../autopilot_discontinued.md | 5 +- .../autopilot_manufacturer_supported.md | 5 +- docs/en/flight_controller/beaglebone_blue.md | 6 +- docs/en/flight_controller/cuav_v5_nano.md | 6 +- docs/en/flight_controller/cuav_v5_plus.md | 8 +- .../cubepilot_cube_orange.md | 5 +- .../cubepilot_cube_orangeplus.md | 5 +- .../cubepilot_cube_yellow.md | 5 +- docs/en/flight_controller/durandal.md | 4 +- docs/en/flight_controller/holybro_pix32.md | 4 +- docs/en/flight_controller/kakutef7.md | 2 +- docs/en/flight_controller/kakuteh7.md | 3 +- docs/en/flight_controller/kakuteh7mini.md | 2 +- docs/en/flight_controller/kakuteh7v2.md | 2 +- docs/en/flight_controller/mro_pixhawk.md | 5 +- docs/en/flight_controller/mro_x2.1.md | 4 +- docs/en/flight_controller/omnibus_f4_sd.md | 6 +- docs/en/flight_controller/pixhack_v3.md | 21 ++- docs/en/flight_controller/pixhawk-2.md | 11 +- docs/en/flight_controller/pixhawk.md | 20 +-- docs/en/flight_controller/pixhawk4.md | 4 +- docs/en/flight_controller/pixhawk4_mini.md | 9 +- docs/en/flight_controller/pixhawk_mini.md | 6 +- docs/en/flight_controller/pixhawk_series.md | 6 +- docs/en/flight_controller/pixracer.md | 6 +- .../frames_multicopter/dji_f450_cuav_5nano.md | 108 ++++++------ .../frames_multicopter/dji_f450_cuav_5plus.md | 114 ++++++------- .../holybro_qav250_pixhawk4_mini.md | 134 ++++++++------- .../holybro_s500_v2_pixhawk4.md | 161 +++++++++--------- .../holybro_x500V2_pixhawk5x.md | 99 +++++------ .../holybro_x500_pixhawk4.md | 81 +++++---- .../holybro_x500v2_pixhawk6c.md | 47 +++-- docs/en/frames_multicopter/omnicopter.md | 23 +-- .../qav_r_5_kiss_esc_racer.md | 79 +++++---- docs/en/frames_plane/reptile_dragon_2.md | 53 +++--- .../en/frames_plane/turbo_timber_evolution.md | 23 ++- .../en/frames_rover/rover_position_control.md | 2 +- ...dplane_falcon_vertigo_hybrid_rtf_dropix.md | 157 ++++++++--------- .../vtol_quadplane_foxtech_loong_2160.md | 6 +- .../vtol_tailsitter_caipiroshka_pixracer.md | 74 ++++---- .../vtol_tiltrotor_omp_hobby_zmo_fpv.md | 8 +- docs/en/getting_started/flight_reporting.md | 2 +- docs/en/getting_started/px4_basic_concepts.md | 4 +- .../rc_transmitter_receiver.md | 6 +- docs/en/gps_compass/index.md | 3 +- docs/en/gps_compass/rtk_gps.md | 73 ++++---- docs/en/gps_compass/rtk_gps_trimble_mb_two.md | 2 +- docs/en/hardware/porting_guide_nuttx.md | 2 +- docs/en/hardware/reference_design.md | 8 +- docs/en/index.md | 2 +- docs/en/log/plotjuggler_log_analysis.md | 2 +- docs/en/peripherals/frsky_telemetry.md | 2 +- docs/en/releases/1.16.md | 6 +- docs/en/sim_sih/index.md | 2 +- docs/en/software_update/stm32_bootloader.md | 42 ++--- docs/en/telemetry/microhard_serial.md | 2 +- 107 files changed, 836 insertions(+), 972 deletions(-) diff --git a/docs/en/SUMMARY.md b/docs/en/SUMMARY.md index 352bab77cc..eee592b4f3 100644 --- a/docs/en/SUMMARY.md +++ b/docs/en/SUMMARY.md @@ -1,9 +1,7 @@ - [Introduction](index.md) - - [Basic Concepts](getting_started/px4_basic_concepts.md) - [Multicopters](frames_multicopter/index.md) - - [Features](features_mc/index.md) - [Flight Modes](flight_modes_mc/index.md) - [Position Mode (MC)](flight_modes_mc/position.md) @@ -57,7 +55,6 @@ - [DJI F450 (CUAV v5 nano)](frames_multicopter/dji_f450_cuav_5nano.md) - [Planes (Fixed-Wing)](frames_plane/index.md) - - [Assembly](assembly/assembly_fw.md) - [Config/Tuning](config_fw/index.md) - [Auto-tune](config/autotune_fw.md) @@ -85,7 +82,6 @@ - [Wing Wing Z84 (Pixracer)](frames_plane/wing_wing_z84.md) - [VTOL](frames_vtol/index.md) - - [Assembly](assembly/assembly_vtol.md) - [VTOL Config/Tuning](config_vtol/index.md) - [Auto-tune](config/autotune_vtol.md) @@ -110,7 +106,6 @@ - [Complete Vehicles](complete_vehicles_vtol/index.md) - [Operations](config/operations.md) - - [Safety](config/safety_intro.md) - [Safety Configuration (Failsafes)](config/safety.md) - [Failsafe Simulation](config/safety_simulation.md) @@ -131,7 +126,6 @@ - [QGroundControl Flight-Readiness Status](flying/pre_flight_checks.md) - [Hardware Selection & Setup](hardware/drone_parts.md) - - [Flight Controllers (Autopilots)](flight_controller/index.md) - [Flight Controller Selection](getting_started/flight_controller_selection.md) - [Pixhawk Series](flight_controller/pixhawk_series.md) @@ -174,7 +168,6 @@ - [Wiring Quickstart](assembly/quick_start_cuav_v5_plus.md) - [CUAV V5 nano (FMUv5)](flight_controller/cuav_v5_nano.md) - [CUAV V5 nano Wiring Quickstart](assembly/quick_start_cuav_v5_nano.md) - - [CUAV Pixhack v3 (FMUv3)](flight_controller/pixhack_v3.md) - [CubePilot Cube Orange+ (CubePilot)](flight_controller/cubepilot_cube_orangeplus.md) - [CubePilot Cube Orange (CubePilot)](flight_controller/cubepilot_cube_orange.md) - [CubePilot Cube Yellow (CubePilot)](flight_controller/cubepilot_cube_yellow.md) @@ -209,6 +202,7 @@ - [Bitcraze Crazyflie 2.0 ](complete_vehicles_mc/crazyflie2.md) - [Aerotenna OcPoC-Zynq Mini](flight_controller/ocpoc_zynq.md) - [CUAV v5](flight_controller/cuav_v5.md) + - [CUAV Pixhack v3 (FMUv3)](flight_controller/pixhack_v3.md) - [Holybro Kakute F7](flight_controller/kakutef7.md) - [Holybro Pixfalcon](flight_controller/pixfalcon.md) - [Holybro pix32 (FMUv2)](flight_controller/holybro_pix32.md) @@ -336,6 +330,7 @@ - [FrSky Telemetry](peripherals/frsky_telemetry.md) - [TBS Crossfire (CRSF) Telemetry](telemetry/crsf_telemetry.md) - [Satellite Comms (Iridium/RockBlock)](advanced_features/satcom_roadblock.md) + - [Power Systems](power_systems/index.md) - [Battery Estimation Tuning](config/battery.md) - [Battery Chemistry Overview](power_systems/battery_chemistry.md) @@ -402,7 +397,6 @@ - [Full Parameter Reference](advanced_config/parameter_reference.md) - [Other Vehicles](airframes/index.md) - - [Airships (experimental)](frames_airship/index.md) - [Autogyros (experimental)](frames_autogyro/index.md) - [ThunderFly Auto-G2 (Holybro pix32)](frames_autogyro/thunderfly_auto_g2.md) @@ -763,7 +757,7 @@ - [Debugging with GDB](debug/gdb_debugging.md) - [SWD Debug Port](debug/swd_debug.md) - [JLink Probe](debug/probe_jlink.md) - - [Black Magic/DroneCode Probe](debug/probe_bmp.md) + - [Black Magic/Zubax BugFace BF1 Probe](debug/probe_bmp.md) - [STLink Probe](debug/probe_stlink.md) - [MCU-Link Probe](debug/probe_mculink.md) - [Hardfault Debugging](debug/gdb_hardfault.md) diff --git a/docs/en/advanced/rtk_gps.md b/docs/en/advanced/rtk_gps.md index 7f12b13fc2..9f89b176dd 100644 --- a/docs/en/advanced/rtk_gps.md +++ b/docs/en/advanced/rtk_gps.md @@ -39,7 +39,7 @@ The u-blox U-Center RTK module configuration tool is not needed/used! ::: ::: info -Both _QGroundControl_ and the autopilot firmware share the same [PX4 GPS driver stack](https://github.com/PX4/GpsDrivers). +Both _QGroundControl_ and the autopilot firmware share the same [PX4 GPS driver stack](https://github.com/PX4/PX4-GPSDrivers). In practice, this means that support for new protocols and/or messages only need to be added to one place. ::: diff --git a/docs/en/advanced_config/bootloader_update.md b/docs/en/advanced_config/bootloader_update.md index ded1300b1b..79c27b4e33 100644 --- a/docs/en/advanced_config/bootloader_update.md +++ b/docs/en/advanced_config/bootloader_update.md @@ -74,7 +74,7 @@ arm-none-eabi-objcopy -O ihex build/px4_fmu-v6x_bootloader/px4_fmu-v6x_bootloade ### PX4 Bootloader FMUv5X and earlier -PX4 boards up to FMUv5X (before STM32H7) used the [PX4 bootloader](https://github.com/PX4/Bootloader) repository. +PX4 boards up to FMUv5X (before STM32H7) used the [PX4 bootloader](https://github.com/PX4/PX4-Bootloader) repository. The instructions in the repo README explain how to use it. @@ -86,7 +86,6 @@ The following steps explain how you can "manually" update the bootloader using a 2. Get a [Debug Probe](../debug/swd_debug.md#debug-probes-for-px4-hardware). Connect the probe your PC via USB and setup the `gdbserver`. 3. Go into the directory containing the binary and run the command for your target bootloader in the terminal: - - FMUv6X ```sh @@ -140,7 +139,7 @@ The following steps explain how you can "manually" update the bootloader using a 7. Power on the Pixhawk with another USB cable and connect the probe to the `FMU-DEBUG` port. ::: info - If using a Dronecode probe you may need to remove the case in order to connect to the `FMU-DEBUG` port (e.g. on Pixhawk 4 you would do this using a T6 Torx screwdriver). + If using a Zubax BugFace BF1 you may need to remove the case in order to connect to the `FMU-DEBUG` port (e.g. on Pixhawk 4 you would do this using a T6 Torx screwdriver). ::: 8. Use the following command to scan for the Pixhawk`s SWD and connect to it: diff --git a/docs/en/advanced_config/bootloader_update_from_betaflight.md b/docs/en/advanced_config/bootloader_update_from_betaflight.md index 24aae91155..8c6cd1c2ad 100644 --- a/docs/en/advanced_config/bootloader_update_from_betaflight.md +++ b/docs/en/advanced_config/bootloader_update_from_betaflight.md @@ -2,7 +2,7 @@ This page documents how to flash the PX4 bootloader onto boards that are already flashed with Betaflight (e.g. [OmnibusF4 SD](../flight_controller/omnibus_f4_sd.md) or [Kakute F7](../flight_controller/kakutef7.md)). -There are three tools that can be used to flash the PX4 bootloader: _Betaflight Configurator_, [dfu-util](http://dfu-util.sourceforge.net/) command line tool, or the graphical [dfuse](https://www.st.com/en/development-tools/stsw-stm32080.html) (Windows only). +There are three tools that can be used to flash the PX4 bootloader: _Betaflight Configurator_, [dfu-util](https://dfu-util.sourceforge.net/) command line tool, or the graphical [dfuse](https://www.st.com/en/development-tools/stsw-stm32080.html) (Windows only). ::: info The _Betaflight Configurator_ is easiest, but newer versions may not support non-betaflight bootloader update. @@ -22,7 +22,7 @@ To install the PX4 bootloader using the _Betaflight Configurator_: 1. Download the [Betaflight Configurator](https://github.com/betaflight/betaflight-configurator/releases) for your platform. :::tip - If using the _Chrome_ web browser, a simple cross-platform alternative is to install the configurator as an [extension from here](https://chrome.google.com/webstore/detail/betaflight-configurator/kdaghagfopacdngbohiknlhcocjccjao). + If using the _Chrome_ web browser, a simple cross-platform alternative is to install the configurator as an [extension from here](https://chromewebstore.google.com/detail/betaflight-configurator/kdaghagfopacdngbohiknlhcocjccjao?pli=1). ::: 1. Connect the board to your PC and start the Configurator. @@ -34,7 +34,7 @@ You should now be able to install PX4 firmware on the board. ## DFU Bootloader Update -This section explains how to flash the PX4 bootloader using the [dfu-util](http://dfu-util.sourceforge.net/) or the graphical [dfuse](https://www.st.com/en/development-tools/stsw-stm32080.html) tool (Windows only). +This section explains how to flash the PX4 bootloader using the [dfu-util](https://dfu-util.sourceforge.net/) or the graphical [dfuse](https://www.st.com/en/development-tools/stsw-stm32080.html) tool (Windows only). You will first need to download or build [bootloader firmware](#bootloader-firmware) for the board you want to flash (below, this is referred to as ``). @@ -114,10 +114,10 @@ cd PX4-Autopilot make # For example: holybro_kakuteh7mini_bootloader ``` -For other flight controllers download the [PX4/Bootloader](https://github.com/PX4/Bootloader) repository and build the source code using the appropriate targets: +For other flight controllers download the [PX4/Bootloader](https://github.com/PX4/PX4-Bootloader) repository and build the source code using the appropriate targets: ``` -git clone --recursive https://github.com/PX4/Bootloader.git +git clone --recursive https://github.com/PX4/PX4-Bootloader.git cd Bootloader make # For example: omnibusf4sd_bl or kakutef7_bl ``` diff --git a/docs/en/advanced_config/ethernet_setup.md b/docs/en/advanced_config/ethernet_setup.md index 1940acfa81..5d0edf75b5 100644 --- a/docs/en/advanced_config/ethernet_setup.md +++ b/docs/en/advanced_config/ethernet_setup.md @@ -105,7 +105,7 @@ You also need to [configure the Ethernet port](#px4-mavlink-serial-port-configur If you're using Ubuntu for your ground station (or companion computer) then you can use [netplan](https://netplan.io/) to configure the network. Below we show how you write a setup to the netplan configuration file "`/etc/netplan/01-network-manager-all.yaml`", which would run on the same network as used by the PX4 setup above. -Note that there are many more [examples](https://netplan.io/examples/) and instructions in the [netplan](https://netplan.io/) documentation. +Note that there are many more [examples](https://github.com/canonical/netplan/tree/main/examples) and instructions in the [netplan](https://netplan.io/) documentation. To setup the Ubuntu Computer: diff --git a/docs/en/advanced_config/prearm_arm_disarm.md b/docs/en/advanced_config/prearm_arm_disarm.md index c1a6e6b95f..e9e01f180f 100644 --- a/docs/en/advanced_config/prearm_arm_disarm.md +++ b/docs/en/advanced_config/prearm_arm_disarm.md @@ -106,7 +106,7 @@ Arming is prevented if: - The current mode requires an adequate global position estimate but the vehicle does not have GPS lock. - Many more (see [arming/disarming safety settings](../config/safety.md#arming-disarming-settings) for more information). -The current failed checks can be viewed in QGroundControl (v4.2.0 and later) [Arming Check Report](../flying/pre_flight_checks.md#qgc-arming-check-report) (see also [Fly View > Arming and Preflight Checks](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/fly_view/fly_view.md#arm)). +The current failed checks can be viewed in QGroundControl (v4.2.0 and later) [Arming Check Report](../flying/pre_flight_checks.md#qgc-arming-check-report) (see also [Fly View > Toolbar > Flight Status](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/fly_view/fly_view_toolbar.html#flight-status)). Note that internally PX4 runs arming checks at 10Hz. A list of the failed checks is kept, and if the list changes PX4 emits the current list using the [Events interface](../concept/events_interface.md). @@ -155,7 +155,6 @@ The default startup sequence is: - System now prearmed: non-throttling actuators can move (e.g. ailerons). - System safety is off: Arming possible. 1. Arm command is issued. - - The system is armed. - All motors and actuators can move. @@ -173,7 +172,6 @@ The startup sequence is: - _All actuators stay locked into disarmed position (same as disarmed)._ - System safety is off: Arming possible. 1. Arm command is issued. - - The system is armed. - All motors and actuators can move. diff --git a/docs/en/advanced_config/tuning_the_ecl_ekf.md b/docs/en/advanced_config/tuning_the_ecl_ekf.md index 3223079b2a..bd41fea8ee 100644 --- a/docs/en/advanced_config/tuning_the_ecl_ekf.md +++ b/docs/en/advanced_config/tuning_the_ecl_ekf.md @@ -274,7 +274,7 @@ For more details about the configuration of height sources, [click here](#height #### Yaw Measurements -Some GPS receivers such as the [Trimble MB-Two RTK GPS receiver](https://www.trimble.com/Precision-GNSS/MB-Two-Board.aspx) can be used to provide a heading measurement that replaces the use of magnetometer data. +Some GPS receivers such as the [Trimble MB-Two RTK GPS receiver](https://oemgnss.trimble.com/en/products/receiver-modules/mb-two) can be used to provide a heading measurement that replaces the use of magnetometer data. This can be a significant advantage when operating in an environment where large magnetic anomalies are present, or at latitudes here the earth's magnetic field has a high inclination. Use of GPS yaw measurements is enabled by setting bit position 3 to 1 (adding 8) in the [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) parameter. @@ -536,9 +536,9 @@ When this has been done, the performance metadata files can be processed to prov ### Output Data -- Attitude output data is found in the [VehicleAttitude](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAttitude.msg) message. -- Local position output data is found in the [VehicleLocalPosition](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleLocalPosition.msg) message. -- Global \(WGS-84\) output data is found in the [VehicleGlobalPosition](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleGlobalPosition.msg) message. +- Attitude output data is found in the [VehicleAttitude](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitude.msg) message. +- Local position output data is found in the [VehicleLocalPosition](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleLocalPosition.msg) message. +- Global \(WGS-84\) output data is found in the [VehicleGlobalPosition](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleGlobalPosition.msg) message. - Wind velocity output data is found in the [Wind.msg](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Wind.msg) message. ### States diff --git a/docs/en/advanced_features/precland.md b/docs/en/advanced_features/precland.md index ecf16a9180..b46dc016de 100644 --- a/docs/en/advanced_features/precland.md +++ b/docs/en/advanced_features/precland.md @@ -102,10 +102,10 @@ At time of writing is no _convenient_ way to directly invoke precision landing ( ### IR Sensor/Beacon Setup -The IR sensor/landing beacon solution requires an [IR-LOCK Sensor](https://irlock.com/products/ir-lock-sensor-precision-landing-kit) and downward facing [distance sensor](../sensor/rangefinders.md) connected to the flight controller, and an IR beacon as a target (e.g. [IR-LOCK MarkOne](https://irlock.com/collections/markone)). +The IR sensor/landing beacon solution requires an [IR-LOCK Sensor](https://irlock.com/products/ir-lock-sensor-precision-landing-kit) and downward facing [distance sensor](../sensor/rangefinders.md) connected to the flight controller, and an IR beacon as a target (e.g. [IR-LOCK MarkOne](https://irlock.com/collections/ir-markers)). This enables landing with a precision of roughly 10 cm (GPS precision, by contrast, may be as large as several meters). -Install the IR-LOCK sensor by following the [official guide](https://irlock.readme.io/v2.0/docs). +Install the IR-LOCK sensor by following the [official guide](https://irlock.readme.io/docs/getting-started). Ensure that the sensor's x axis is aligned with the vehicle's y axis and the sensor's y axis aligned with the vehicle's -x direction (this is the case if the camera is pitched down 90 degrees from facing forward). Install a [range/distance sensor](../sensor/rangefinders.md) (the _LidarLite v3_ has been found to work well). diff --git a/docs/en/advanced_features/satcom_roadblock.md b/docs/en/advanced_features/satcom_roadblock.md index 2e4ed90271..7a6a21a1e4 100644 --- a/docs/en/advanced_features/satcom_roadblock.md +++ b/docs/en/advanced_features/satcom_roadblock.md @@ -9,7 +9,7 @@ Given good signal quality, users can expect a latency between 10 to 15 seconds. The following components are needed for the satellite communication link: -- A [RockBlock 9603 Iridium Satellite Modem](https://www.iridium.com/products/rock-seven-rockblock-9603/) module connected to a Pixhawk flashed with the PX4 Autopilot. +- A [RockBlock 9603 Iridium Satellite Modem](https://www.iridium.com/products/ground-control-rockblock-9603/) module connected to a Pixhawk flashed with the PX4 Autopilot. - A message relay server running Ubuntu Linux. - A ground station computer running _QGroundControl_ on Ubuntu Linux @@ -21,7 +21,7 @@ The full system architecture is shown below: The setup was tested with the current release of _QGroundControl_ running on Ubuntu 14.04 and 16.04. - It may be possible to run the system on other ground stations and operating systems, but this has not been tested (and is not guaranteed to work). -- The [RockBlock MK2](https://www.groundcontrol.com/us/product/rockblock-9602-satellite-modem/) module can also be used. +- The [RockBlock MK2](https://www.groundcontrol.com/product/rockblock-9602-satellite-modem/) module can also be used. The RockBlock 9603 module is recommended because it is smaller and lighter, while providing the same functionality. ::: @@ -34,7 +34,7 @@ The UK link running cost consists of a line rental and per message cost: - Each message transmitted over the system costs one _credit_ per 50 bytes. Bundles of credits can be bought from RockBlock for £0.04-£0.11 per credit, depending on the bundle size. -Refer to the [RockBlock Documentation](https://docs.rockblock.rock7.com/docs) for a detailed explanation of the modules, running costs and _RockBlock_ in general. +Refer to the [RockBlock Documentation](https://docs.groundcontrol.com/iot/rockblock) for a detailed explanation of the modules, running costs and _RockBlock_ in general. ## Vehicle Setup @@ -43,15 +43,15 @@ Refer to the [RockBlock Documentation](https://docs.rockblock.rock7.com/docs) fo Connect the RockBlock module to a serial port of the Pixhawk. Due to the power requirements of the module it can only be powered over a high-power serial port as a maximum of 0.5 A at 5 V are required. If none is available/free then another power source which has the same ground level as the Pixhawk and can provide required power has to be setup. -The details of the [connectors](https://docs.rockblock.rock7.com/docs/connectors) and the [power requirements](https://docs.rockblock.rock7.com/docs/power-supply) can be found in the RockBlock documentation. +The details of the [connectors](https://docs.groundcontrol.com/iot/rockblock/specification/connectors-wiring) and the [power requirements](https://docs.groundcontrol.com/iot/rockblock/electrical) can be found in the RockBlock documentation. ### Module The module can either use the internal antenna or an external one connected to the SMA connector. -To [switch between the two antennas modes](https://docs.rockblock.rock7.com/docs/switching-rockblock-9603-antenna-mode) the position of a small RF link cable needs to changed. +To [switch between the two antennas modes](https://docs.groundcontrol.com/iot/rockblock/user-manual/9603-atenna-mode) the position of a small RF link cable needs to changed. If an external antenna is used always make sure that the antenna is connected to the module before powering it up to avoid damage to the module. -The default baud rate of the module is 19200. However, the PX4 _iridiumsbd_ driver requires a baud rate of 115200 so it needs to be changed using the [AT commands](https://www.groundcontrol.com/en/wp-content/uploads/2022/02/IRDM_ISU_ATCommandReferenceMAN0009_Rev2.0_ATCOMM_Oct2012.pdf). +The default baud rate of the module is 19200. However, the PX4 _iridiumsbd_ driver requires a baud rate of 115200 so it needs to be changed using the [AT commands](https://www.groundcontrol.com/wp-content/uploads/2022/02/IRDM_ISU_ATCommandReferenceMAN0009_Rev2.0_ATCOMM_Oct2012.pdf). 1. Connect to the module with using a 19200/8-N-1 setting and check if the communication is working using the command: `AT`. The response should be: `OK`. @@ -100,7 +100,6 @@ Set up a delivery group for the message relay server and add the module to that The relay server should be run on either Ubuntu 16.04 or 14.04 OS. 1. The server working as a message relay should have a static IP address and two publicly accessible, open, TCP ports: - - `5672` for the _RabbitMQ_ message broker (can be changed in the _rabbitmq_ settings) - `45679` for the HTTP POST interface (can be changed in the **relay.cfg** file) @@ -123,7 +122,7 @@ The relay server should be run on either Ubuntu 16.04 or 14.04 OS. sudo rabbitmqctl set_permissions iridiumsbd ".*" ".*" ".*" ``` -1. Clone the [SatComInfrastructure](https://github.com/acfloria/SatComInfrastructure.git) repository: +1. Clone the [SatComInfrastructure](https://github.com/acfloria/SatComInfrastructure) repository: ```sh git clone https://github.com/acfloria/SatComInfrastructure.git @@ -189,7 +188,6 @@ To setup the ground station: 1. Edit the **udp2rabbit.cfg** configuration file to reflect your settings. 1. [Install _QGroundControl_](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html) (daily build). 1. Add a UDP connection in QGC with the parameters: - - Listening port: 10000 - Target hosts: 127.0.0.1:10001 - High Latency: checked @@ -236,7 +234,6 @@ If in the terminal where the `udp2rabbit.py` script is running within a couple o 1. The satellite communication system is now ready to use. The priority link, which is the link over which commands are send, is determined the following ways: - - If no link is commanded by the user a regular radio telemetry link is preferred over the high latency link. - The autopilot and QGC will fall back from the regular radio telemetry to the high latency link if the vehicle is armed and the radio telemetry link is lost (no MAVLink messages received for a certain time). As soon as the radio telemetry link is regained QGC and the autopilot will switch back to it. @@ -250,7 +247,6 @@ If in the terminal where the `udp2rabbit.py` script is running within a couple o - Satellite communication messages from the airplane are received but no commands can be transmitted (the vehicle does not react) - Check the settings of the relay server and make sure that they are correct, especially the IMEI. - No satellite communication messages from the airplane arrive on the ground station: - - Check using the system console if the _iridiumsbd_ driver started and if it did that a signal from any satellite is received by the module: ```sh @@ -261,7 +257,6 @@ If in the terminal where the `udp2rabbit.py` script is running within a couple o - Check if the link is connected and that its settings are correct. - The IridiumSBD driver does not start: - - Reboot the vehicle. If that helps increase the sleep time in the `extras.txt` before the driver is started. If that does not help make sure that the Pixhawk and the module have the same ground level. Confirm also that the baudrate of the module is set to 115200. diff --git a/docs/en/assembly/quick_start_cuav_v5_plus.md b/docs/en/assembly/quick_start_cuav_v5_plus.md index 6e0761a79e..a4e49af604 100644 --- a/docs/en/assembly/quick_start_cuav_v5_plus.md +++ b/docs/en/assembly/quick_start_cuav_v5_plus.md @@ -54,7 +54,7 @@ The GPS/Compass module should be [mounted on the frame](../assembly/mount_gps_co Connect to the flight control GPS interface using a cable. ::: info -If you use the [NEO V2 PRO GNSS (CAN GPS)](http://doc.cuav.net/gps/neo-series-gnss/en/neo-v2-pro.html), please use the cable to connect to the flight control CAN interface. +If you use the [NEO V2 PRO GNSS (CAN GPS)](https://doc.cuav.net/gps/neo-series-gnss/en/neo-v2-pro.html), please use the cable to connect to the flight control CAN interface. ::: ![V5+ AutoPilot](../../assets/flight_controller/cuav_v5_plus/connection/v5+_quickstart_03.png) @@ -130,7 +130,7 @@ Download **V5+** pinouts from [here](http://manual.cuav.net/V5-Plus.pdf). - [Airframe build-log using CUAV v5+ on a DJI FlameWheel450](../frames_multicopter/dji_f450_cuav_5plus.md) - [CUAV V5+ Manual](http://manual.cuav.net/V5-Plus.pdf) (CUAV) -- [CUAV V5+ docs](http://doc.cuav.net/flight-controller/v5-autopilot/en/v5+.html) (CUAV) +- [CUAV V5+ docs](https://doc.cuav.net/controller/v5-autopilot/en/v5+.html) (CUAV) - [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165) (CUAV) - [CUAV Github](https://github.com/cuav) (CUAV) - [Base board design reference](https://github.com/cuav/hardware/tree/master/V5_Autopilot/V5%2B/V5%2BBASE) (CUAV) diff --git a/docs/en/assembly/quick_start_cube.md b/docs/en/assembly/quick_start_cube.md index ff2ba66edb..a225d9d7cd 100644 --- a/docs/en/assembly/quick_start_cube.md +++ b/docs/en/assembly/quick_start_cube.md @@ -13,7 +13,7 @@ This quick start guide shows how to power the _Cube_® flight cont :::tip The instructions apply to all Cube variants, including [Cube Black](../flight_controller/pixhawk-2.md), [Cube Yellow](../flight_controller/cubepilot_cube_yellow.md) and [Cube Orange](../flight_controller/cubepilot_cube_orange.md). -Further/updated information may be available in the [Cube User Manual](https://docs.cubepilot.org/user-guides/autopilot/the-cube-user-manual) (Cube Docs). +Further/updated information may be available in the [Cube User Manual](https://docs.cubepilot.org/user-guides/autopilot/the-cube) (Cube Docs). ::: ## Accessories @@ -193,7 +193,7 @@ If connecting peripherals to the port labeled `GPS2`, assign the PX4 [serial por ## Configuration -Configuration is performed using [QGroundContro](http://qgroundcontrol.com/). +Configuration is performed using [QGroundContro](https://qgroundcontrol.com/). After downloading, installing and running _QGroundControl_, connect the board to your computer as shown. @@ -218,6 +218,5 @@ To use this feature de-power the Cube, hold down the safety switch, then power t - [Cube Yellow](../flight_controller/cubepilot_cube_yellow.md) - [Cube Orange](../flight_controller/cubepilot_cube_orange.md) - Cube Docs (Manufacturer): - - [Cube Module Overview](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview) - - [Cube User Manual](https://docs.cubepilot.org/user-guides/autopilot/the-cube-user-manual) + - [Cube User Guide](https://docs.cubepilot.org/user-guides/autopilot/the-cube) - [Mini Carrier Board](https://docs.cubepilot.org/user-guides/carrier-boards/mini-carrier-board) diff --git a/docs/en/assembly/quick_start_durandal.md b/docs/en/assembly/quick_start_durandal.md index f5f3b001ff..f954da92d7 100644 --- a/docs/en/assembly/quick_start_durandal.md +++ b/docs/en/assembly/quick_start_durandal.md @@ -147,7 +147,7 @@ The instructions below show how to connect the different types of receivers to _ ![Durandal - Back Pinouts (Schematic)](../../assets/flight_controller/durandal/durandal_pinouts_back.jpg) -- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **PPM RC** port _via a PPM encoder_ [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels). +- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **PPM RC** port _via a PPM encoder_ [like this one](https://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels). For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: [Remote Control Transmitters & Receivers](../getting_started/rc_transmitter_receiver.md). @@ -213,6 +213,6 @@ QuadPlane specific configuration is covered here: [QuadPlane VTOL Configuration] - [Durandal Overview](../flight_controller/durandal.md) - [Durandal Technical Data Sheet](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Durandal_technical_data_sheet_90f8875d-8035-4632-a936-a0d178062077.pdf) (Holybro) -- [Durandal Pinouts](https://holybro.com/collections/autopilot-flight-controllers/products/Durandal-Pinouts) (Holybro) -- [Durandal_MB_H743sch.pdf](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/durandal/Durandal_MB_H743sch.pdf) (Durandal Schematics) -- [STM32H743IIK_pinout.pdf](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/durandal/STM32H743IIK_pinout.pdf) (Durandal Pinmap) +- [Durandal Pinouts](https://cdn.shopifycdn.net/s/files/1/0604/5905/7341/files/Durandal_Pinouts_v1.0.pdf?v=1693983344) (Holybro) +- [Durandal_MB_H743sch.pdf](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/durandal/Durandal_MB_H743sch.pdf) (Durandal Schematics) +- [STM32H743IIK_pinout.pdf](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/durandal/STM32H743IIK_pinout.pdf) (Durandal Pinmap) diff --git a/docs/en/assembly/quick_start_holybro_pix32_v5.md b/docs/en/assembly/quick_start_holybro_pix32_v5.md index 12118c39b2..7115555547 100644 --- a/docs/en/assembly/quick_start_holybro_pix32_v5.md +++ b/docs/en/assembly/quick_start_holybro_pix32_v5.md @@ -123,7 +123,7 @@ The instructions below show how to connect the different types of receivers to _ ![Pinouts](../../assets/flight_controller/holybro_pix32_v5/pix32_v5_pinouts_back_label.png) -- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **PPM RC** port _via a PPM encoder_ [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels). +- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **PPM RC** port _via a PPM encoder_ [like this one](https://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels). For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: [Remote Control Transmitters & Receivers](../getting_started/rc_transmitter_receiver.md). @@ -181,5 +181,5 @@ QuadPlane specific configuration is covered here: [QuadPlane VTOL Configuration] - [Pix32 v5 Technical Data Sheet](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Holybro_PIX32-V5_technical_data_sheet_v1.1.pdf) - [Pix32 v5 Pinouts](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Holybro_Pix32-V5-Base-Mini-Pinouts.pdf) - [Pix32 v5 Base Schematic Diagram](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Holybro_PIX32-V5-BASE-Schematic_diagram.pdf) -- [Pix32 v5 Base Components Layout](https://holybro.com/manual/Holybro_PIX32-V5-BASE-ComponentsLayout.pdf) +- [Pix32 v5 Base Components Layout](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Holybro_PIX32-V5-BASE-RC02-ComponentsLayout.pdf) - [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165). diff --git a/docs/en/assembly/quick_start_pixhawk.md b/docs/en/assembly/quick_start_pixhawk.md index e1610c5e6a..9bb0a6d14d 100644 --- a/docs/en/assembly/quick_start_pixhawk.md +++ b/docs/en/assembly/quick_start_pixhawk.md @@ -83,7 +83,7 @@ The instructions below show how to connect the different types of receivers to P - PPM-SUM and S.BUS receivers connect to the **RC** ground, power and signal pins as shown. ![Pixhawk - Radio port for PPM/S.BUS receivers](../../assets/flight_controller/pixhawk1/pixhawk_3dr_receiver_ppm_sbus.jpg) -- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **RC** port _via a PPM encoder_ [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels). +- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **RC** port _via a PPM encoder_ [like this one](https://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels). For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: [Remote Control Transmitters & Receivers](../getting_started/rc_transmitter_receiver.md). diff --git a/docs/en/assembly/quick_start_pixhawk4.md b/docs/en/assembly/quick_start_pixhawk4.md index 4645a2baa1..be33b3b171 100644 --- a/docs/en/assembly/quick_start_pixhawk4.md +++ b/docs/en/assembly/quick_start_pixhawk4.md @@ -135,7 +135,7 @@ The instructions below show how to connect the different types of receivers to _ ![Pixhawk 4 - Radio port for PPM receivers](../../assets/flight_controller/pixhawk4/pixhawk_4_receiver_ppm.png) -- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **PPM RC** port _via a PPM encoder_ [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels). +- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **PPM RC** port _via a PPM encoder_ [like this one](https://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels). For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: [Remote Control Transmitters & Receivers](../getting_started/rc_transmitter_receiver.md). @@ -178,7 +178,7 @@ The wiring and configuration of optional/less common components is covered withi ## Pinouts -[Pixhawk 4 Pinouts](https://holybro.com/manual/Pixhawk4-Pinouts.pdf) (Holybro) +[Pixhawk 4 Pinouts](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Pixhawk4-Pinouts.pdf) (Holybro) ## Configuration @@ -191,6 +191,6 @@ QuadPlane specific configuration is covered here: [QuadPlane VTOL Configuration] ## Further information - [Pixhawk 4](../flight_controller/pixhawk4.md) (Overview page) -- [Pixhawk 4 Technical Data Sheet](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixhawk4/pixhawk4_technical_data_sheet.pdf) -- [Pixhawk 4 Pinouts](https://holybro.com/manual/Pixhawk4-Pinouts.pdf) (Holybro) +- [Pixhawk 4 Technical Data Sheet](https://github.com/PX4/PX4-Autopilot/blob/main/docs/assets/flight_controller/pixhawk4/pixhawk4_technical_data_sheet.pdf) +- [Pixhawk 4 Pinouts](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Pixhawk4-Pinouts.pdf) (Holybro) - [Pixhawk 4 Quick Start Guide (Holybro)](https://holybro.com/manual/Pixhawk4-quickstartguide.pdf) diff --git a/docs/en/assembly/quick_start_pixhawk4_mini.md b/docs/en/assembly/quick_start_pixhawk4_mini.md index 6797db4dfb..78f5e647f7 100644 --- a/docs/en/assembly/quick_start_pixhawk4_mini.md +++ b/docs/en/assembly/quick_start_pixhawk4_mini.md @@ -107,7 +107,7 @@ The instructions below show how to connect the different types of receivers to _ ![Pixhawk 4 Mini - Radio port for PPM receivers](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_rc_ppm.png) -- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **PPM RC** port _via a PPM encoder_ [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels). +- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **PPM RC** port _via a PPM encoder_ [like this one](https://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels). For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: [Remote Control Transmitters & Receivers](../getting_started/rc_transmitter_receiver.md). diff --git a/docs/en/assembly/quick_start_pixhawk5x.md b/docs/en/assembly/quick_start_pixhawk5x.md index b841138be6..f71b8efbdc 100644 --- a/docs/en/assembly/quick_start_pixhawk5x.md +++ b/docs/en/assembly/quick_start_pixhawk5x.md @@ -92,7 +92,7 @@ You will need to [select a compatible transmitter/receiver](../getting_started/r - Spektrum/DSM receivers connect to the **DSM/SBUS RC** input. - PPM or SBUS receivers connect to the **RC IN** input port. -PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **RC IN** port _via a PPM encoder_ [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels). +PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **RC IN** port _via a PPM encoder_ [like this one](https://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels). For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: [Remote Control Transmitters & Receivers](../getting_started/rc_transmitter_receiver.md). diff --git a/docs/en/assembly/quick_start_pixhawk6c.md b/docs/en/assembly/quick_start_pixhawk6c.md index 82275162db..8dcb1b32f3 100644 --- a/docs/en/assembly/quick_start_pixhawk6c.md +++ b/docs/en/assembly/quick_start_pixhawk6c.md @@ -81,7 +81,7 @@ You will need to [select a compatible transmitter/receiver](../getting_started/r - Spektrum/DSM receivers connect to the **DSM** input. - PPM or SBUS receivers connect to the **PPM/SBUS** input port. -PPM and PWM receivers that have an _individual wire for each channel_ must connect to the *PPM/SBUS\*\* port *via a PPM encoder\* [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels). +PPM and PWM receivers that have an _individual wire for each channel_ must connect to the *PPM/SBUS\*\* port *via a PPM encoder\* [like this one](https://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels). For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: [Remote Control Transmitters & Receivers](../getting_started/rc_transmitter_receiver.md). diff --git a/docs/en/assembly/quick_start_pixhawk6x.md b/docs/en/assembly/quick_start_pixhawk6x.md index 460c403d40..41e1c3c8cf 100644 --- a/docs/en/assembly/quick_start_pixhawk6x.md +++ b/docs/en/assembly/quick_start_pixhawk6x.md @@ -105,7 +105,7 @@ You will need to [select a compatible transmitter/receiver](../getting_started/r - Spektrum/DSM receivers connect to the **DSM/SBUS RC** input. - PPM or SBUS receivers connect to the **RC IN** input port. -PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **RC IN** port _via a PPM encoder_ [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels). +PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **RC IN** port _via a PPM encoder_ [like this one](https://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels). For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: [Remote Control Transmitters & Receivers](../getting_started/rc_transmitter_receiver.md). diff --git a/docs/en/assembly/quick_start_pixracer.md b/docs/en/assembly/quick_start_pixracer.md index ffd50735bf..dccbec98dd 100644 --- a/docs/en/assembly/quick_start_pixracer.md +++ b/docs/en/assembly/quick_start_pixracer.md @@ -41,7 +41,7 @@ The instructions below show how to connect the different types of receivers: ![Radio Connection](../../assets/flight_controller/pixracer/grau_setup_pixracer_radio.jpg) -- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **RCIN** port _via a PPM encoder_ [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels). +- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **RCIN** port _via a PPM encoder_ [like this one](https://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels). ### Power Module (ACSP4) diff --git a/docs/en/camera/camera_intel_realsense_t265_vio.md b/docs/en/camera/camera_intel_realsense_t265_vio.md index 9b3c74299e..1fdb99e9ab 100644 --- a/docs/en/camera/camera_intel_realsense_t265_vio.md +++ b/docs/en/camera/camera_intel_realsense_t265_vio.md @@ -1,16 +1,18 @@ # Intel® RealSense™ Tracking Camera T265 (VIO) -The [Intel® RealSense™ Tracking Camera T265](https://www.intelrealsense.com/tracking-camera-t265/) provides odometry information that can be used for [VIO](../computer_vision/visual_inertial_odometry.md), augmenting or replacing other positioning systems on PX4. - :::tip -This camera is recommended, and is used in the [Visual Inertial Odometry (VIO) > Suggested Setup](../computer_vision/visual_inertial_odometry.md#suggested-setup). +This camera is discontinued. ::: +The _Intel® RealSense™ Tracking Camera T265_ provides odometry information that can be used for [VIO](../computer_vision/visual_inertial_odometry.md), augmenting or replacing other positioning systems on PX4. + +It is used in the [Visual Inertial Odometry (VIO) > Suggested Setup](../computer_vision/visual_inertial_odometry.md#suggested-setup). + ![Intel® RealSense™ Tracking Camera T265 - Angled Image](../../assets/peripherals/camera_vio/t265_intel_realsense_tracking_camera_photo_angle.jpg) ## Where to Buy -[Intel® RealSense™ Tracking Camera T265](https://www.intelrealsense.com/tracking-camera-t265/) (store.intelrealsense.com) +No longer available. ## Setup Instructions diff --git a/docs/en/camera/fc_connected_camera.md b/docs/en/camera/fc_connected_camera.md index d6841349fa..d04074c1c0 100644 --- a/docs/en/camera/fc_connected_camera.md +++ b/docs/en/camera/fc_connected_camera.md @@ -112,12 +112,12 @@ If it is your first time enabling the camera trigger app, remember to reboot aft The camera trigger driver supports several backends - each for a specific application, controlled by the [TRIG_INTERFACE](../advanced_config/parameter_reference.md#TRIG_INTERFACE) parameter: -| Number | Description | -| ------ | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| 1 | Enables the GPIO interface. The AUX outputs are pulsed high or low (depending on the `TRIG_POLARITY` parameter) every [TRIG_INTERVAL](../advanced_config/parameter_reference.md#TRIG_INTERVAL) duration. This can be used to trigger most standard machine vision cameras directly. Note that on PX4FMU series hardware (Pixhawk, Pixracer, etc.), the signal level on the AUX pins is 3.3v. | -| 2 | Enables the Seagull MAP2 interface. This allows the use of the [Seagull MAP2](http://www.seagulluav.com/product/seagull-map2/) to interface to a multitude of supported cameras. Pin/Channel 1 (camera trigger) and Pin/Channel 2 (mode selector) of the MAP2 should be connected to the lower and higher mapped [camera trigger pins](#trigger-output-pin-configuration). Using Seagull MAP2, PX4 also supports automatic power control and keep-alive functionalities of Sony Multiport cameras like the QX-1. | -| 3 | This mode enables MAVLink cameras that used the legacy [MAVLink interface listed above](#mavlink-command-interface). The messages are automatically emitted on the MAVLink `onboard` channel when found in missions. PX4 emits the `CAMERA_TRIGGER` MAVLink message when a camera is triggered, by default to the `onboard` channel (if this is not used, custom stream will need to be enabled). [Simple MAVLink cameras](../camera/mavlink_v1_camera.md) explains this use case in more detail. | -| 4 | Enables the generic PWM interface. This allows the use of [infrared triggers](https://hobbyking.com/en_us/universal-remote-control-infrared-shutter-ir-rc-1g.html) or servos to trigger your camera. | +| Number | Description | +| ------ | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| 1 | Enables the GPIO interface. The AUX outputs are pulsed high or low (depending on the `TRIG_POLARITY` parameter) every [TRIG_INTERVAL](../advanced_config/parameter_reference.md#TRIG_INTERVAL) duration. This can be used to trigger most standard machine vision cameras directly. Note that on PX4FMU series hardware (Pixhawk, Pixracer, etc.), the signal level on the AUX pins is 3.3v. | +| 2 | Enables the Seagull MAP2 interface. This allows the use of the [Seagull MAP2](https://www.seagulluav.com/product/seagull-map2/) to interface to a multitude of supported cameras. Pin/Channel 1 (camera trigger) and Pin/Channel 2 (mode selector) of the MAP2 should be connected to the lower and higher mapped [camera trigger pins](#trigger-output-pin-configuration). Using Seagull MAP2, PX4 also supports automatic power control and keep-alive functionalities of Sony Multiport cameras like the QX-1. | +| 3 | This mode enables MAVLink cameras that used the legacy [MAVLink interface listed above](#mavlink-command-interface). The messages are automatically emitted on the MAVLink `onboard` channel when found in missions. PX4 emits the `CAMERA_TRIGGER` MAVLink message when a camera is triggered, by default to the `onboard` channel (if this is not used, custom stream will need to be enabled). [Simple MAVLink cameras](../camera/mavlink_v1_camera.md) explains this use case in more detail. | +| 4 | Enables the generic PWM interface. This allows the use of [infrared triggers](https://hobbyking.com/en_us/universal-remote-control-infrared-shutter-ir-rc-1g.html) or servos to trigger your camera. | ### Trigger Output Pin Configuration diff --git a/docs/en/camera/mavlink_v2_camera.md b/docs/en/camera/mavlink_v2_camera.md index 0a3301c9fb..8fe24a69a2 100644 --- a/docs/en/camera/mavlink_v2_camera.md +++ b/docs/en/camera/mavlink_v2_camera.md @@ -137,9 +137,9 @@ Generic/extensible camera managers: - [MAVLink Camera Manager](https://github.com/mavlink/mavlink-camera-manager) - Extensible cross-platform MAVLink Camera Server built on top of GStreamer and Rust-MAVLink. - [Dronecode Camera Manager](https://camera-manager.dronecode.org/en/) - Adds Camera Protocol interface for cameras connected to Linux computer. -Camera-specfic camera managers: +Camera-specific camera managers: -- [SIYI A8 mini camera manager](https://github.com/julianoes/siyi-a8-mini-camera-manager) - MAVSDK-plugin based camera manager for the [SIYI A8 mini](https://shop.siyi.biz/products/siyi-a8-mini) (includes tutorial). +- [SIYI A8 mini camera manager](https://github.com/julianoes/siyi-a8-mini-camera-manager) - MAVSDK-plugin based camera manager for the [SIYI A8 mini](https://shop.siyi.biz/products/siyi-a8-mini-gimbal-camera) (includes tutorial). ::: tip This is a good example of how MAVSDK can be used to create a MAVLink camera protocol interface for a particular camera. @@ -149,6 +149,6 @@ When using a camera manager you connect the companion computer to the flight con More information about camera manager and companion computer setups can be found in: -- [SIYI A8 mini camera manager](https://github.com/julianoes/siyi-a8-mini-camera-manager) - Tutorial for integrating with the [SIYI A8 mini](https://shop.siyi.biz/products/siyi-a8-mini) using a MAVSDK-based camera manager running on a Raspberry Pi companion computer. +- [SIYI A8 mini camera manager](https://github.com/julianoes/siyi-a8-mini-camera-manager) - Tutorial for integrating with the [SIYI A8 mini](https://shop.siyi.biz/products/siyi-a8-mini-gimbal-camera) using a MAVSDK-based camera manager running on a Raspberry Pi companion computer. - [Using a Companion Computer with Pixhawk Controllers](../companion_computer/pixhawk_companion.md) - [Companion Computers > Companion Computer Software](../companion_computer/index.md#companion-computer-software): In particular note [MAVLink-Router](https://github.com/mavlink-router/mavlink-router), which you can setup to route MAVLink traffic between a serial port and an IP link (or other camera manager interface). diff --git a/docs/en/can/index.md b/docs/en/can/index.md index c72d500b49..7335c5b7a8 100644 --- a/docs/en/can/index.md +++ b/docs/en/can/index.md @@ -38,7 +38,7 @@ The following diagram shows an example of a CAN bus connecting a flight controll The diagram does not show any power wiring. Refer to your manufacturer instructions to confirm whether components require separate power or can be powered from the CAN bus itself. -For more information, see [Cyphal/CAN device interconnection](https://kb.zubax.com/pages/viewpage.action?pageId=2195476) (kb.zubax.com). +For more information, see [Cyphal/CAN device interconnection](https://wiki.zubax.com/public/cyphal/CyphalCAN-device-interconnection?pageId=2195476) (kb.zubax.com). While the article is written with the Cyphal protocol in mind, it applies equally to DroneCAN hardware and any other CAN setup. For more advanced scenarios, consult with [On CAN bus topology and termination](https://forum.opencyphal.org/t/on-can-bus-topology-and-termination/1685). diff --git a/docs/en/companion_computer/auterion_skynode.md b/docs/en/companion_computer/auterion_skynode.md index 53a05b7188..a0efe666f2 100644 --- a/docs/en/companion_computer/auterion_skynode.md +++ b/docs/en/companion_computer/auterion_skynode.md @@ -1,6 +1,6 @@ -# Auterion Skynode +# Auterion Skynode X -[Skynode](https://auterion.com/product/skynode/) is a powerful flight computer that combines a mission computer, flight controller, video streaming, networking, and cellular connection, in a single tightly integrated device. +[Skynode](https://auterion.com/product/skynode-x/) is a powerful flight computer that combines a mission computer, flight controller, video streaming, networking, and cellular connection, in a single tightly integrated device. ![Auterion Skynode (Enterprise)](../../assets/companion_computer/auterion_skynode/skynode_small.png) @@ -12,10 +12,11 @@ Auterion OS and Skynode allow seamless integration with Auterion's other softwar For information about Auterion and Skynode: - [auterion.com](https://auterion.com/) -- [Skynode](https://auterion.com/product/skynode/) (auterion.com) +- [Skynode X](https://auterion.com/product/skynode-x/) (auterion.com) - Skynode Guides: - - [Manufacturer's Guide](https://docs.auterion.com/manufacturers/getting-started/readme) - - [App Developer's Guide](https://docs.auterion.com/developers/getting-started/readme) + - [Vehicle Operation](https://docs.auterion.com/vehicle-operation/auterion-sign-up) + - [App Development](https://docs.auterion.com/app-development/app-development) + - [Hardware Integration](https://docs.auterion.com/app-development/app-development) ## Skynode with Vanilla PX4 @@ -34,7 +35,7 @@ Upstream PX4 will generally work, with the following caveats: PX4 `px4_fmu-v5x` binaries for Skynode are built from source using the normal [developer environment](../dev_setup/dev_env.md) and [build commands](../dev_setup/building_px4.md), and are uploaded using either `upload_skynode_usb` or `upload_skynode_wifi` upload targets. -`upload_skynode_usb` and `upload_skynode_wifi` connect to Skynode via SSH over a network interface using the default (fixed) IP addresses for [USB](https://docs.auterion.com/manufacturers/avionics/skynode/advanced-configuration/connecting-to-skynode) and [WiFi](https://docs.auterion.com/manufacturers/avionics/skynode/advanced-configuration/configuration), and upload a TAR compressed binary to the mission computer. +`upload_skynode_usb` and `upload_skynode_wifi` connect to Skynode via SSH over a network interface using the default (fixed) IP addresses for USB and WiFi, respectively (see [AuterionOS System Guide > Building and Flashing PX4 Firmware](https://docs.auterion.com/hardware-integration/auterionos-system-guide/flashing-px4-upstream-firmware)), and upload a TAR compressed binary to the mission computer. The mission computer then decompresses the binary and installs it to the flight controller. ::: info diff --git a/docs/en/companion_computer/companion_computer_peripherals.md b/docs/en/companion_computer/companion_computer_peripherals.md index 8e0da1f80f..4069e07c29 100644 --- a/docs/en/companion_computer/companion_computer_peripherals.md +++ b/docs/en/companion_computer/companion_computer_peripherals.md @@ -30,7 +30,7 @@ A few "turnkey" options are listed below: [mro_usb_ftdi_serial_to_jst_gh]: https://store.mrobotics.io/USB-FTDI-Serial-to-JST-GH-p/mro-ftdi-jstgh01-mr.htm [sparkfun_ftdi basic_breakout]: https://www.sparkfun.com/products/9873 -You can also use an off-the-shelf FTDI cable [like this one](https://www.sparkfun.com/products/9717) and connect it to flight controller using the appropriate header adaptor +You can also use an off-the-shelf FTDI cable [like this one](https://www.sparkfun.com/ftdi-cable-5v-vcc-3-3v-i-o.html) and connect it to flight controller using the appropriate header adaptor (JST-GH connectors are specified in the Pixhawk standard, but you should confirm the connectors for your flight controller). ### Logic Level Shifters @@ -40,7 +40,7 @@ In order to resolve this, a level shifter can be implemented to safely convert t Options include: -- [SparkFun Logic Level Converter - Bi-Directional](https://www.sparkfun.com/products/12009) +- [SparkFun Logic Level Converter - Bi-Directional](https://www.sparkfun.com/sparkfun-logic-level-converter-bi-directional.html) - [4-channel I2C-safe Bi-directional Logic Level Converter - BSS138](https://www.adafruit.com/product/757) ## Cameras @@ -78,7 +78,7 @@ However NAT has no way to know where to direct the traffic from an arbitrary ext ::: A common approach is to set up a virtual private network between the companion and GCS computer (i.e. install a VPN system like [zerotier](https://www.zerotier.com/) on both computers). -The companion then uses [mavlink-router](https://github.com/intel/mavlink-router) to route traffic between the serial interface (flight controller) and GCS computer on the VPN network. +The companion then uses [mavlink-router](https://github.com/mavlink-router/mavlink-router) to route traffic between the serial interface (flight controller) and GCS computer on the VPN network. This method has the benefit that the GCS computer address can be static within the VPN, so the configuration of the _mavlink router_ does not need to change over time. In addition, the communication link is secure because all VPN traffic is encrypted (MAVLink 2 itself does not support encryption). @@ -90,5 +90,6 @@ This approach means that you do not need to know the IP address of the GCS compu Some USB modules that are known to work include: -- [Huawei E8372](https://consumer.huawei.com/en/mobile-broadband/e8372/) and [Huawei E3372](https://consumer.huawei.com/en/mobile-broadband/e3372/) - - The _E8372_ includes WiFi which you can use to configure the SIM while it is plugged into the companion (making the development workflow a little easier). The _E3372_ lacks WiFi, so you have to configure it by plugging the stick into a laptop. +- [Huawei E8372](https://consumer.huawei.com/au/support/routers/e8372/) and [Huawei E3372](https://consumer.huawei.com/au/support/routers/e3372/) + - The _E8372_ includes WiFi which you can use to configure the SIM while it is plugged into the companion (making the development workflow a little easier). + The _E3372_ lacks WiFi, so you have to configure it by plugging the stick into a laptop. diff --git a/docs/en/companion_computer/holybro_pixhawk_jetson_baseboard.md b/docs/en/companion_computer/holybro_pixhawk_jetson_baseboard.md index cc2613506a..f3a50b3957 100644 --- a/docs/en/companion_computer/holybro_pixhawk_jetson_baseboard.md +++ b/docs/en/companion_computer/holybro_pixhawk_jetson_baseboard.md @@ -4,7 +4,7 @@ The [Holybro Pixhawk Jetson Baseboard](https://holybro.com/products/pixhawk-jets ![Jetson Carrier with Pixhawk](../../assets/companion_computer/holybro_pixhawk_jetson_baseboard/hero_image.png) -The board comes with either the [Jetson Orin NX (16GB RAM)](https://holybro.com/products/nvidia-jetson-orin-nx-16g) or [Jetson Orin Nano (4GB RAM)](https://holybro.com/products/nvidia-jetson-orin-nx-16g?variant=44391410598077). +The board comes with either the _Jetson Orin NX_ (16GB RAM) or _Jetson Orin Nano_ (4GB RAM) (see [NVIDIA Jetson Orin™](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-orin/)). It can be used with any Pixhawk Autopilot Bus (PAB) specification-compliant Pixhawk flight controller, such as the Pixhawk 6 or Pixhawk 6X. This guide walks through the process of setting up the board and connecting to PX4, including: @@ -44,7 +44,6 @@ This information comes from the [Holybro Pixhawk-Jetson Baseboard Documentation] [Dimensions and weight](https://docs.holybro.com/autopilot/pixhawk-baseboards/pixhawk-jetson-baseboard/dimension-and-weight) (Holybro) - Dimensions - - 126 x 80 x 45mm (with Jetson Orin NX + Heatsink/Fan & FC Module) - 126 x 80 x 22.9mm (without Jetson and FC Module) @@ -56,37 +55,30 @@ This information comes from the [Holybro Pixhawk-Jetson Baseboard Documentation] ::: tab Jetson connectors - 2x Gigabit Ethernet Port - - Connected to both Jetson & Autopilot via Ethernet switch (RTL8367S) - Ethernet Switch powered by the same circuit as the Pixhawk - 8-pin JST-GH - RJ45 - 2x MIPI CSI Camera Inputs - - 4 Lanes each - 22-Pin Raspberry Pi Cam FFC - 2x USB 3.0 Host Port - - USB A - 5A Current Limit - 2x USB 2.0 Host Port - - 5-Pin JST-GH - 0A Current Limit - USB 2.0 for Programming/Debugging - - USB-C - 2 Key M 2242/2280 for NVMe SSD - - PCIEx4 - 2 Key E 2230 for WiFi/BT - - PCIEx2 - USB - UART @@ -95,27 +87,21 @@ This information comes from the [Holybro Pixhawk-Jetson Baseboard Documentation] - Mini HDMI Out - 4x GPIO - - 6-pin JST-GH - CAN Port - - Connected to Autopilot's CAN2 (4 Pin JST-GH) - SPI Port - - 7-Pin JST-GH - I2C Port - - 4-Pin JST-GH - I2S Port - - 7-Pin JST-GH - 2x UART Port - - 1 for debug - 1 connected to Autopilot's telem2 @@ -128,12 +114,10 @@ This information comes from the [Holybro Pixhawk-Jetson Baseboard Documentation] ::: tab Autopilot connectors - Pixhawk Autopilot Bus Interface - - 100 Pin Hirose DF40 - 50 Pin Hirose DF40 - Redundant Digital Power Module Inputs - - I2C Power Monitor Support - 2x 6-Pin Molex CLIK-Mate @@ -142,66 +126,52 @@ This information comes from the [Holybro Pixhawk-Jetson Baseboard Documentation] - Overvoltage Protection - Voltage Ratings - - Max input voltage: 6V - USB Power Input: 4.75~5.25V - Full GPS Plus Safety Switch Port - - 10-Pin JST-GH - Secondary (GPS2) Port - - 6-Pin JST-GH - 2x CAN Ports - - 4-Pin JST-GH - 3x Telemetry Ports with Flow Control - - 2x 6-Pin JST-GH - 1 is connected to Jetson's `UART1` Port - 16 PWM Outputs - - 2x 10-Pin JST-GH - UART4 & I2C Port - - 6-Pin JST-GH - 2x Gigabit Ethernet Port - - Connected to both Jetson & Autopilot via Ethernet switch (RTL8367S) - 8-Pin JST-GH - RJ45 - AD & IO - - 8-Pin JST-GH - USB 2.0 - - USB-C - 4-Pin JST-GH - DSM Input - - 3-Pin JST-ZH 1.5mm Pitch - RC In - - PPM/SBUS - 5-Pin JST-GH - SPI Port - - External Sensor Bus (SPI5) - 11-Pin JST-GH - 2x Debug Port - - 1 for FMU - 1 for IO - 10-Pin JST-SH @@ -224,7 +194,6 @@ During development using the following wired power supply is recommended: - [Power Adapter for Jetson Orin](https://holybro.com/products/power_adapter_for_jetson_orin) - The complete power supply block diagram is shown below: ![Jetson Carrier Power Diagram](../../assets/companion_computer/holybro_pixhawk_jetson_baseboard/peripherals_block_diagram_1.png) @@ -1079,7 +1048,7 @@ python ~/MAVSDK-Python/examples/telemetry.py The output below is expected: -``` sh +```sh In air: False Battery: -1.0 In air: False @@ -1184,7 +1153,7 @@ uxrce_dds_client status A healthy output should show: -``` sh +```sh nsh> uxrce_dds_client status INFO [uxrce_dds_client] Running, disconnected INFO [uxrce_dds_client] Using transport: serial @@ -1300,7 +1269,7 @@ sudo systemctl status microxrceagent.service If the service is running, you should see output like this: -``` sh +```sh holybro@ubuntu:~$ sudo systemctl status microxrceagent.service ● microxrceagent.service - Micro XRCE Agent Service Loaded: loaded (/etc/systemd/system/microxrceagent.service; enabled; vendor preset: enabled) @@ -1331,7 +1300,7 @@ You can now start your ROS2 nodes and continue the development. You can test the Client and agent by using the `sensor_combined` example in [Build ROS 2 Workspace](../ros2/user_guide.md#build-ros-2-workspace) (ROS2 User Guide). ::: tip -[VSCode over SSH](https://code.visualstudio.com/learn/develop-cloud/ssh-lab-machines) enables faster development and application of changes to your ROS 2 code! +[VSCode over SSH](https://code.visualstudio.com/docs/remote/ssh) enables faster development and application of changes to your ROS 2 code! ::: After getting to the point of running the example: @@ -1342,7 +1311,7 @@ ros2 launch px4_ros_com sensor_combined_listener.launch.py You should see high frequency sensor messages as the output: -``` sh +```sh [sensor_combined_listener-1] RECEIVED SENSOR COMBINED DATA [sensor_combined_listener-1] ==================================== [sensor_combined_listener-1] ts: 1722316316179649 diff --git a/docs/en/companion_computer/index.md b/docs/en/companion_computer/index.md index e86a629c66..7315e48cd5 100644 --- a/docs/en/companion_computer/index.md +++ b/docs/en/companion_computer/index.md @@ -41,7 +41,8 @@ Larger high power examples: - [ModalAI VOXL 2](https://docs.modalai.com/voxl2-external-flight-controller/) - [NXP NavQPlus](https://nxp.gitbook.io/navqplus/user-contributed-content/ros2/microdds) - [Nvidia Jetson TX2](https://developer.nvidia.com/embedded/jetson-tx2) -* [Intel NUC](https://www.intel.com/content/www/us/en/products/details/nuc.html) + +* [Intel NUC](https://www.asus.com/au/content/nuc-overview/) * [Gigabyte Brix](https://www.gigabyte.com/Mini-PcBarebone/BRIX) Small/lower power examples: @@ -77,7 +78,7 @@ You can also write your own custom MAVLink libraries from scratch: You will need a router if you need to bridge MAVLink from the vehicle to a ground station or IP network, or if you need multiple connections: -- [MAVLink Router](https://github.com/intel/mavlink-router) (recommended) +- [MAVLink Router](https://github.com/mavlink-router/mavlink-router) (recommended) - [MAVProxy](https://ardupilot.org/mavproxy/) ## Ethernet Setup diff --git a/docs/en/companion_computer/video_streaming_wfb_ng_wifi.md b/docs/en/companion_computer/video_streaming_wfb_ng_wifi.md index fd5a379cb1..1c8194297f 100644 --- a/docs/en/companion_computer/video_streaming_wfb_ng_wifi.md +++ b/docs/en/companion_computer/video_streaming_wfb_ng_wifi.md @@ -20,7 +20,7 @@ The high level benefits of _WFB-ng_ include: - Bidirectional telemetry link (MAVLink). - TCP/IP tunnel. - Automatic TX diversity - use multiple cards on the ground to avoid antenna tracker. -- Full link encryption and authentication (using [libsodium](https://download.libsodium.org/doc/)). +- Full link encryption and authentication (using [libsodium](https://doc.libsodium.org/)). - Aggregation of MAVLink packets (pack small packets into batches before transmitting). - Enhanced [OSD](https://github.com/svpcom/wfb-ng-osd) for Raspberry PI or generic linux desktop with gstreamer. @@ -35,21 +35,19 @@ The vehicle setup consists of: - Raspberry PI 3B/3B+/ZeroW - A camera. These have been tested: - - [Raspberry Pi camera](https://www.raspberrypi.org/products/camera-module-v2/) connected via CSI. - - [Logitech camera C920](https://www.logitech.com/en-us/product/hd-pro-webcam-c920?crid=34) connected via USB + - [Logitech camera C920](https://support.logi.com/hc/en-us/articles/360024326953-Getting-started-HD-Pro-Webcam-C920) connected via USB -- WiFi module [ALPHA AWUS036ACH](https://www.alfa.com.tw/products_detail/1.htm) or any other **RTL8812au** card. +- WiFi module [ALPHA AWUS036ACH](https://www.alfa.com.tw/products/awus036ach_1?variant=40319795789896) or any other **RTL8812au** card. ### Ground Station - Ground Station Computer. These options have been tested: - - Any Linux computer with a USB port (tested on Ubuntu 18.04 x86-64) - A computer with any OS running QGround control and Raspberry PI connected via Ethernet (RPi provides the wifi connection). -- WiFi module [ALPHA AWUS036ACH](https://www.alfa.com.tw/products_detail/1.htm) or any other **RTL8812au** card. +- WiFi module [ALPHA AWUS036ACH](https://www.alfa.com.tw/products/awus036ach_1?variant=40319795789896) or any other **RTL8812au** card. See [WFB-ng wiki > WiFi hardware](https://github.com/svpcom/wfb-ng/wiki/WiFi-hardware) for more information on supported modules. ## Hardware Modification @@ -122,7 +120,7 @@ If you need a higher bandwidth you can use other MCS index (for example 2 or gre ## Antennas and Diversity -For simple cases you can use omnidirectional antennas with linear (that bundled with wifi cards) or circular leaf ([circularly polarized Coverleaf Antenna](http://www.antenna-theory.com/antennas/cloverleaf.php)) polarization. +For simple cases you can use omnidirectional antennas with linear (that bundled with wifi cards) or circular leaf ([circularly polarized Coverleaf Antenna](https://www.antenna-theory.com/antennas/cloverleaf.php)) polarization. If you want to setup long distance link you can use multiple wifi adapters with directional and omnidirectional antennas. TX/RX diversity for multiple adapters supported out of box (just add multiple NICs to `/etc/default/wifibroadcast`). If your WiFi adapter has two antennas (like Alfa AWU036ACH) TX diversity is implemented via [STBC](https://en.wikipedia.org/wiki/Space%E2%80%93time_block_code). Cards with 4 ports (like Alfa AWUS1900) are currently not supported. diff --git a/docs/en/complete_vehicles_fw/index.md b/docs/en/complete_vehicles_fw/index.md index 89017012a2..c7ffe7efec 100644 --- a/docs/en/complete_vehicles_fw/index.md +++ b/docs/en/complete_vehicles_fw/index.md @@ -12,7 +12,7 @@ You can find others on [px4.io](https://px4.io/ecosystem/commercial-systems/) an This section contains consumer vehicles that run a _custom_ version of PX4 (supported by their vendors). These may or may not be updatable to run "vanilla" PX4. -- [Sentera PXH](https://sentera.com/products/fieldcapture/ag-drones/phx/) +- [Sentera PXH](https://senterasensors.com/phx/) - ## See Also - [DIY Builds](../frames_plane/diy_builds.md) diff --git a/docs/en/complete_vehicles_mc/amov_F410_drone.md b/docs/en/complete_vehicles_mc/amov_F410_drone.md index 5740dd35a5..2daca72fde 100644 --- a/docs/en/complete_vehicles_mc/amov_F410_drone.md +++ b/docs/en/complete_vehicles_mc/amov_F410_drone.md @@ -104,7 +104,7 @@ It is pre-installed with PX4 v1.15.4 at time of writing (a more recent version m ## Tutorials -- Tutorials [English](https://docs.amovlab.com/f450-v6c-wiki/#/en/)/[Chinese](https://docs.amovlab.com/F450-V6C-wiki/#/src/%E8%A7%84%E6%A0%BC%E5%8F%82%E6%95%B0/%E8%A7%84%E6%A0%BC%E5%8F%82%E6%95%B0) (docs.amovlab.com/) +- Tutorials [English](https://docs.amovlab.com/f450-v6c-wiki/#/en/)/[Chinese](https://docs.amovlab.com/f450-v6c-wiki/#/) (docs.amovlab.com/) ## Upgrading diff --git a/docs/en/complete_vehicles_mc/crazyflie2.md b/docs/en/complete_vehicles_mc/crazyflie2.md index 34a7371475..0f14567c0b 100644 --- a/docs/en/complete_vehicles_mc/crazyflie2.md +++ b/docs/en/complete_vehicles_mc/crazyflie2.md @@ -51,7 +51,7 @@ After setting up the PX4 development environment, follow these steps to install 1. Download the source code of the PX4 Bootloader: ```sh - git clone https://github.com/PX4/Bootloader.git + git clone https://github.com/PX4/PX4-Bootloader.git ``` 1. Navigate into the top directory of the source code and compile it using: @@ -248,7 +248,7 @@ Crazyflie is able to fly in _Altitude_ mode if you use a [Z-ranger deck](https:/ According to the datasheet, the maximum height (above ground) the range finder can sense is 2 m. However, when tested on dark surfaces this value decreases to 0.5 m. On a light floor, it goes up to max 1.3 m. This means you cannot hold altitudes above this value in _Altitude_ or _Position_ flight modes. :::tip -If the Crazyflie 2.0 height drifts at mid-throttle command in _Altitude mode_ or _Position mode_, first try rebooting the vehicle. If this does not fix the problem, recalibrate the accel and mag (compass). +If the Crazyflie 2.0 height drifts at mid-throttle command in _Altitude mode_ or _Position mode_, first try rebooting the vehicle. If this does not fix the problem, recalibrate the accel and mag (compass). ::: ::: info diff --git a/docs/en/complete_vehicles_mc/crazyflie21.md b/docs/en/complete_vehicles_mc/crazyflie21.md index eb8fdd5bf1..36547a72ec 100644 --- a/docs/en/complete_vehicles_mc/crazyflie21.md +++ b/docs/en/complete_vehicles_mc/crazyflie21.md @@ -65,7 +65,7 @@ After setting up the PX4 development environment, follow these steps to install 1. Download the source code of the PX4 Bootloader: ```sh - git clone https://github.com/PX4/Bootloader.git --recurse-submodules + git clone https://github.com/PX4/PX4-Bootloader.git --recurse-submodules ``` 1. Navigate into the top directory of the source code and compile it using: diff --git a/docs/en/complete_vehicles_mc/index.md b/docs/en/complete_vehicles_mc/index.md index 3149ecc933..24c477081f 100644 --- a/docs/en/complete_vehicles_mc/index.md +++ b/docs/en/complete_vehicles_mc/index.md @@ -42,7 +42,7 @@ These may or may not be updatable to run "vanilla" PX4. - [Yuneec Typhoon H Plus](https://us.yuneec.com/typhoon-h-plus/) - [Yuneec Mantis Q](https://px4.io/portfolio/yuneec-mantis-q/) - [Yuneec H520](https://px4.io/portfolio/yuneec-h520-hexacopter/) -- [AeroSense Aerobo (AS-MC02-P)](https://px4.io/portfolio/aerosense-aerobo/) +- [AeroSense Aerobo (AS-MC02-P)](https://px4.io/project/aerosense-aerobo/) ## See Also diff --git a/docs/en/concept/architecture.md b/docs/en/concept/architecture.md index 59d29ee4b7..608139b73b 100644 --- a/docs/en/concept/architecture.md +++ b/docs/en/concept/architecture.md @@ -3,7 +3,7 @@ PX4 consists of two main layers: the [flight stack](#flight-stack) is an estimation and flight control system, and the [middleware](#middleware) is a general robotics layer that can support any type of autonomous robot, providing internal/external communications and hardware integration. -All PX4 [airframes](../airframes/index.md) share a single codebase (this includes other robotic systems like boats, rovers, submarines etc.). The complete system design is [reactive](http://www.reactivemanifesto.org), which means that: +All PX4 [airframes](../airframes/index.md) share a single codebase (this includes other robotic systems like boats, rovers, submarines etc.). The complete system design is [reactive](https://www.reactivemanifesto.org), which means that: - All functionality is divided into exchangeable and reusable components - Communication is done by asynchronous message passing @@ -112,7 +112,6 @@ There are 2 different ways that a module can be executed: - **Tasks**: The module runs in its own task with its own stack and process priority. - **Work queue tasks**: The module runs on a shared work queue, sharing the same stack and work queue thread priority as other modules on the queue. - - All the tasks must behave co-operatively as they cannot interrupt each other. - Multiple _work queue tasks_ can run on a queue, and there can be multiple queues. - A _work queue task_ is scheduled by specifying a fixed time in the future, or via uORB topic update callback. diff --git a/docs/en/concept/events_interface.md b/docs/en/concept/events_interface.md index 0cdddc6c04..6c29ebe798 100644 --- a/docs/en/concept/events_interface.md +++ b/docs/en/concept/events_interface.md @@ -76,7 +76,6 @@ Explanations and requirements: - from that name, a 24 bit event ID is derived using a hash function. This means as long as the event name stays the same, so will the ID. - **Log Level**: - - valid log levels are the same as used in the MAVLink [MAV_SEVERITY](https://mavlink.io/en/messages/common.html#MAV_SEVERITY) enum. In order of descending importance these are: @@ -94,8 +93,8 @@ Explanations and requirements: - Above we specify a separate external and internal log level, which are the levels displayed to GCS users and in the log file, respectively: `{events::Log::Error, events::LogInternal::Info}`. For the majority of cases you can pass a single log level, and this will be used for both exernal and internal cases. - There are cases it makes sense to have two different log levels. - For example an RTL failsafe action: the user should see it as Warning/Error, whereas in the log, it is an expected system response, so it can be set to `Info`. + There are cases it makes sense to have two different log levels. + For example an RTL failsafe action: the user should see it as Warning/Error, whereas in the log, it is an expected system response, so it can be set to `Info`. - **Event Message**: - Single-line, short message of the event. @@ -114,7 +113,7 @@ Valid types: `uint8_t`, `int8_t`, `uint16_t`, `int16_t`, `uint32_t`, `int32_t`, You can also use enumerations as arguments: - PX4-specific/custom enumerations for events should be defined in [src/lib/events/enums.json](https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/events/enums.json), and can then be used as event argument in the form of `events::send(...)`. -- MAVLink "common" events are defined in [mavlink/libevents/events/common.json](https://github.com/mavlink/libevents/blob/master/events/common.json) and can be used as event argument in the form of `events::send(...)`. +- MAVLink "common" events are defined in [mavlink/libevents/events/common.json](https://github.com/mavlink/libevents/blob/main/events/common.json) and can be used as event argument in the form of `events::send(...)`. #### Text format @@ -125,7 +124,6 @@ Text format for event message description: These have to be escaped: '\\\\', '\\<', '\\{'. - supported tags: - - Profiles: `CONTENT` `CONTENT` will only be shown if the name matches the configured profile. @@ -137,11 +135,9 @@ Text format for event message description: - no nested tags of the same type are allowed - arguments: template placeholders that follow python syntax, with 1-based indexing (instead of 0) - - general form: `{ARG_IDX[:.NUM_DECIMAL_DIGITS][UNIT]}` UNIT: - - m: horizontal distance in meters - m_v: vertical distance in meters - m^2: area in m^2 diff --git a/docs/en/concept/system_startup.md b/docs/en/concept/system_startup.md index 01b38a969e..d147c38aa2 100644 --- a/docs/en/concept/system_startup.md +++ b/docs/en/concept/system_startup.md @@ -5,7 +5,7 @@ On NuttX they reside in the [ROMFS/px4fmu_common/init.d](https://github.com/PX4/ The scripts that are only used on Posix are located in [ROMFS/px4fmu_common/init.d-posix](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d-posix). All files starting with a number and underscore (e.g. `10000_airplane`) are predefined airframe configurations. -They are exported at build-time into an `airframes.xml` file which is parsed by [QGroundControl](http://qgroundcontrol.com) for the airframe selection UI. +They are exported at build-time into an `airframes.xml` file which is parsed by [QGroundControl](https://qgroundcontrol.com) for the airframe selection UI. Adding a new configuration is covered [here](../dev_airframes/adding_a_new_frame.md). The remaining files are part of the general startup logic. diff --git a/docs/en/config/index.md b/docs/en/config/index.md index c285dae521..0723468721 100644 --- a/docs/en/config/index.md +++ b/docs/en/config/index.md @@ -7,7 +7,7 @@ Most other steps can be done out of order, except for [tuning](#tuning), which m ## Preconditions -Before starting you should [Download QGroundControl](http://qgroundcontrol.com/downloads/) and install it on your **desktop** computer. +Before starting you should [Download QGroundControl](https://qgroundcontrol.com/downloads/) and install it on your **desktop** computer. Then open the QGC application menu ("Q" icon in the top-left corner) and choose **Vehicle Setup** in the _Select Tool_ popup: ![QGC Main Menu Popup: highlighting Vehicle Setup](../../assets/qgc/setup/menu_setup.png) @@ -57,7 +57,7 @@ Joystick/GamePad: Auto-tuning is supported, and recommended, on the following frames: -- [Autotune (Multicopter)](../config/autotune_mc.md) +- [Autotune (Multicopter)](../config/autotune_mc.md) - [Autotune (Fixed Wing)](../config/autotune_fw.md) - [Autotune (VTOL)](../config/autotune_vtol.md) @@ -77,7 +77,6 @@ If you need help with the configuration you can ask for help on the [QGroundCont - [Flight Controller Peripherals](../peripherals/index.md) - Setup specific sensors, optional sensors, actuators, and so on. - [Advanced Configuration](../advanced_config/index.md) - Factory/OEM calibration, configuring advanced features, less-common configuration. - Vehicle-Centric Config/Tuning: - - [Multicopter Config/Tuning](../config_mc/index.md) - [Helicopter Config/Tuning](../config_heli/index.md) - [Fixed-wing Config/Tuning](../config_fw/index.md) diff --git a/docs/en/config_mc/pid_tuning_guide_multicopter.md b/docs/en/config_mc/pid_tuning_guide_multicopter.md index cd374acf00..41fad102e0 100644 --- a/docs/en/config_mc/pid_tuning_guide_multicopter.md +++ b/docs/en/config_mc/pid_tuning_guide_multicopter.md @@ -58,7 +58,7 @@ Users can select the form that is used by setting the proportional gain for the The two forms are described below. ::: info -The derivative term (**D**) is on the feedback path in order to avoid an effect known as the [derivative kick](http://brettbeauregard.com/blog/2011/04/improving-the-beginner%E2%80%99s-pid-derivative-kick/). +The derivative term (**D**) is on the feedback path in order to avoid an effect known as the [derivative kick](http://brettbeauregard.com/blog/2011/04/improving-the-beginners-pid-derivative-kick/). ::: :::tip diff --git a/docs/en/contribute/code.md b/docs/en/contribute/code.md index 63cb23d077..38b6b01c82 100644 --- a/docs/en/contribute/code.md +++ b/docs/en/contribute/code.md @@ -14,7 +14,7 @@ However, due to the global team and fast moving development we might resort to m To contribute new functionality, [sign up for Github](https://docs.github.com/en/get-started/signing-up-for-github/signing-up-for-a-new-github-account), then [fork](https://docs.github.com/en/get-started/quickstart/fork-a-repo) the repository, [create a new branch](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/proposing-changes-to-your-work-with-pull-requests/creating-and-deleting-branches-within-your-repository), add your [changes as commits](#commits-and-commit-messages), and finally [send a pull request](#pull-requests). Changes will be merged when they pass our [continuous integration](https://en.wikipedia.org/wiki/Continuous_integration) tests. -All code contributions have to be under the permissive [BSD 3-clause license](https://opensource.org/licenses/BSD-3-Clause) and all code must not impose any further constraints on the use. +All code contributions have to be under the permissive [BSD 3-clause license](https://opensource.org/license/BSD-3-Clause) and all code must not impose any further constraints on the use. ## Code Style @@ -109,7 +109,6 @@ Currently we have two types of source-based documentation: Developers should name C++ entities (classes, functions, variables etc.) such that their purpose can be inferred - reducing the need for explicit documentation. ::: - - Do not add documentation that can trivially be inferred from C++ entity names. - ALWAYS specify units of variables, constants, and input/return parameters where they are defined. - Commonly you may want to add information about corner cases and error handling. diff --git a/docs/en/contribute/dev_call.md b/docs/en/contribute/dev_call.md index 3c7a7b70b8..54c4dfff08 100644 --- a/docs/en/contribute/dev_call.md +++ b/docs/en/contribute/dev_call.md @@ -29,11 +29,11 @@ This is a great opportunity to meet the team and contribute to the ongoing devel ## What gets discussed? -We publish a forum post per meeting a week before the call on [PX4 Discuss - weekly-dev-call](https://discuss.px4.io/c/weekly-dev-call) and track the agenda write down the discussion for the day. We welcome any topics that you, as a community member may have questions about / want to discuss! +We publish a forum post per meeting a week before the call on [PX4 Discuss - weekly-dev-call](https://discuss.px4.io/c/weekly-dev-call/14) and track the agenda write down the discussion for the day. We welcome any topics that you, as a community member may have questions about / want to discuss! Please add your topics for discussion to the agenda before the meeting begins, by replying to the meeting note. This will help you formulate your questions more clearly, and allow us to think about them in advance. ## Schedule -- TIME: Wednesday 17h00 CET ([subscribe to calendar](https://www.dronecode.org/calendar/)) +- TIME: Wednesday 17h00 CET ([subscribe to calendar](https://dronecode.org/calendar/)) - **Join the call**: [https://discord.gg/BDYmr6FA6Q](https://discord.gg/BDYmr6FA6Q) diff --git a/docs/en/contribute/docs.md b/docs/en/contribute/docs.md index 0202b86914..dea7a61525 100644 --- a/docs/en/contribute/docs.md +++ b/docs/en/contribute/docs.md @@ -36,7 +36,7 @@ For these kinds of changes we suggest using the same approach as for _code_: 1. Use the _git_ toolchain to get the PX4 source code onto your local computer. 1. Modify the documentation as needed (add, change, delete). 1. _Test_ that it builds properly using Vitepress. -1. Create a branch for your changes and create a pull request (PR) to pull it back into the [PX4-Autopilot](https://github.com/PX4/PX4-Autopilot.git) repo. +1. Create a branch for your changes and create a pull request (PR) to pull it back into the [PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) repo. The following explain how to get the source code, build locally (to test), and modify the code. @@ -55,7 +55,7 @@ To get the library(s) sources onto your local computer you will need to use the The instructions below explain how to get git and use it on your local computer. 1. Download git for your computer from [https://git-scm.com/downloads](https://git-scm.com/downloads) -1. [Sign up](https://github.com/join) for Github if you haven't already +1. [Sign up](https://github.com/signup) for Github if you haven't already 1. Create a copy (Fork) of the [PX4-Autopilot repo](https://github.com/PX4/PX4-Autopilot) on Github ([instructions here](https://docs.github.com/en/get-started/quickstart/fork-a-repo)). 1. Clone (copy) your forked repository to your local computer: @@ -127,7 +127,6 @@ Within the repository you created above: 6. Go to your forked repository on Github in a web browser, e.g.: `https://github.com//PX4-Autopilot.git`. There you should see the message that a new branch has been pushed to your forked repository. 7. Create a pull request (PR): - - On the right hand side of the "new branch message" (see one step before), you should see a green button saying "Compare & Create Pull Request". Press it. - A pull request template will be created. @@ -145,7 +144,6 @@ Within the repository you created above: Build the library locally to test that any changes you have made have rendered properly: 1. Install the [Vitepress prerequisites](https://vitepress.dev/guide/getting-started#prerequisites): - - [Nodejs 18+](https://nodejs.org/en) - [Yarn classic](https://classic.yarnpkg.com/en/docs/install) @@ -175,7 +173,6 @@ Build the library locally to test that any changes you have made have rendered p First specify a local text editor file using the `EDITOR` environment variable, before calling `yarn start` to preview the library. For example, you can enable VSCode as your default editor by entering: - - Windows: ```sh @@ -223,7 +220,6 @@ In overview: - All pages must be in an appropriately named sub-folder of `/en` (e.g. this page is in folder `en/contribute/`). - This makes linking easier because other pages and images are always as the same relative levels - The _structure_ of the book is defined in `SUMMARY.md`. - - If you add a new page to the guide you must also add an entry to this file! :::tip @@ -247,7 +243,6 @@ When you add a new page you must also add it to `en/SUMMARY.md`! ## Style Guide 1. Files/file names - - Put new markdown files in an appropriate sub-folder of `/en/`, such as `/en/contribute/`. Do not further nest folders. - Put new image files in an appropriate nested sub-folder of `/assets/`. @@ -257,14 +252,12 @@ When you add a new page you must also add it to `en/SUMMARY.md`! - Use lower case filenames and separate words using underscores (`_`). 2. Images - - Use the smallest size and lowest resolution that makes the image still useful (this reduces download cost for users with poor bandwidth). - New images should be created in a sub-folder of `/assets/` (so they can be shared between translations). - SVG files are preferred for diagrams. PNG files are preferred over JPG for screenshots. 3. Content: - - Use "style" (**bold**, _emphasis_, etc.) consistently and sparingly (as little as possible). - **Bold** for button presses and menu definitions. - _Emphasis_ for tool names such as _QGroundControl_ or _prettier_. @@ -279,7 +272,6 @@ When you add a new page you must also add it to `en/SUMMARY.md`! - Format using _prettier_ (_VSCode_ is a has extensions can be used for this). 4. Videos: - - Youtube videos can be added using the format `` (supported via the [https://www.npmjs.com/package/lite-youtube-embed](https://www.npmjs.com/package/lite-youtube-embed) custom element, which has other parameters you can pass). - Use instructional videos sparingly as they date badly, and are hard to maintain. - Cool videos of airframes in flight are always welcome. diff --git a/docs/en/contribute/git_examples.md b/docs/en/contribute/git_examples.md index b8601f51c4..e8823f39e2 100644 --- a/docs/en/contribute/git_examples.md +++ b/docs/en/contribute/git_examples.md @@ -6,7 +6,7 @@ Adding a feature to PX4 follows a defined workflow. In order to share your contributions on PX4, you can follow this example. -- [Sign up](https://github.com/join) for github if you haven't already +- [Sign up](https://github.com/signup) for github if you haven't already - Fork the PX4-Autopilot repo (see [here](https://docs.github.com/en/get-started/quickstart/fork-a-repo)) - Clone your forked repository to your local computer @@ -45,7 +45,7 @@ Adding a feature to PX4 follows a defined workflow. In order to share your contr git add ``` - If you prefer having a GUI to add your files see [Gitk](https://git-scm.com/book/en/v2/Git-in-Other-Environments-Graphical-Interfaces) or [`git add -p`](http://nuclearsquid.com/writings/git-add/). + If you prefer having a GUI to add your files see [Gitk](https://git-scm.com/book/en/v2/Git-in-Other-Environments-Graphical-Interfaces) or [`git add -p`](https://nuclearsquid.com/writings/git-add/). - Commit the added files with a meaningful message explaining your changes @@ -285,7 +285,7 @@ If a conflict occurs during a `git rebase`, please refer to [this guide](https:/ ### Pull merge conflicts -If a conflict occurs during a `git pull`, please refer to [this guide](https://help.github.com/articles/resolving-a-merge-conflict-using-the-command-line/#competing-line-change-merge-conflicts). +If a conflict occurs during a `git pull`, please refer to [this guide](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/addressing-merge-conflicts/resolving-a-merge-conflict-using-the-command-line#competing-line-change-merge-conflicts). ### Build error due to git tags out of date diff --git a/docs/en/contribute/licenses.md b/docs/en/contribute/licenses.md index f520068a3a..ea946ec374 100644 --- a/docs/en/contribute/licenses.md +++ b/docs/en/contribute/licenses.md @@ -1,12 +1,12 @@ # Licenses ::: info -All code contributions must be made under the permissive [BSD 3-clause license](https://opensource.org/licenses/BSD-3-Clause) and must not impose any further constraints on its use. +All code contributions must be made under the permissive [BSD 3-clause license](https://opensource.org/license/BSD-3-Clause) and must not impose any further constraints on its use. ::: This page documents the licenses of various components in the system. - [PX4 Flight Stack](https://github.com/PX4/PX4-Autopilot) — BSD - [PX4 Middleware](https://github.com/PX4/PX4-Autopilot) — BSD -- [Pixhawk Hardware](https://github.com/PX4/Hardware) — CC-BY-SA 3.0 +- [Pixhawk Hardware](https://github.com/pixhawk/Hardware) — CC-BY-SA 3.0 - [PX4 User Guide](https://github.com/PX4/PX4-user_guide) (Documentation) — [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/). diff --git a/docs/en/debug/consoles.md b/docs/en/debug/consoles.md index 7620e717da..2c435452a8 100644 --- a/docs/en/debug/consoles.md +++ b/docs/en/debug/consoles.md @@ -10,7 +10,7 @@ This page explains the main differences and how the console/shell are used. The PX4 _System Console_ provides low-level access to the system, debug output and analysis of the system boot process. -There is just one _System Console_, which runs on one specific UART (the debug port, as configured in NuttX), and is commonly attached to a computer via an FTDI cable (or some other debug adapter like a [Dronecode probe](https://kb.zubax.com/display/MAINKB/Dronecode+Probe+documentation)). +There is just one _System Console_, which runs on one specific UART (the debug port, as configured in NuttX), and is commonly attached to a computer via an FTDI cable (or some other debug adapter like a [Zubax BugFace BF1](https://github.com/Zubax/bugface_bf1)). - Used for _low-level debugging/development_: bootup, NuttX, startup scripts, board bringup, development on central parts of PX4 (e.g. uORB). - In particular, is the only place where all boot output (including information about applications auto-started on boot) is printed. diff --git a/docs/en/debug/probe_bmp.md b/docs/en/debug/probe_bmp.md index 4d6cc8909a..81fcd2ab68 100644 --- a/docs/en/debug/probe_bmp.md +++ b/docs/en/debug/probe_bmp.md @@ -1,13 +1,13 @@ -# Black Magic Probe (and Dronecode Probe) +# Black Magic Probe (and Zubax BugFace BF1) The [Black Magic Probe](https://black-magic.org) is an easy to use, mostly plug-and-play, JTAG/SWD debugger for embedded microcontrollers. Since the Black Magic Probe is a generic debug probe, you will need an adapter to connect to Pixhawk flight controllers, which can be purchased here: - [Drone Code Debug Adapter](https://1bitsquared.com/products/drone-code-debug-adapter) (1 BIT SQUARED). -## Dronecode Probe +## Zubax BugFace BF1 {#dronecode-probe} -The [Dronecode Probe](https://kb.zubax.com/display/MAINKB/Dronecode+Probe+documentation) is a specialization of the Black Magic Probe for debugging PX4 autopilots. +The [Zubax BugFace BF1](https://github.com/Zubax/bugface_bf1) (formerly known as "Dronecode Probe") is a specialization of the Black Magic Probe for debugging PX4 autopilots. The probe's USB interface exposes two separate virtual serial port interfaces: one for connecting to the [System Console](system_console.md) (UART) and the other for an embedded GDB server (SWD interface). @@ -20,17 +20,17 @@ The _6-pos DF13_ connector that comes with the probe cannot be used for SWD debu ## Using the Probe ::: info -To debug STM32F7 or later (FMUv5 and newer) the Dronecode probe / Blackmagic probe likely requires a firmware update. +To debug STM32F7 or later (FMUv5 and newer) the Zubax BugFace BF1 / Blackmagic probe likely requires a firmware update. You can find how to update the [blackmagic probe here](https://github.com/blacksphere/blackmagic/wiki/Upgrading-Firmware). ::: -To use a Dronecode probe with GDB, start GDB with the exact ELF file that is currently flashed on the autopilot: +To use a Zubax BugFace BF1 with GDB, start GDB with the exact ELF file that is currently flashed on the autopilot: ```sh arm-none-eabi-gdb build/px4_fmu-v5_default/px4_fmu-v5_default.elf ``` -Then, you have to select the Dronecode probe interface, on Linux this is e.g.: +Then, you have to select the Zubax BugFace BF1 interface, on Linux this is e.g.: ```sh target ext /dev/serial/by-id/usb-Black_Sphere_Technologies_Black_Magic_Probe_f9414d5_7DB85DAC-if00 diff --git a/docs/en/debug/profiling.md b/docs/en/debug/profiling.md index 7dcd40c26d..b7b0516760 100644 --- a/docs/en/debug/profiling.md +++ b/docs/en/debug/profiling.md @@ -17,14 +17,14 @@ The folded stacks are then fed into the visualization script, for which purpose The profiler relies on GDB to run PX4 on the embedded target. So before profiling a target, you must have the hardware you wish to profile, and you must compile and upload the firmware to that hardware. -You will then need a [debug probe](../debug/swd_debug.md#debug-probes) (such as the DroneCode Probe), to run the GDB server and interact with the board. +You will then need a [debug probe](../debug/swd_debug.md#debug-probes) (such as the Zubax BugFace BF1), to run the GDB server and interact with the board. ### Determine the Debugger Device -The `poor-mans-profiler.sh` automatically detects and uses the correct USB device if you use it with a [DroneCode Probe](../debug/probe_bmp.md#dronecode-probe). +The `poor-mans-profiler.sh` automatically detects and uses the correct USB device if you use it with a [Zubax BugFace BF1](../debug/probe_bmp.md#dronecode-probe). If you use a different kind of probe you may need to pass in the specific _device_ on which the debugger is located. You can use the bash command `ls -alh /dev/serial/by-id/` to enumerate the possible devices on Ubuntu. -For example the following devices are enumerated with a Pixhawk 4 and DroneCode Probe connected over USB: +For example the following devices are enumerated with a Pixhawk 4 and Zubax BugFace BF1 connected over USB: ```sh user@ubuntu:~/PX4-Autopilot$ ls -alh /dev/serial/by-id/ @@ -48,7 +48,7 @@ Then pass in the appropriate device using the `--gdbdev` argument like this: ### Running Basic usage of the profiler is available through the build system. -For example, the following command builds and profiles px4_fmu-v4pro target with 10000 samples (fetching _FlameGraph_ and adding it to the path as needed). +For example, the following command builds and profiles px4*fmu-v4pro target with 10000 samples (fetching \_FlameGraph* and adding it to the path as needed). ```sh make px4_fmu-v4pro_default profile diff --git a/docs/en/debug/swd_debug.md b/docs/en/debug/swd_debug.md index 781f6b410c..92bc09b836 100644 --- a/docs/en/debug/swd_debug.md +++ b/docs/en/debug/swd_debug.md @@ -187,7 +187,7 @@ The cable used to connect the M2 and the STLinkv3-MINIE comes with the adaptor. Some SWD [debug probes](#debug-probes) come with adapters/cables for connecting to common Pixhawk [debug ports](#debug-ports). Probes that are known to come with connectors are listed below: -- [DroneCode Probe](../debug/probe_bmp.md#dronecode-probe): comes with a connector for attaching to the [Pixhawk Debug Mini](#pixhawk-debug-mini) +- [Zubax BugFace BF1](../debug/probe_bmp.md#dronecode-probe): comes with a connector for attaching to the [Pixhawk Debug Mini](#pixhawk-debug-mini) ### Board-specific Adapters diff --git a/docs/en/development/development.md b/docs/en/development/development.md index 11e19a1a1e..469d8f1f1c 100644 --- a/docs/en/development/development.md +++ b/docs/en/development/development.md @@ -24,5 +24,5 @@ It explains how to: - [Support](../contribute/support.md): Get help using the [discussion boards](https://discuss.px4.io//) and other support channels. - [Weekly Dev Call](../contribute/dev_call.md): A great opportunity to meet the PX4 dev team and discuss platform technical details (including pull requests, major issues, general Q&A). -- [Licences](../contribute/licenses.md): What you can do with the code (free to use and modify under terms of the permissive [BSD 3-clause license](https://opensource.org/licenses/BSD-3-Clause)!) +- [Licences](../contribute/licenses.md): What you can do with the code (free to use and modify under terms of the permissive [BSD 3-clause license](https://opensource.org/license/BSD-3-Clause)!) - [Contributing](../contribute/index.md): How to work with our [source code](../contribute/code.md). diff --git a/docs/en/dronecan/index.md b/docs/en/dronecan/index.md index c4e14eb92a..d75fb401da 100644 --- a/docs/en/dronecan/index.md +++ b/docs/en/dronecan/index.md @@ -53,7 +53,7 @@ Supported hardware includes (this is not an exhaustive list): - [Holybro DroneCAN H-RTK F9P Rover](https://holybro.com/products/dronecan-h-rtk-f9p-rover) - [Holybro DroneCAN H-RTK F9P Helical](https://holybro.com/products/dronecan-h-rtk-f9p-helical) - [RaccoonLab GNSS Modules](https://docs.raccoonlab.co/guide/gps_mag_baro/) - - [Zubax GNSS](https://zubax.com/products/gnss_2) + - [Zubax GNSS](https://shop.zubax.com/products/zubax-gnss-2) - Power monitors - [Pomegranate Systems Power Module](../dronecan/pomegranate_systems_pm.md) - [CUAV CAN PMU Power Module](../dronecan/cuav_can_pmu.md) @@ -65,7 +65,7 @@ Supported hardware includes (this is not an exhaustive list): - [ARK Flow](ark_flow.md) - [Ark Flow MR](ark_flow_mr.md) - [Avionics Anonymous Laser Altimeter UAVCAN Interface](../dronecan/avanon_laser_interface.md) - - [RaccoonLab uRangefidner and Rangefinders Adapter](https://docs.raccoonlab.co/guide/rangefinder) + - [RaccoonLab uRangefidner and Rangefinders Adapter](https://docs.raccoonlab.co/guide/rangefinder/) - Optical Flow - [Ark Flow](ark_flow.md) - [Ark Flow MR](ark_flow_mr.md) @@ -320,4 +320,4 @@ If successful, the firmware binary will be removed from the root directory and t - [Home Page](https://dronecan.github.io) (dronecan.github.io) - [Protocol Specification](https://dronecan.github.io/Specification) (dronecan.github.io) - [Implementations](https://dronecan.github.io/Implementations/) (dronecan.github.io) -- [Cyphal/CAN Device Interconnection](https://kb.zubax.com/pages/viewpage.action?pageId=2195476) (kb.zubax.com) +- [Cyphal/CAN Device Interconnection](https://wiki.zubax.com/public/cyphal/CyphalCAN-device-interconnection?pageId=2195476) (kb.zubax.com) diff --git a/docs/en/flight_controller/auav_x2.md b/docs/en/flight_controller/auav_x2.md index 7b28cffe34..e1dc3fe051 100644 --- a/docs/en/flight_controller/auav_x2.md +++ b/docs/en/flight_controller/auav_x2.md @@ -77,7 +77,7 @@ The board is based on the [Pixhawk project](https://pixhawk.org/) **FMUv2** open - [FMUv2 + IOv2 schematic](https://raw.githubusercontent.com/PX4/Hardware/master/FMUv2/PX4FMUv2.4.5.pdf) -- Schematic and layout ::: info -As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/PX4/Hardware). +As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/pixhawk/Hardware). ::: ## Serial Port Mapping diff --git a/docs/en/flight_controller/autopilot_discontinued.md b/docs/en/flight_controller/autopilot_discontinued.md index ec4dc72e61..cebad2f1e9 100644 --- a/docs/en/flight_controller/autopilot_discontinued.md +++ b/docs/en/flight_controller/autopilot_discontinued.md @@ -1,9 +1,5 @@ # Discontinued Autopilots/Vehicles -:::tip -For more information about PX4 project autopilot board support levels see: [px4.io/autopilots/](https://px4.io/autopilots/). -::: - This category is for discontinued autopilots and complete vehicles. These are no longer being manufactured, and may not be supported by their manufacturer. They are listed because you may be using them in an existing drone, and because they **may** still work with the head revision of PX4. @@ -13,6 +9,7 @@ They are listed because you may be using them in an existing drone, and because - [Drotek DroPix](../flight_controller/dropix.md) (FMUv2) - [Omnibus F4 SD](../flight_controller/omnibus_f4_sd.md) - [CUAV v5](../flight_controller/cuav_v5.md) (Pixhawk FMUv5) +- [CUAV Pixhack v3](../flight_controller/pixhack_v3.md) (FMUv3) - [Aerotenna OcPoC-Zynq Mini](../flight_controller/ocpoc_zynq.md) - [Holybro Pixhawk 4 Mini](../flight_controller/pixhawk4_mini.md) (FMUv5) - [Holybro Kakute F7](../flight_controller/kakutef7.md) diff --git a/docs/en/flight_controller/autopilot_manufacturer_supported.md b/docs/en/flight_controller/autopilot_manufacturer_supported.md index fccd01dd23..db7c019aa5 100644 --- a/docs/en/flight_controller/autopilot_manufacturer_supported.md +++ b/docs/en/flight_controller/autopilot_manufacturer_supported.md @@ -15,13 +15,12 @@ The boards in this category are: - [AirMind MindPX](../flight_controller/mindpx.md) - [AirMind MindRacer](../flight_controller/mindracer.md) - [ARK Electronics ARKV6X](../flight_controller/ark_v6x.md) (and [ARK Electronics Pixhawk Autopilot Bus Carrier](../flight_controller/ark_pab.md)) -- [ARK FPV Flight Controller](../flight_controller/ark_fpv.md) -- [ARK Pi6X Flow Flight Controller](../flight_controller/ark_pi6x.md) +- [ARK FPV Flight Controller](../flight_controller/ark_fpv.md) +- [ARK Pi6X Flow Flight Controller](../flight_controller/ark_pi6x.md) - [CUAV X7](../flight_controller/cuav_x7.md) - [CUAV Nora](../flight_controller/cuav_nora.md)（CUAV X7 variant) - [CUAV V5+](../flight_controller/cuav_v5_plus.md) (FMUv5) - [CUAV V5 nano](../flight_controller/cuav_v5_nano.md) (FMUv5) -- [CUAV Pixhack v3](../flight_controller/pixhack_v3.md) (FMUv3) - [CubePilot Cube Orange+](../flight_controller/cubepilot_cube_orangeplus.md) - [CubePilot Cube Orange](../flight_controller/cubepilot_cube_orange.md) - [CubePilot Cube Yellow](../flight_controller/cubepilot_cube_yellow.md) diff --git a/docs/en/flight_controller/beaglebone_blue.md b/docs/en/flight_controller/beaglebone_blue.md index c5a7cee580..8bd6f77fd7 100644 --- a/docs/en/flight_controller/beaglebone_blue.md +++ b/docs/en/flight_controller/beaglebone_blue.md @@ -9,7 +9,7 @@ Contact the [manufacturer](https://beagleboard.org/blue) for hardware support or [BeagleBone Blue](https://beagleboard.org/blue) is an all-in-one Linux-based computer. Although it is optimized for robotics, this compact and inexpensive board has all necessary sensors and peripherals needed by a flight controller. -This topic shows how to set up the board to run PX4 with [librobotcontrol](https://github.com/StrawsonDesign/librobotcontrol) robotics package. +This topic shows how to set up the board to run PX4 with [librobotcontrol](https://github.com/beagleboard/librobotcontrol) robotics package. ![BeagleBone - labelled diagram](../../assets/hardware/BeagleBone_Blue_balloons.jpg) @@ -77,7 +77,6 @@ echo "PermitRootLogin yes" >> /etc/ssh/sshd_config && systemctl restart sshd 1. First set up _rsync_ (this is used to transfer files from the development computer to the target board over a network - WiFi or Ethernet). For _rsync_ over SSH with key authentication, follow the steps here (on the development machine): - 1. Generate an SSH key if you have not previously done so: ``` @@ -104,9 +103,7 @@ echo "PermitRootLogin yes" >> /etc/ssh/sshd_config && systemctl restart sshd 1. Enter root password 1. Cross Compile Setup - 1. Toolchain download - 1. First install the toolchain into _/opt/bbblue_toolchain/gcc-arm-linux-gnueabihf_. Here is an example of using soft link to select which version of the toolchain you want to use: @@ -208,6 +205,7 @@ Run the following commands on the BeagleBone Blue (i.e. via SSH): sudo apt-get update sudo apt-get install cmake python3-empy=3.3.4-2 ``` + 1. Clone the PX4 Firmware directly onto the BeagleBone Blue. 1. Continue with the [standard build system installation](../dev_setup/dev_env_linux.md). diff --git a/docs/en/flight_controller/cuav_v5_nano.md b/docs/en/flight_controller/cuav_v5_nano.md index 176cbde551..305b3d260a 100644 --- a/docs/en/flight_controller/cuav_v5_nano.md +++ b/docs/en/flight_controller/cuav_v5_nano.md @@ -17,7 +17,7 @@ The V5 nano is similar to the [CUAV V5+](../flight_controller/cuav_v5_plus.md), Some of its main features include: -- Full compatibility with the [Pixhawk project](https://pixhawk.org/) **FMUv5** design standard and uses the [Pixhawk Connector Standard](https://pixhawk.org/pixhawk-connector-standard/) for all external interfaces. +- Full compatibility with the [Pixhawk project](https://pixhawk.org/) **FMUv5** design standard and uses the [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) for all external interfaces. - More advanced processor, RAM and flash memory than FMU v3, along with more stable and reliable sensors. - Firmware-compatible with PX4. - Generous 2.6mm spacing for I/O pins, making it easier to use all the interfaces. @@ -31,7 +31,6 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo Main FMU Processor: STM32F765◦32 Bit Arm® Cortex®-M7, 216MHz, 2MB memory, 512KB RAM - On-board sensors: - - Accel/Gyro: ICM-20689 - Accel/Gyro: ICM-20602 - Accel/Gyro: BMI055 @@ -39,7 +38,6 @@ Main FMU Processor: STM32F765◦32 Bit Arm® Cortex®-M7, 216MHz, 2MB memory, 51 - Barometer: MS5611 - Interfaces: 8 PWM outputs - - 3 dedicated PWM/Capture inputs on FMU - Dedicated R/C input for CPPM - Dedicated R/C input for Spektrum / DSM and S.Bus @@ -184,7 +182,7 @@ CUAV adopts some differentiated designs and is incompatible with some hardware, The _Neo v2.0 GPS_ that is recommended for use with _CUAV V5+_ and _CUAV V5 nano_ is not fully compatible with other Pixhawk flight controllers (specifically, the buzzer part is not compatible and there may be issues with the safety switch). -The UAVCAN [NEO V2 PRO GNSS receiver](http://doc.cuav.net/gps/neo-series-gnss/en/neo-v2-pro.html) can also be used, and is compatible with other flight controllers. +The UAVCAN [NEO V2 PRO GNSS receiver](https://doc.cuav.net/gps/neo-series-gnss/en/neo-v2-pro.html) can also be used, and is compatible with other flight controllers. diff --git a/docs/en/flight_controller/cuav_v5_plus.md b/docs/en/flight_controller/cuav_v5_plus.md index 04d47a9f06..cb1bb6f311 100644 --- a/docs/en/flight_controller/cuav_v5_plus.md +++ b/docs/en/flight_controller/cuav_v5_plus.md @@ -14,7 +14,7 @@ The autopilot is recommended for commercial systems integration, but is also sui Some of its main features include: -- Full compatibility with the [Pixhawk project](https://pixhawk.org/) **FMUv5** design standard and uses the [Pixhawk Connector Standard](https://pixhawk.org/pixhawk-connector-standard/) for all external interfaces. +- Full compatibility with the [Pixhawk project](https://pixhawk.org/) **FMUv5** design standard and uses the [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) for all external interfaces. - More advanced processor, RAM and flash memory than FMU v3, along with more stable and reliable sensors. - Firmware-compatible with PX4. - Modular design allows users to customize their own carrier board. @@ -32,7 +32,6 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo - IO Processor: STM32F100 - 32 Bit Arm® Cortex®-M3, 24MHz, 8KB SRAM - On-board sensors: - - Accelerometer/Gyroscope: ICM-20689 - Accelerometer/Gyroscope: BMI055 - Magnetometer: IST8310 @@ -57,7 +56,6 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo - Weight: 90g - Dimensions: 85.5\*42\*33mm - Other Characteristics: - - Operating temperature: -20 ~ 80°c（Measured value） ## Where to Buy @@ -201,7 +199,7 @@ CUAV adopts some differentiated designs and is incompatible with some hardware, The _Neo v2.0 GPS_ recommended for use with _CUAV V5+_ and _CUAV V5 nano_ is not fully compatible with other Pixhawk flight controllers (specifically, the buzzer part is not compatible and there may be issues with the safety switch). -The UAVCAN [NEO V2 PRO GNSS receiver](http://doc.cuav.net/gps/neo-series-gnss/en/neo-v2-pro.html) can also be used, and is compatible with other flight controllers. +The UAVCAN [NEO V2 PRO GNSS receiver](https://doc.cuav.net/gps/neo-series-gnss/en/neo-v2-pro.html) can also be used, and is compatible with other flight controllers. @@ -235,7 +233,7 @@ Please do not connect other equipment (except RC receiver) on SBUS / DSM / RSSI ## Further Information - [CUAV V5+ Manual](http://manual.cuav.net/V5-Plus.pdf) -- [CUAV V5+ docs](http://doc.cuav.net/flight-controller/v5-autopilot/en/v5+.html) +- [CUAV V5+ docs](https://doc.cuav.net/controller/v5-autopilot/en/v5+.html) - [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165) - [CUAV Github](https://github.com/cuav) - [Base board design reference](https://github.com/cuav/hardware/tree/master/V5_Autopilot/V5%2B/V5%2BBASE) diff --git a/docs/en/flight_controller/cubepilot_cube_orange.md b/docs/en/flight_controller/cubepilot_cube_orange.md index 792421f274..aa7e4fc4e0 100644 --- a/docs/en/flight_controller/cubepilot_cube_orange.md +++ b/docs/en/flight_controller/cubepilot_cube_orange.md @@ -19,7 +19,7 @@ This is automatically configured and enabled in the default PX4 firmware. Cube includes vibration isolation on two of the IMU's, with a third fixed IMU as a reference / backup. :::tip -The manufacturer [Cube Docs](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview) contain detailed information, including an overview of the [Differences between Cube Colours](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview#differences-between-cube-colours). +The manufacturer [Cube User Guide](https://docs.cubepilot.org/user-guides/autopilot/the-cube) contains detailed information, including an overview of the [Differences between Cube Colours](https://docs.cubepilot.org/user-guides/autopilot/the-cube/introduction/specifications). ::: ## Key Features @@ -242,6 +242,5 @@ Board schematics and other documentation can be found here: [The Cube Project](h - [Cube Wiring Quickstart](../assembly/quick_start_cube.md) - Cube Docs (Manufacturer): - - [Cube Module Overview](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview) - - [Cube User Manual](https://docs.cubepilot.org/user-guides/autopilot/the-cube-user-manual) + - [Cube User Guide](https://docs.cubepilot.org/user-guides/autopilot/the-cube) - [Mini Carrier Board](https://docs.cubepilot.org/user-guides/carrier-boards/mini-carrier-board) diff --git a/docs/en/flight_controller/cubepilot_cube_orangeplus.md b/docs/en/flight_controller/cubepilot_cube_orangeplus.md index 284b3d870e..5ee5fb3172 100644 --- a/docs/en/flight_controller/cubepilot_cube_orangeplus.md +++ b/docs/en/flight_controller/cubepilot_cube_orangeplus.md @@ -20,7 +20,7 @@ This is automatically configured and enabled in the default PX4 firmware. Cube includes vibration isolation on two of the IMU's, with a third fixed IMU as a reference / backup. :::tip -The manufacturer [Cube Docs](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview) contain detailed information, including an overview of the [Differences between Cube Colours](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview#differences-between-cube-colours). +The manufacturer [Cube User Guide](https://docs.cubepilot.org/user-guides/autopilot/the-cube) contains detailed information, including an overview of the [Differences between Cube Colours](https://docs.cubepilot.org/user-guides/autopilot/the-cube/introduction/specifications). ::: ## Key Features @@ -247,6 +247,5 @@ Board schematics and other documentation can be found here: [The Cube Project](h - [Cube Wiring Quickstart](../assembly/quick_start_cube.md) - Cube Docs (Manufacturer): - - [Cube Module Overview](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview) - - [Cube User Manual](https://docs.cubepilot.org/user-guides/autopilot/the-cube-user-manual) + - [Cube User Guide](https://docs.cubepilot.org/user-guides/autopilot/the-cube) - [Mini Carrier Board](https://docs.cubepilot.org/user-guides/carrier-boards/mini-carrier-board) diff --git a/docs/en/flight_controller/cubepilot_cube_yellow.md b/docs/en/flight_controller/cubepilot_cube_yellow.md index fa31498c84..90ca2f3982 100644 --- a/docs/en/flight_controller/cubepilot_cube_yellow.md +++ b/docs/en/flight_controller/cubepilot_cube_yellow.md @@ -15,7 +15,7 @@ For example, a carrier board for a commercial inspection vehicle might include c Cube includes vibration isolation on two of the IMU's, with a third fixed IMU as a reference / backup. :::tip -The manufacturer [Cube Docs](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview) contain detailed information, including an overview of the [Differences between Cube Colours](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview#differences-between-cube-colours). +The manufacturer [Cube User Guide](https://docs.cubepilot.org/user-guides/autopilot/the-cube) contains detailed information, including an overview of the [Differences between Cube Colours](https://docs.cubepilot.org/user-guides/autopilot/the-cube/introduction/specifications). ::: ## Key Features @@ -140,6 +140,5 @@ CAN1 and CAN2 silk screen on the Cube are flipped (CAN1 is CAN2 and vice versa). - [Cube Wiring Quickstart](../assembly/quick_start_cube.md) - Cube Docs (Manufacturer): - - [Cube Module Overview](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview) - - [Cube User Manual](https://docs.cubepilot.org/user-guides/autopilot/the-cube-user-manual) + - [Cube User Guide](https://docs.cubepilot.org/user-guides/autopilot/the-cube) - [Mini Carrier Board](https://docs.cubepilot.org/user-guides/carrier-boards/mini-carrier-board) diff --git a/docs/en/flight_controller/durandal.md b/docs/en/flight_controller/durandal.md index 99face4379..2b12407bd4 100644 --- a/docs/en/flight_controller/durandal.md +++ b/docs/en/flight_controller/durandal.md @@ -211,7 +211,7 @@ The complete set of supported configurations can be seen in the [Airframes Refer ## Pinouts _Durandal_ pinouts are listed below. -These can also be downloaded from [here](https://holybro.com/collections/autopilot-flight-controllers/products/Durandal-Pinouts). +These can also be downloaded from [here](https://cdn.shopifycdn.net/s/files/1/0604/5905/7341/files/Durandal_Pinouts_v1.0.pdf?v=1693983344). ### Top Pinouts @@ -422,4 +422,4 @@ These can also be downloaded from [here](https://holybro.com/collections/autopil - [Durandal Wiring QuickStart](../assembly/quick_start_durandal.md) - [Durandal Technical Data Sheet](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Durandal_technical_data_sheet_90f8875d-8035-4632-a936-a0d178062077.pdf) -- [Durandal Pinouts](https://holybro.com/collections/autopilot-flight-controllers/products/Durandal-Pinouts) (Holybro) +- [Durandal Pinouts](https://cdn.shopifycdn.net/s/files/1/0604/5905/7341/files/Durandal_Pinouts_v1.0.pdf?v=1693983344) (Holybro) diff --git a/docs/en/flight_controller/holybro_pix32.md b/docs/en/flight_controller/holybro_pix32.md index bf7afd5b4f..3ed152d630 100644 --- a/docs/en/flight_controller/holybro_pix32.md +++ b/docs/en/flight_controller/holybro_pix32.md @@ -13,7 +13,7 @@ It runs the PX4 flight stack on the [NuttX](https://nuttx.apache.org/) OS. ![pix32](../../assets/flight_controller/holybro_pix32/pix32_hero.jpg) -As a CC-BY-SA 3.0 licensed Open Hardware design, schematics and design files should be [available here](https://github.com/PX4/Hardware). +As a CC-BY-SA 3.0 licensed Open Hardware design, schematics and design files should be [available here](https://github.com/pixhawk/Hardware). :::tip The Holybro pix32 is software compatible with the [3DR Pixhawk 1](../flight_controller/pixhawk.md). @@ -90,7 +90,7 @@ The board is based on the [Pixhawk project](https://pixhawk.org/) **FMUv2** open - [FMUv2 + IOv2 schematic](https://raw.githubusercontent.com/PX4/Hardware/master/FMUv2/PX4FMUv2.4.5.pdf) -- Schematic and layout ::: info -As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/PX4/Hardware). +As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/pixhawk/Hardware). ::: ## Serial Port Mapping diff --git a/docs/en/flight_controller/kakutef7.md b/docs/en/flight_controller/kakutef7.md index 7bf319fe60..a930d455ee 100644 --- a/docs/en/flight_controller/kakutef7.md +++ b/docs/en/flight_controller/kakutef7.md @@ -74,7 +74,7 @@ This is the silkscreen for the _Kakute F7_, showing the top of the board: The board comes pre-installed with [Betaflight](https://github.com/betaflight/betaflight/wiki). Before PX4 firmware can be installed, the _PX4 bootloader_ must be flashed. -Download the [kakutef7_bl.hex](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/kakutef7/kakutef7_bl_0b3fbe2da0.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions. +Download the [kakutef7_bl.hex](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/kakutef7/kakutef7_bl_0b3fbe2da0.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions. ## Building Firmware diff --git a/docs/en/flight_controller/kakuteh7.md b/docs/en/flight_controller/kakuteh7.md index cef7037f77..b9c798f028 100644 --- a/docs/en/flight_controller/kakuteh7.md +++ b/docs/en/flight_controller/kakuteh7.md @@ -74,12 +74,11 @@ This is the silkscreen for the _Kakute H7_, showing the top of the board: | M5 to M8 | Motor signal outputs (located in plug for use in 4-in-1 ESCs) | | | Boot | Bootloader button | | - ## PX4 Bootloader Update {#bootloader} The board comes pre-installed with [Betaflight](https://github.com/betaflight/betaflight/wiki). Before PX4 firmware can be installed, the _PX4 bootloader_ must be flashed. -Download the [kakuteh7_bl.hex](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/kakuteh7/holybro_kakuteh7_bootloader.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions. +Download the [kakuteh7_bl.hex](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/kakuteh7/holybro_kakuteh7_bootloader.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions. ## Building Firmware diff --git a/docs/en/flight_controller/kakuteh7mini.md b/docs/en/flight_controller/kakuteh7mini.md index d3256703e9..8326cc31c6 100644 --- a/docs/en/flight_controller/kakuteh7mini.md +++ b/docs/en/flight_controller/kakuteh7mini.md @@ -80,7 +80,7 @@ The board can be bought from one of the following shops (for example): The board comes pre-installed with [Betaflight](https://github.com/betaflight/betaflight/wiki). Before the PX4 firmware can be installed, the _PX4 bootloader_ must be flashed. -Download the [holybro_kakuteh7mini_bootloader.hex](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/kakuteh7mini/holybro_kakuteh7mini_bootloader.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions. +Download the [holybro_kakuteh7mini_bootloader.hex](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/kakuteh7mini/holybro_kakuteh7mini_bootloader.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions. ## Building Firmware diff --git a/docs/en/flight_controller/kakuteh7v2.md b/docs/en/flight_controller/kakuteh7v2.md index 6f523322ef..05f62e4ae4 100644 --- a/docs/en/flight_controller/kakuteh7v2.md +++ b/docs/en/flight_controller/kakuteh7v2.md @@ -77,7 +77,7 @@ The _Kakute H7v2_ is designed to work with the _Tekko32_ 4-in-1 ESC and they can The board comes pre-installed with [Betaflight](https://github.com/betaflight/betaflight/wiki). Before the PX4 firmware can be installed, the _PX4 bootloader_ must be flashed. -Download the [holybro_kakuteh7v2_bootloader.hex](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/kakuteh7v2/holybro_kakuteh7v2_bootloader.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions. +Download the [holybro_kakuteh7v2_bootloader.hex](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/kakuteh7v2/holybro_kakuteh7v2_bootloader.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions. ## Building Firmware diff --git a/docs/en/flight_controller/mro_pixhawk.md b/docs/en/flight_controller/mro_pixhawk.md index f1d2fcc3eb..8b8b467538 100644 --- a/docs/en/flight_controller/mro_pixhawk.md +++ b/docs/en/flight_controller/mro_pixhawk.md @@ -44,7 +44,6 @@ This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md - 3.3 and 6.6V ADC inputs - External microUSB port - Power System: - - Ideal diode controller with automatic failover - Servo rail high-power (7 V) and high-current ready - All peripheral outputs over-current protected, all inputs ESD protected @@ -99,8 +98,8 @@ See [3DR Pixhawk 1 > Pinouts](../flight_controller/pixhawk.md#pinouts) The board is based on the [Pixhawk-project](https://pixhawk.org/) **FMUv3** open hardware design. -- [FMUv3 schematic](https://github.com/PX4/Hardware/raw/master/FMUv3_REV_D/Schematic%20Print/Schematic%20Prints.PDF) -- Schematic and layout +- [FMUv3 schematic](https://github.com/pixhawk/Hardware/raw/master/FMUv3_REV_D/Schematic%20Print/Schematic%20Prints.PDF) -- Schematic and layout ::: info -As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/PX4/Hardware). +As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/pixhawk/Hardware). ::: diff --git a/docs/en/flight_controller/mro_x2.1.md b/docs/en/flight_controller/mro_x2.1.md index 4f00605e9e..5db10f075c 100644 --- a/docs/en/flight_controller/mro_x2.1.md +++ b/docs/en/flight_controller/mro_x2.1.md @@ -63,13 +63,13 @@ has a much smaller footprint. Major differences are updated sensors and Rev 3 FM By default a mRo X2.1 might come preconfigured for ArduPilot® rather than PX4. This can be seen during firmware update when the board is recognized as FMUv2 instead of X2.1. -In this case you must update the BootLoader using [BL_Update_X21.zip](https://github.com/PX4/PX4-user_guide/raw/main/assets/hardware/BL_Update_X21.zip). +In this case you must update the BootLoader using [BL_Update_X21.zip](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/hardware/BL_Update_X21.zip). If this correction is not carried out your compass direction will be wrong and the secondary IMU will not be detected. The update steps are: -1. Download and extract [BL_Update_X21.zip](https://github.com/PX4/PX4-user_guide/raw/main/assets/hardware/BL_Update_X21.zip). +1. Download and extract [BL_Update_X21.zip](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/hardware/BL_Update_X21.zip). 2. Find the folder _BL_Update_X21_. This contains a **bin** file and a subfolder named **/etc** containing an **rc.txt** file 3. Copy these files to your micro SD card's root directory and insert it into the mRO x2.1 4. Power on the mRO x2.1 Wait for it to boot and then reboot 1 time. diff --git a/docs/en/flight_controller/omnibus_f4_sd.md b/docs/en/flight_controller/omnibus_f4_sd.md index c72d03c1a6..1851c188a0 100644 --- a/docs/en/flight_controller/omnibus_f4_sd.md +++ b/docs/en/flight_controller/omnibus_f4_sd.md @@ -67,13 +67,11 @@ These are the boards tested and known to work: ::: Purchase from: - - [Hobbywing XRotor F4 Flight Controller w/OSD](https://www.getfpv.com/hobbywing-xrotor-f4-flight-controller-w-osd.html) (getfpv) - Original Airbot Omnibus F4 SD Purchase from: - - [Airbot (CN manufacturer)](https://store.myairbot.com/omnibusf4prov3.html) - [Ready To Fly Quads (US reseller)](https://quadsrtf.com/product/flip-32-f4-omnibus-rev-2/) @@ -116,7 +114,6 @@ Some Omnibus F4 boards have a jumper connecting either or both the MCU SBUS and ### UARTs - UART6: GPS port - - TX: MCU pin PC6 - RX: MCU pin PC7 @@ -125,7 +122,6 @@ Some Omnibus F4 boards have a jumper connecting either or both the MCU SBUS and ![Omnibus F4 SD UART6](../../assets/flight_controller/omnibus_f4_sd/uart6.jpg) - UART4 - - TX: MCU pin PA0 - RX: MCU pin PA1 - 57600 baud @@ -227,7 +223,7 @@ The schematics are provided by [Airbot](https://myairbot.com/): [OmnibusF4-Pro-S The board comes pre-installed with [Betaflight](https://github.com/betaflight/betaflight/wiki). Before PX4 firmware can be installed, the _PX4 bootloader_ must be flashed. -Download the [omnibusf4sd_bl.hex](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/omnibus_f4_sd/omnibusf4sd_bl_d52b70cb39.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions. +Download the [omnibusf4sd_bl.hex](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/omnibus_f4_sd/omnibusf4sd_bl_d52b70cb39.hex) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions. ## Building Firmware diff --git a/docs/en/flight_controller/pixhack_v3.md b/docs/en/flight_controller/pixhack_v3.md index 8b7b48e58e..3ca18f97f8 100644 --- a/docs/en/flight_controller/pixhack_v3.md +++ b/docs/en/flight_controller/pixhack_v3.md @@ -1,4 +1,10 @@ -# Pixhack V3 +# CUAV Pixhack V3 (Discontinued) + + + +:::warning +This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available. +::: :::warning PX4 does not manufacture this (or any) autopilot. @@ -53,7 +59,6 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo The board can be purchased from: -- [store.cuav.net](http://store.cuav.net/index.php?id_product=8&id_product_attribute=0&rewrite=pixhack-v3-autopilot&controller=product&id_lang=3) - [leixun.aliexpress.com/store](https://leixun.aliexpress.com/store) ## Building Firmware @@ -65,13 +70,11 @@ It is pre-built and automatically installed by _QGroundControl_ when appropriate To [build PX4](../dev_setup/building_px4.md) for this target: -``` +```sh make px4_fmu-v3_default ``` -## Pinouts and Schematics - -- [Documentation/wiring guides](http://doc.cuav.net/flight-controller/pixhack/en/pixhack-v3.html) + ## Serial Port Mapping @@ -80,6 +83,6 @@ make px4_fmu-v3_default | UART1 | /dev/ttyS0 | IO debug | | USART2 | /dev/ttyS1 | TELEM1 (flow control) | | USART3 | /dev/ttyS2 | TELEM2 (flow control) | -| UART4 | | -| UART7 | CONSOLE | -| UART8 | SERIAL4 | +| UART4 | | | +| UART7 | | CONSOLE | +| UART8 | | SERIAL4 | diff --git a/docs/en/flight_controller/pixhawk-2.md b/docs/en/flight_controller/pixhawk-2.md index 24315804c0..581aedd442 100644 --- a/docs/en/flight_controller/pixhawk-2.md +++ b/docs/en/flight_controller/pixhawk-2.md @@ -11,7 +11,7 @@ We recommend however to consider products built on industry standards, such as t This flight controller is not following the standard and uses a patented connector. ::: -The [Hex Cube Black](http://www.proficnc.com/61-system-kits2) flight controller (previously known as Pixhawk 2.1) is a flexible autopilot intended primarily for manufacturers of commercial systems. +The [Hex Cube Black](https://docs.cubepilot.org/user-guides/autopilot/the-cube) flight controller (previously known as Pixhawk 2.1) is a flexible autopilot intended primarily for manufacturers of commercial systems. It is based on the [Pixhawk-project](https://pixhawk.org/) **FMUv3** open hardware design and runs PX4 on the [NuttX](https://nuttx.apache.org/) OS. ![Cube Black](../../assets/flight_controller/cube/cube_black_hero.png) @@ -23,7 +23,7 @@ while a carrier board for a racer could includes ESCs form the frame of the vehi Cube includes vibration isolation on two of the IMU's, with a third fixed IMU as a reference / Backup. ::: info -The manufacturer [Cube Docs](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview) contain detailed information, including an overview of the [Differences between Cube Colours](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview#differences-between-cube-colours). +The manufacturer [Cube User Guide](https://docs.cubepilot.org/user-guides/autopilot/the-cube) contains detailed information, including an overview of the [Differences between Cube Colours](https://docs.cubepilot.org/user-guides/autopilot/the-cube/introduction/specifications). ::: :::tip @@ -32,7 +32,7 @@ This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md ## Key Features -- 32bit STM32F427 [Cortex-M4F](http://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M4)® core with FPU +- 32bit STM32F427 [Cortex-M4F](https://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M4)® core with FPU - 168 MHz / 252 MIPS - 256 KB RAM - 2 MB Flash \(fully accessible\) @@ -61,7 +61,7 @@ This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md ### Processor -- 32bit STM32F427 [Cortex M4](http://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M4) core with FPU +- 32bit STM32F427 [Cortex M4](https://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M4) core with FPU - 168 MHz / 252 MIPS - 256 KB RAM - 2 MB Flash (fully accessible) @@ -166,6 +166,5 @@ CAN1 and CAN2 silk screen on the Cube Black are flipped (CAN1 is CAN2 and vice v - [Cube Wiring Quickstart](../assembly/quick_start_cube.md) - Cube Docs (Manufacturer): - - [Cube Module Overview](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview) - - [Cube User Manual](https://docs.cubepilot.org/user-guides/autopilot/the-cube-user-manual) + - [Cube User Guide](https://docs.cubepilot.org/user-guides/autopilot/the-cube) - [Mini Carrier Board](https://docs.cubepilot.org/user-guides/carrier-boards/mini-carrier-board) diff --git a/docs/en/flight_controller/pixhawk.md b/docs/en/flight_controller/pixhawk.md index e005a73b70..6029d79a20 100644 --- a/docs/en/flight_controller/pixhawk.md +++ b/docs/en/flight_controller/pixhawk.md @@ -60,7 +60,7 @@ Order mRo Pixhawk from: ### Processor -- 32bit STM32F427 [Cortex-M4F](http://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M4) core with FPU +- 32bit STM32F427 [Cortex-M4F](https://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M4) core with FPU - 168 MHz - 256 KB RAM - 2 MB Flash @@ -119,7 +119,7 @@ Under these conditions the system will not draw any power (will not be operation [FMUv2 + IOv2 schematic](https://raw.githubusercontent.com/PX4/Hardware/master/FMUv2/PX4FMUv2.4.5.pdf) -- Schematic and layout ::: info -As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/PX4/Hardware). +As a CC-BY-SA 3.0 licensed Open Hardware design, all schematics and design files are [available](https://github.com/pixhawk/Hardware). ::: ## Connections @@ -263,19 +263,19 @@ Due to space constraints two ports are on one connector. The [PX4 System Console](../debug/system_console.md) runs on the port labeled [SERIAL4/5](#serial-4-5-port). :::tip -A convenient way to connect to the console is to use a [Dronecode probe](https://kb.zubax.com/display/MAINKB/Dronecode+Probe+documentation), as it comes with connectors that can be used with several different Pixhawk devices. -Simply connect the 6-pos DF13 1:1 cable on the [Dronecode probe](https://kb.zubax.com/display/MAINKB/Dronecode+Probe+documentation) to the Pixhawk `SERIAL4/5` port. +A convenient way to connect to the console is to use a [Zubax BugFace BF1](https://github.com/Zubax/bugface_bf1), as it comes with connectors that can be used with several different Pixhawk devices. +Simply connect the 6-pos DF13 1:1 cable on the [Zubax BugFace BF1](https://github.com/Zubax/bugface_bf1) to the Pixhawk `SERIAL4/5` port. -![Dronecode probe](../../assets/flight_controller/pixhawk1/dronecode_probe.jpg) +![Zubax BugFace BF1](../../assets/flight_controller/pixhawk1/dronecode_probe.jpg) ::: The pinout is standard serial pinout, designed to connect to a [3.3V FTDI](https://www.digikey.com/en/products/detail/TTL-232R-3V3/768-1015-ND/1836393) cable (5V tolerant). | 3DR Pixhawk 1 | | FTDI | -| ------------- | --------- | ---- | -| 1 | +5V (red) | | N/C | -| 2 | S4 Tx | | N/C | -| 3 | S4 Rx | | N/C | +| ------------- | --------- | ---- | ---------------- | +| 1 | +5V (red) | | N/C | +| 2 | S4 Tx | | N/C | +| 3 | S4 Rx | | N/C | | 4 | S5 Tx | 5 | FTDI RX (yellow) | | 5 | S5 Rx | 4 | FTDI TX (orange) | | 6 | GND | 1 | FTDI GND (black) | @@ -327,7 +327,7 @@ make px4_fmu-v2_default - JTAG Adapter Option #1: [BlackMagic Probe](https://1bitsquared.com/products/black-magic-probe). Note, may come without cables (check with manufacturer). If so, you will need the **Samtec FFSD-05-D-06.00-01-N** cable ([Samtec sample service](https://www.samtec.com/products/ffsd-05-d-06.00-01-n) or [Digi-Key Link: SAM8218-ND](http://www.digikey.com/product-search/en?x=0&y=0&lang=en&site=us&KeyWords=FFSD-05-D-06.00-01-N)) or [Tag Connect Ribbon](http://www.tag-connect.com/CORTEXRIBBON10) and a Mini-USB cable. - JTAG Adapter Option #2: [Digi-Key Link: ST-LINK/V2](https://www.digikey.com/product-detail/en/stmicroelectronics/ST-LINK-V2/497-10484-ND) / [ST USER MANUAL](http://www.st.com/internet/com/TECHNICAL_RESOURCES/TECHNICAL_LITERATURE/USER_MANUAL/DM00026748.pdf), needs an ARM Mini JTAG to 20pos adapter: [Digi-Key Link: 726-1193-ND](https://www.digikey.com/en/products/detail/texas-instruments/MDL-ADA2/1986451) - - JTAG Adapter Option #3: [SparkFun Link: Olimex ARM-TINY](http://www.sparkfun.com/products/8278) or any other OpenOCD-compatible ARM Cortex JTAG adapter, needs an ARM Mini JTAG to 20pos adapter: [Digi-Key Link: 726-1193-ND](https://www.digikey.com/en/products/detail/texas-instruments/MDL-ADA2/1986451) + - JTAG Adapter Option #3: [Olimex ARM-TINY](https://www.olimex.com/wiki/ARM-USB-TINY) or any other OpenOCD-compatible ARM Cortex JTAG adapter, needs an ARM Mini JTAG to 20pos adapter: [Digi-Key Link: 726-1193-ND](https://www.digikey.com/en/products/detail/texas-instruments/MDL-ADA2/1986451) - **USARTs**: Hirose DF13 6 pos ([Digi-Key Link: DF13A-6P-1.25H(20)](https://www.digikey.com/products/en?keywords=H3371-ND)) - Mates: Hirose DF13 6 pos housing ([Digi-Key Link: Hirose DF13-6S-1.25C](https://www.digikey.com/products/en?keywords=H2182-ND)) - **I2C and CAN**: Hirose DF13 4 pos ([Digi-Key Link: DF13A-4P-1.25H(20)](https://www.digikey.com/en/products/detail/hirose-electric-co-ltd/DF13A-4P-1-25H-20/530666) - discontinued) diff --git a/docs/en/flight_controller/pixhawk4.md b/docs/en/flight_controller/pixhawk4.md index 53559410b9..eb76f408ce 100644 --- a/docs/en/flight_controller/pixhawk4.md +++ b/docs/en/flight_controller/pixhawk4.md @@ -49,7 +49,7 @@ This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md - Other Characteristics: - Operating temperature: -40 ~ 85°c -Additional information can be found in the [Pixhawk 4 Technical Data Sheet](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixhawk4/pixhawk4_technical_data_sheet.pdf). +Additional information can be found in the [Pixhawk 4 Technical Data Sheet](https://github.com/PX4/PX4-Autopilot/blob/main/docs/assets/flight_controller/pixhawk4/pixhawk4_technical_data_sheet.pdf). ## Where to Buy @@ -157,7 +157,7 @@ The complete set of supported configurations can be seen in the [Airframes Refer ## Further info -- [Pixhawk 4 Technical Data Sheet](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixhawk4/pixhawk4_technical_data_sheet.pdf) +- [Pixhawk 4 Technical Data Sheet](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/pixhawk4/pixhawk4_technical_data_sheet.pdf) - [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165). - [Pixhawk 4 Wiring QuickStart](../assembly/quick_start_pixhawk4.md) - [Pixhawk 4 Pinouts](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Pixhawk4-Pinouts.pdf) (Holybro) diff --git a/docs/en/flight_controller/pixhawk4_mini.md b/docs/en/flight_controller/pixhawk4_mini.md index 208a96fbdc..54dbc2e791 100644 --- a/docs/en/flight_controller/pixhawk4_mini.md +++ b/docs/en/flight_controller/pixhawk4_mini.md @@ -50,7 +50,7 @@ This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md - Other Characteristics: - Operating temperature: -40 ~ 85°c -Additional information can be found in the [_Pixhawk 4 Mini_ Technical Data Sheet](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixhawk4mini/pixhawk4mini_technical_data_sheet.pdf). +Additional information can be found in the [_Pixhawk 4 Mini_ Technical Data Sheet](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/pixhawk4mini/pixhawk4mini_technical_data_sheet.pdf). ## Where to Buy @@ -66,7 +66,7 @@ The **RC IN** and **PPM** ports are for RC receivers only. These are powered! NE ## Pinouts -Download _Pixhawk 4 Mini_ pinouts from [here](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixhawk4mini/pixhawk4mini_pinouts.pdf). +Download _Pixhawk 4 Mini_ pinouts from [here](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/pixhawk4mini/pixhawk4mini_pinouts.pdf). ## Dimensions @@ -120,7 +120,8 @@ In order to access these ports, the user must remove the _Pixhawk 4 Mini_ casing ![Pixhawk 4 Mini FMU Debug](../../assets/flight_controller/pixhawk4mini/pixhawk4mini_fmu_debug.png) -The port has a standard serial pinout and can be connected to a standard FTDI cable (3.3V, but it's 5V tolerant) or a [Dronecode probe](https://kb.zubax.com/display/MAINKB/Dronecode+Probe+documentation). The pinout uses the standard [Pixhawk debug connector](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) pinout. Please refer to the [wiring](../debug/system_console.md) page for details of how to wire up this port. +The port has a standard serial pinout and can be connected to a standard FTDI cable (3.3V, but it's 5V tolerant) or a [Zubax BugFace BF1](https://github.com/Zubax/bugface_bf1). +The pinout uses the standard [Pixhawk debug connector](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) pinout. Please refer to the [wiring](../debug/system_console.md) page for details of how to wire up this port. ## Serial Port Mapping @@ -153,5 +154,5 @@ It can be used for airframes that use AUX for non-essential peripherals (e.g. "f ## Further info -- [_Pixhawk 4 Mini_ Technical Data Sheet](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixhawk4mini/pixhawk4mini_technical_data_sheet.pdf) +- [_Pixhawk 4 Mini_ Technical Data Sheet](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/pixhawk4mini/pixhawk4mini_technical_data_sheet.pdf) - [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165). diff --git a/docs/en/flight_controller/pixhawk_mini.md b/docs/en/flight_controller/pixhawk_mini.md index 25b60b93c3..d21e0cb4bc 100644 --- a/docs/en/flight_controller/pixhawk_mini.md +++ b/docs/en/flight_controller/pixhawk_mini.md @@ -5,7 +5,7 @@ PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues. ::: -The Holybro *Pixhawk® Mini* autopilot is a next-generation evolution of the Pixhawk. +The Holybro _Pixhawk® Mini_ autopilot is a next-generation evolution of the Pixhawk. It is about 1/3rd the size of the original Pixhawk and has more powerful processors and sensors. The Pixhawk Mini is based on the PX4 open-hardware project and has been optimized for the PX4 flight stack. @@ -117,7 +117,7 @@ The _Pixhawk Mini_ is shipped with the following contents: | Safety switch | ![Safety switch](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_safety_switch_drawing.png) | | 8 Channel PWM Breakout cable | ![8 Channel PWM Breakout cable](../../assets/flight_controller/pixhawk_mini/pixhawk_mini_8channel_pwm_breakout_cable_drawing.png) | | Mounting foam | ![Mounting foam](../../assets/hardware/mounting/3dr_anti_vibration_mounting_foam.png) | -| I2C breakout board ? - not listed parts on handout | - | +| I2C breakout board ? - not listed parts on handout | - | ## Optional accessories @@ -263,7 +263,7 @@ Pixhawk Mini supports many different radio receiver models: -- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **RCIN** port _via a PPM encoder_ [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels). +- PPM and PWM receivers that have an _individual wire for each channel_ must connect to the **RCIN** port _via a PPM encoder_ [like this one](https://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels). For more information about selecting a radio system, receiver compatibility, and binding your transmitter/receiver pair, see: [Remote Control Transmitters & Receivers](../getting_started/rc_transmitter_receiver.md). diff --git a/docs/en/flight_controller/pixhawk_series.md b/docs/en/flight_controller/pixhawk_series.md index 759ae995c0..3091a4afd8 100644 --- a/docs/en/flight_controller/pixhawk_series.md +++ b/docs/en/flight_controller/pixhawk_series.md @@ -41,7 +41,7 @@ The [Pixhawk project](https://pixhawk.org/) creates open hardware designs in the Manufacturers are encouraged to take the [open designs](https://github.com/pixhawk/Hardware) and create products that are best suited to a particular market or use case (the physical layout/form factor not part of the open specification). Boards based on the same design are binary compatible. ::: info -While a physical connector standard is not mandated, newer products generally follow the [Pixhawk Connector Standard](https://pixhawk.org/pixhawk-connector-standard/). +While a physical connector standard is not mandated, newer products generally follow the [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf). ::: The project also creates reference autopilot boards based on the open designs, and shares them under the same [licence](#licensing-and-trademarks). @@ -89,9 +89,9 @@ At very high level, the main differences are: More CAN buses. Much more configurable & customizable. ([Pixhawk 5X](../flight_controller/pixhawk5x.md), Skynode) -- **FMUv6C:** +- **FMUv6C:** ([Holybro Pixhawk 6C Mini](../flight_controller/pixhawk6c_mini.md), [Holybro Pixhawk 6C](../flight_controller/pixhawk6c.md)) -- **FMUv6X:** +- **FMUv6X:** ([CUAV Pixhawk V6X](../flight_controller/cuav_pixhawk_v6x.md),[Holybro Pixhawk 6X](../flight_controller/pixhawk6x.md)) - **FMUv6X-RT:** Faster MCU core (1GHz) (vs 480Mhz on 6X). More RAM (2Mb). diff --git a/docs/en/flight_controller/pixracer.md b/docs/en/flight_controller/pixracer.md index 40028ee9ea..ee37397a80 100644 --- a/docs/en/flight_controller/pixracer.md +++ b/docs/en/flight_controller/pixracer.md @@ -85,7 +85,7 @@ For more information see: [Pixracer Wiring Quickstart > External Telemetry](../a ## Connectors -All connectors follow the [Pixhawk connector standard](https://pixhawk.org/pixhawk-connector-standard/). +All connectors follow the [Pixhawk connector standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf). Unless noted otherwise all connectors are JST GH. ## Pinouts @@ -204,8 +204,8 @@ The reference is provided as: [Altium Design Files](https://github.com/AUAV-Open The following PDF files are provided for _convenience only_: -- [pixracer-rc12-12-06-2015-1330.pdf](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixracer/pixracer-rc12-12-06-2015-1330.pdf) -- [pixracer-r14.pdf](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixracer/pixracer-r14.pdf) - R14 or RC14 is printed next to the SDCard socket +- [pixracer-rc12-12-06-2015-1330.pdf](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/pixracer/pixracer-rc12-12-06-2015-1330.pdf) +- [pixracer-r14.pdf](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/pixracer/pixracer-r14.pdf) - R14 or RC14 is printed next to the SDCard socket ## Building Firmware diff --git a/docs/en/frames_multicopter/dji_f450_cuav_5nano.md b/docs/en/frames_multicopter/dji_f450_cuav_5nano.md index 1e817e8af8..4f4a5761ed 100644 --- a/docs/en/frames_multicopter/dji_f450_cuav_5nano.md +++ b/docs/en/frames_multicopter/dji_f450_cuav_5nano.md @@ -1,6 +1,6 @@ # DJI FlameWheel 450 + CUAV V5 nano Build -This topic provides full instructions for building the kit and configuring PX4 using *QGroundControl*. +This topic provides full instructions for building the kit and configuring PX4 using _QGroundControl_. Key information @@ -13,6 +13,7 @@ Key information ## Bill of materials The components needed for this build are: + - Flight controller: [CUAV V5 nano](https://store.cuav.net/shop/v5-nano/): - GPS: [CUAV NEO V2 GPS](https://store.cuav.net/index.php?id_product=97&id_product_attribute=0&rewrite=cuav-new-ublox-neo-m8n-gps-module-with-shell-stand-holder-for-flight-controller-gps-compass-for-pixhack-v5-plus-rc-parts-px4&controller=product&id_lang=1) - Power Module @@ -24,7 +25,6 @@ The components needed for this build are: - Motors: [DJI E305 2312E Motor (960kv,CW)](https://www.amazon.com/DJI-E305-2312E-Motor-960kv/dp/B072MBMCZN) - ESC: Hobbywing XRotor 20A APAC Brushless ESC 3-4S For RC Multicopters - In addition, we used an FrSky Taranis controller. You will also need zip ties, double-sided tape, a soldering iron. @@ -32,65 +32,61 @@ The image below shows both frame and electronic components. ![All components used in this build](../../assets/airframes/multicopter/dji_f450_cuav_5nano/all_components.jpg) - ## Hardware ### Frame This section lists all hardware for the frame. -Description | Quantity ----|--- -DJI F450 Bottom plate | 1 -DJI F450 Top plate | 1 -DJI F450 legs with landing gear | 4 -M3*8 screws | 18 -M2 5*6 screws | 24 -Velcro Battery Strap | 1 -DJI Phantom Built-in Nut Upgrade Propellers 9.4x5 | 1 +| Description | Quantity | +| ------------------------------------------------- | -------- | +| DJI F450 Bottom plate | 1 | +| DJI F450 Top plate | 1 | +| DJI F450 legs with landing gear | 4 | +| M3\*8 screws | 18 | +| M2 5\*6 screws | 24 | +| Velcro Battery Strap | 1 | +| DJI Phantom Built-in Nut Upgrade Propellers 9.4x5 | 1 | ![F450 frame components](../../assets/airframes/multicopter/dji_f450_cuav_5nano/f450_frame_components.png) - ### CUAV v5 nano Package This section lists the components in the CUAV v5 nano package. -Description | Quantity (Default Package) | Quantity (+GPS Package) ---- | --- | --- -V5 nano flight controller | 1 | 1 -DuPont Cable | 2 | 2 -I2C/CAN Cable | 2 | 2 -ADC 6.6 Cable | 2 | 2 -SBUS Signal Cable | 1 | 1 -IRSSI Cable | 1 | 1 -DSM Signal Cable | 1 | 1 -ADC 3.3 Cable | 1 | 1 -Debug Cable | 1 | 1 -Safety Switch Cable | 1 | 1 -Voltage & Current Cable | 1 | 1 -PW-Link Module Cable | 1 | 1 -Power Module | 1 | 1 -SanDisk 16GB Memory Card | 1 | 1 -12C Expansion Board | 1 | 1 -TTL Plate | 1 | 1 -NEO GPS | - | 1 -GPS Bracket | - | 1 - +| Description | Quantity (Default Package) | Quantity (+GPS Package) | +| ------------------------- | -------------------------- | ----------------------- | +| V5 nano flight controller | 1 | 1 | +| DuPont Cable | 2 | 2 | +| I2C/CAN Cable | 2 | 2 | +| ADC 6.6 Cable | 2 | 2 | +| SBUS Signal Cable | 1 | 1 | +| IRSSI Cable | 1 | 1 | +| DSM Signal Cable | 1 | 1 | +| ADC 3.3 Cable | 1 | 1 | +| Debug Cable | 1 | 1 | +| Safety Switch Cable | 1 | 1 | +| Voltage & Current Cable | 1 | 1 | +| PW-Link Module Cable | 1 | 1 | +| Power Module | 1 | 1 | +| SanDisk 16GB Memory Card | 1 | 1 | +| 12C Expansion Board | 1 | 1 | +| TTL Plate | 1 | 1 | +| NEO GPS | - | 1 | +| GPS Bracket | - | 1 | ### Electronics -Description | Quantity ---- | --- -CUAV V5 nano | 1 -CUAV NEO V2 GPS | 1 -Holibro Telemetry | 1 -FrSky D4R-II 2.4G 4CH ACCST Telemetry Receiver | 1 -DJI E305 2312E Motor (800kv,CW) | 4 -Hobbywing XRotor 20A APAC Brushless ESC | 4 -Power Module(Included in the CUAV V5 nano package) | 1 -Turnigy High Capacity 5200mAh 3S 12C Lipo Pack w/XT60 | 1 - +| Description | Quantity | +| ----------------------------------------------------- | -------- | +| CUAV V5 nano | 1 | +| CUAV NEO V2 GPS | 1 | +| Holibro Telemetry | 1 | +| FrSky D4R-II 2.4G 4CH ACCST Telemetry Receiver | 1 | +| DJI E305 2312E Motor (800kv,CW) | 4 | +| Hobbywing XRotor 20A APAC Brushless ESC | 4 | +| Power Module(Included in the CUAV V5 nano package) | 1 | +| Turnigy High Capacity 5200mAh 3S 12C Lipo Pack w/XT60 | 1 | ### Tools needed @@ -102,7 +98,6 @@ The following tools are used in this assembly: - Precision tweezers - Soldering iron - ![Required tools](../../assets/airframes/multicopter/dji_f450_cuav_5nano/required_tools.jpg) ## Assembly @@ -134,7 +129,7 @@ Estimated time to assemble is approximately 90 minutes (about 45 minutes for the ![Add top board](../../assets/airframes/multicopter/dji_f450_cuav_5nano/6_add_top_board.jpg) -1. Add damping foam to the *CUAV V5 nano* flight controller. +1. Add damping foam to the _CUAV V5 nano_ flight controller. ![Damping foam](../../assets/airframes/multicopter/dji_f450_cuav_5nano/7a_attach_cuav5nano.jpg) ![Damping foam](../../assets/airframes/multicopter/dji_f450_cuav_5nano/7b_attach_cuav5nano.jpg) @@ -154,7 +149,7 @@ Estimated time to assemble is approximately 90 minutes (about 45 minutes for the 1. Plug in Telemetry (`TELEM1`), GPS module (`GPS/SAFETY`), RC receiver (`RC`), all 4 ESC’s (`M1-M4`), and the power module (`Power1`) into the flight controller. ![Attach peripherals to flight controller](../../assets/airframes/multicopter/dji_f450_cuav_5nano/12_fc_attach_periperhals.jpg) - + ::: info The motor order is defined in the [Airframe Reference > Quadrotor x](../airframes/airframe_reference.md#quadrotor-x) ::: @@ -164,11 +159,10 @@ The final build is shown below: ![Finished Setup](../../assets/airframes/multicopter/dji_f450_cuav_5nano/f450_cuav5_nano_complete.jpg) - ## PX4 Configuration -*QGroundControl* is used to install the PX4 autopilot and configure/tune it for the frame. -[Download and install](http://qgroundcontrol.com/downloads/) *QGroundControl* for your platform. +_QGroundControl_ is used to install the PX4 autopilot and configure/tune it for the frame. +[Download and install](https://qgroundcontrol.com/downloads/) _QGroundControl_ for your platform. :::tip Full instructions for installing and configuring PX4 can be found in [Basic Configuration](../config/index.md). @@ -180,17 +174,16 @@ First update the firmware, airframe, geometry and outputs: - [Airframe](../config/airframe.md) ::: info - You will need to select the *Generic Quadcopter* airframe (**Quadrotor x > Generic Quadcopter**). + You will need to select the _Generic Quadcopter_ airframe (**Quadrotor x > Generic Quadcopter**). ![QGroundControl - Select Generic Quadcopter](../../assets/airframes/multicopter/dji_f450_cuav_5nano/qgc_airframe_generic_quadx.png) ::: - + - [Actuators](../config/actuators.md) - Update the vehicle geometry to match the frame. - Assign actuator functions to outputs to match your wiring. - Test the configuration using the sliders. - Then perform the mandatory setup/calibration: - [Sensor Orientation](../config/flight_controller_orientation.md) @@ -201,7 +194,7 @@ Then perform the mandatory setup/calibration: - [Flight Modes](../config/flight_mode.md) ::: info - For this build we set up modes *Stabilized*, *Altitude* and *Position* on a three-way switch on the receiver (mapped to a single channel - 5). + For this build we set up modes _Stabilized_, _Altitude_ and _Position_ on a three-way switch on the receiver (mapped to a single channel - 5). This is the recommended minimal set of modes for beginners. ::: @@ -211,20 +204,17 @@ Ideally you should also do: - [Battery Estimation Tuning](../config/battery.md) - [Safety](../config/safety.md) - ## Tuning -Airframe selection sets *default* autopilot parameters for the frame. +Airframe selection sets _default_ autopilot parameters for the frame. These may be good enough to fly with, but you should tune each frame build. For instructions on how, start from [Autotune](../config/autotune_mc.md). - ## Video - ## Acknowledgments This build log was provided by the Dronecode Test Flight Team. diff --git a/docs/en/frames_multicopter/dji_f450_cuav_5plus.md b/docs/en/frames_multicopter/dji_f450_cuav_5plus.md index c8654e2c4f..3ec61536a8 100644 --- a/docs/en/frames_multicopter/dji_f450_cuav_5plus.md +++ b/docs/en/frames_multicopter/dji_f450_cuav_5plus.md @@ -1,6 +1,6 @@ # DJI FlameWheel 450 + CUAV V5+ Build -This topic provides full instructions for building the kit and configuring PX4 using *QGroundControl*. +This topic provides full instructions for building the kit and configuring PX4 using _QGroundControl_. Key information @@ -13,6 +13,7 @@ Key information ## Bill of materials The components needed for this build are: + - Flight controller: [CUAV V5+](https://store.cuav.net/index.php?id_product=95&id_product_attribute=0&rewrite=cuav-new-pixhack-v5-autopilot-m8n-gps-for-fpv-rc-drone-quadcopter-helicopter-flight-simulator-free-shipping-whole-sale&controller=product&id_lang=1): - GPS: [CUAV NEO V2 GPS](https://store.cuav.net/index.php?id_product=97&id_product_attribute=0&rewrite=cuav-new-ublox-neo-m8n-gps-module-with-shell-stand-holder-for-flight-controller-gps-compass-for-pixhack-v5-plus-rc-parts-px4&controller=product&id_lang=1) - Power Module @@ -24,7 +25,6 @@ The components needed for this build are: - Motors: [DJI E305 2312E Motor (960kv,CW)](https://www.amazon.com/DJI-E305-2312E-Motor-960kv/dp/B072MBMCZN) - ESC: Hobbywing XRotor 20A APAC Brushless ESC 3-4S For RC Multicopters - In addition, we used an FrSky Taranis controller. You will also need zip ties, double-sided tape, a soldering iron. @@ -32,67 +32,63 @@ The image below shows both frame and electronic components. ![All components used in this build](../../assets/airframes/multicopter/dji_f450_cuav_5plus/all_components.jpg) - ## Hardware ### Frame This section lists all hardware for the frame. -Description | Quantity ----|--- -DJI F450 Bottom plate | 1 -DJI F450 Top plate | 1 -DJI F450 legs with landing gear | 4 -M3*8 screws | 18 -M2 5*6 screws | 24 -Velcro Battery Strap | 1 -DJI Phantom Built-in Nut Upgrade Propellers 9.4x5 | 1 +| Description | Quantity | +| ------------------------------------------------- | -------- | +| DJI F450 Bottom plate | 1 | +| DJI F450 Top plate | 1 | +| DJI F450 legs with landing gear | 4 | +| M3\*8 screws | 18 | +| M2 5\*6 screws | 24 | +| Velcro Battery Strap | 1 | +| DJI Phantom Built-in Nut Upgrade Propellers 9.4x5 | 1 | ![F450 frame components](../../assets/airframes/multicopter/dji_f450_cuav_5plus/f450_frame_components.png) - ### CUAV V5+ Package This section lists the components in the CUAV v5+ package. -Description | Quantity (Default Package) | Quantity (+GPS Package) ---- | --- | --- -V5+ Autopilot | 1 | 1 -DuPont Cable | 2 | 2 -I2C/CAN Cable | 2 | 2 -ADC 6.6 Cable | 2 | 2 -SBUS Signal Cable | 1 | 1 -IRSSI Cable | 1 | 1 -DSM Signal Cable | 1 | 1 -ADC 3.3 Cable | 1 | 1 -Debug Cable | 1 | 1 -Safety Switch Cable | 1 | 1 -Voltage & Current Cable | 1 | 1 -PW-Link Module Cable | 1 | 1 -Power Module | 1 | 1 -SanDisk 16GB Memory Card | 1 | 1 -12C Expansion Board | 1 | 1 -TTL Plate | 1 | 1 -NEO GPS | - | 1 -GPS Bracket | - | 1 +| Description | Quantity (Default Package) | Quantity (+GPS Package) | +| ------------------------ | -------------------------- | ----------------------- | +| V5+ Autopilot | 1 | 1 | +| DuPont Cable | 2 | 2 | +| I2C/CAN Cable | 2 | 2 | +| ADC 6.6 Cable | 2 | 2 | +| SBUS Signal Cable | 1 | 1 | +| IRSSI Cable | 1 | 1 | +| DSM Signal Cable | 1 | 1 | +| ADC 3.3 Cable | 1 | 1 | +| Debug Cable | 1 | 1 | +| Safety Switch Cable | 1 | 1 | +| Voltage & Current Cable | 1 | 1 | +| PW-Link Module Cable | 1 | 1 | +| Power Module | 1 | 1 | +| SanDisk 16GB Memory Card | 1 | 1 | +| 12C Expansion Board | 1 | 1 | +| TTL Plate | 1 | 1 | +| NEO GPS | - | 1 | +| GPS Bracket | - | 1 | ![CUAV V5+ components](../../assets/airframes/multicopter/dji_f450_cuav_5plus/cuav5plus_components.png) - ### Electronics -Description | Quantity ---- | --- -CUAV V5+ | 1 -CUAV NEO V2 GPS | 1 -Holibro Telemetry | 1 -FrSky D4R-II 2.4G 4CH ACCST Telemetry Receiver | 1 -DJI E305 2312E Motor (800kv,CW) | 4 -Hobbywing XRotor 20A APAC Brushless ESC | 4 -Power Module(Included in the CUAV V5+ package) | 1 -Turnigy High Capacity 5200mAh 3S 12C Lipo Pack w/XT60 | 1 - +| Description | Quantity | +| ----------------------------------------------------- | -------- | +| CUAV V5+ | 1 | +| CUAV NEO V2 GPS | 1 | +| Holibro Telemetry | 1 | +| FrSky D4R-II 2.4G 4CH ACCST Telemetry Receiver | 1 | +| DJI E305 2312E Motor (800kv,CW) | 4 | +| Hobbywing XRotor 20A APAC Brushless ESC | 4 | +| Power Module(Included in the CUAV V5+ package) | 1 | +| Turnigy High Capacity 5200mAh 3S 12C Lipo Pack w/XT60 | 1 | ### Tools needed @@ -104,7 +100,6 @@ The following tools are used in this assembly: - Precision tweezers - Soldering iron - ![Required tools](../../assets/airframes/multicopter/dji_f450_cuav_5plus/required_tools.jpg) ## Assembly @@ -154,10 +149,9 @@ Estimated time to assemble is approximately 90 minutes (about 45 minutes for the 1. Plug in Telemetry (`TELEM1`) and GPS module (`GPS/SAFETY`) to the flight controller. ![Attach GPS](../../assets/airframes/multicopter/dji_f450_cuav_5plus/11a_gps.jpg) ![Attach GPS](../../assets/airframes/multicopter/dji_f450_cuav_5plus/11b_gps.jpg) - 1. Plug in the RC receiver (`RC`), all 4 ESC’s (`M1-M4`), and the power module (`Power1`) into the flight controller. ![Attach peripherals to flight controller](../../assets/airframes/multicopter/dji_f450_cuav_5plus/12_fc_attach_periperhals.jpg) - + ::: info The motor order is defined in the [Airframe Reference > Quadrotor x](../airframes/airframe_reference.md#quadrotor-x) ::: @@ -167,12 +161,11 @@ The final build is shown below: ![Finished Setup](../../assets/airframes/multicopter/dji_f450_cuav_5plus/f450_cuav5_plus_complete_2.jpg) - ## PX4 Configuration -*QGroundControl* is used to install the PX4 autopilot and configure/tune it for the frame. -[Download and install](http://qgroundcontrol.com/downloads/) -*QGroundControl* for your platform. +_QGroundControl_ is used to install the PX4 autopilot and configure/tune it for the frame. +[Download and install](https://qgroundcontrol.com/downloads/) +_QGroundControl_ for your platform. :::tip Full instructions for installing and configuring PX4 can be found in [Basic Configuration](../config/index.md). @@ -183,7 +176,7 @@ First update the firmware, airframe, geometry, and outputs: - [Firmware](../config/firmware.md) - [Airframe](../config/airframe.md) ::: info - You will need to select the *Generic Quadcopter* airframe (**Quadrotor x > Generic Quadcopter**). + You will need to select the _Generic Quadcopter_ airframe (**Quadrotor x > Generic Quadcopter**). ![QGroundControl - Select Generic Quadcopter](../../assets/airframes/multicopter/dji_f450_cuav_5plus/qgc_airframe_generic_quadx.png) ::: @@ -192,7 +185,7 @@ First update the firmware, airframe, geometry, and outputs: - Update the vehicle geometry to match the frame. - Assign actuator functions to outputs to match your wiring. - Test the configuration using the sliders. - + Then perform the mandatory setup/calibration: - [Sensor Orientation](../config/flight_controller_orientation.md) @@ -201,21 +194,21 @@ Then perform the mandatory setup/calibration: - [Level Horizon Calibration](../config/level_horizon_calibration.md) - [Radio Setup](../config/radio.md) - [Flight Modes](../config/flight_mode.md) - + ::: info - For this build we set up modes *Stabilized*, *Altitude* and *Position* on a three-way switch on the receiver (mapped to a single channel - 5). + For this build we set up modes _Stabilized_, _Altitude_ and _Position_ on a three-way switch on the receiver (mapped to a single channel - 5). This is the recommended minimal set of modes for beginners. ::: Ideally you should also do: -* [ESC Calibration](../advanced_config/esc_calibration.md) -* [Battery Estimation Tuning](../config/battery.md) -* [Safety](../config/safety.md) +- [ESC Calibration](../advanced_config/esc_calibration.md) +- [Battery Estimation Tuning](../config/battery.md) +- [Safety](../config/safety.md) ## Tuning -Airframe selection sets *default* autopilot parameters for the frame. +Airframe selection sets _default_ autopilot parameters for the frame. These may be good enough to fly with, but you should tune each frame build. For instructions on how, start from [Autotune](../config/autotune_mc.md). @@ -224,7 +217,6 @@ For instructions on how, start from [Autotune](../config/autotune_mc.md). - ## Acknowledgments This build log was provided by the Dronecode Test Flight Team. diff --git a/docs/en/frames_multicopter/holybro_qav250_pixhawk4_mini.md b/docs/en/frames_multicopter/holybro_qav250_pixhawk4_mini.md index 04360a79a8..5fe6a53a2c 100644 --- a/docs/en/frames_multicopter/holybro_qav250_pixhawk4_mini.md +++ b/docs/en/frames_multicopter/holybro_qav250_pixhawk4_mini.md @@ -9,7 +9,7 @@ These instructions can therefore still be followed (and might be updated to Pix3 The complete kits include a carbon-fibre QAV250 racing frame, flight controller and almost all other components needed (except battery and receiver). There are variants of the kit both with and without FPV support. -This topic provides full instructions for building the kit and configuring PX4 using *QGroundControl*. +This topic provides full instructions for building the kit and configuring PX4 using _QGroundControl_. Key information @@ -21,25 +21,26 @@ Key information ## Quickstart Guide -[Pixhawk 4 Mini QAV250 Kit Quickstart Guide](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/pixhawk4mini/pixhawk4mini_qav250kit_quickstart_web.pdf) +[Pixhawk 4 Mini QAV250 Kit Quickstart Guide](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_controller/pixhawk4mini/pixhawk4mini_qav250kit_quickstart_web.pdf) ## Bill of materials The Holybro [QAV250 Kit](https://holybro.com/products/qav250-kit) kits includes almost all required components: -* [Holybro Transceiver Telemetry Radio V3](../telemetry/holybro_sik_radio.md) -* Power module holybro -* Fully assembled Power Management Board with ESCs -* Motors - DR2205 KV2300 -* 5” Plastic Props -* Carbon fiber 250 airframe with hardware -* Foxer camera -* Vtx 5.8ghz + +- [Holybro Transceiver Telemetry Radio V3](../telemetry/holybro_sik_radio.md) +- Power module holybro +- Fully assembled Power Management Board with ESCs +- Motors - DR2205 KV2300 +- 5” Plastic Props +- Carbon fiber 250 airframe with hardware +- Foxer camera +- Vtx 5.8ghz Additionally you will need a battery and receiver (+compatible transmitter). This build uses: -- Receiver: [FrSSKY D4R-II](https://www.frsky-rc.com/product/d4r-ii/) -- Battery: [4S 1300 mAh](http://www.getfpv.com/lumenier-1300mah-4s-60c-lipo-battery-xt60.html) +- Receiver: [FrSSKY D4R-II](https://www.frsky-rc.com/product/d4r-ii/) +- Battery: [4S 1300 mAh](https://www.getfpv.com/lumenier-1300mah-4s-60c-lipo-battery-xt60.html) ## Hardware @@ -47,47 +48,45 @@ This section lists all hardware for the frame and the autopilot installation. ### Frame QAV250 -Description | Quantity ---- | --- -Unibody frame plate | 1 -Flight controller cover plate | 1 -PDB | 1 -Camera plate | 1 -35mm standoffs | 6 -Vinyl screws and nuts | 4 -15mm steel screws | 8 -Steel nuts | 8 -7mm steel screws | 12 -Velcro battery strap | 1 -Foam for battery | 1 -Landing pads | 4 +| Description | Quantity | +| ----------------------------- | -------- | +| Unibody frame plate | 1 | +| Flight controller cover plate | 1 | +| PDB | 1 | +| Camera plate | 1 | +| 35mm standoffs | 6 | +| Vinyl screws and nuts | 4 | +| 15mm steel screws | 8 | +| Steel nuts | 8 | +| 7mm steel screws | 12 | +| Velcro battery strap | 1 | +| Foam for battery | 1 | +| Landing pads | 4 | ![QAV250 components for frame](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/frame_components.jpg) - ### Electronics -Description | Quantity ---- | --- -Motors - DR2205 KV2300 | 4 -Fully assembled Power Management Board with ESCs | 4 -Holybro power module | 1 -Fr-sky D4R-II receiver | 1 -Pixhawk 4 mini | 1 -Holybro GPS Neo-M8N | 1 -[Holybro Transceiver Telemetry Radio V3](../telemetry/holybro_sik_radio.md) | 1 -Battery lumenier 1300 mAh 4S 14.8V | 1 -Vtx 5.8gHz | 1 -FPV camera (Complete Kit - only) | 1 +| Description | Quantity | +| --------------------------------------------------------------------------- | -------- | +| Motors - DR2205 KV2300 | 4 | +| Fully assembled Power Management Board with ESCs | 4 | +| Holybro power module | 1 | +| Fr-sky D4R-II receiver | 1 | +| Pixhawk 4 mini | 1 | +| Holybro GPS Neo-M8N | 1 | +| [Holybro Transceiver Telemetry Radio V3](../telemetry/holybro_sik_radio.md) | 1 | +| Battery lumenier 1300 mAh 4S 14.8V | 1 | +| Vtx 5.8gHz | 1 | +| FPV camera (Complete Kit - only) | 1 | The image below shows both frame and electronic components. ![QAV250 Frame/Pixhawk 4 Mini Electronics before assembly](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/frame_and_electronics_components.jpg) - ## Assembly -Estimated time to assemble frame is 2 hours and 1.5 hours installing the autopilot and configuring the airframe in *QGroundControl*. +Estimated time to assemble frame is 2 hours and 1.5 hours installing the autopilot and configuring the airframe in _QGroundControl_. ### Tools needed @@ -100,15 +99,16 @@ The following tools are used in this assembly: ![Tools required for assembling QAV250](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/assembly_tools.jpg) - -### Frame assembly +### Frame assembly 1. Attach arms to the button plate with the 15mm screws as shown: ![QAV250 Add arms to button plate](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/1_button_plate_add_arms.jpg) + 1. Put the short plate over the arms ![QAV250 Add short plate over arms](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/2_short_plate_over_arms.jpg) + 1. Put the nuts on the 15mm screws (shown next step) 1. Insert the plastic screws into the indicated holes (note that this part of the frame faces down when the vehicle is complete). ![QAV250 Add nuts to 15mm screws and put plastic nuts in holes](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/3_nuts_screws_holes.jpg) @@ -120,9 +120,9 @@ The following tools are used in this assembly: ![QAV250 Add flight controller plate](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/6_flight_controller_plate.jpg) 1. Attach the motors. The motors have an arrow indicating the direction of rotation. ![QAV250 Add motors](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/7_motors.jpg) -1. Use double sided tape from kit to attach the *Pixhawk 4 Mini* to the flight controller plate. +1. Use double sided tape from kit to attach the _Pixhawk 4 Mini_ to the flight controller plate. ![QAV250 Add doublesided tape](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/8_double_sided_tape_controller.jpg) -1. Connect the power module's "power" cable to *Pixhawk 4 mini*. +1. Connect the power module's "power" cable to _Pixhawk 4 mini_. ![QAV250 Power Pixhawk](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/9_power_module_power_pixhawk.jpg) 1. Attach the aluminium standoffs to the button plate ![QAV250 Aluminium standoffs](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/10_aluminium_standoffs.jpg) @@ -130,42 +130,46 @@ The following tools are used in this assembly: ![QAV250 Connect ESCs](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/11_escs.jpg) Connect the motors on the ESC’s, make sure the motors turns to the correct side, if the motor turns of the opposite side change the cable A to the pad C and C to the pad A of the ESC. - + :::warning Test motor directions with propellers removed. ::: - + ![QAV250 Connect ESCs to Power](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/11b_escs.jpg) + 1. Connect the signal ESC cables to the PWM outputs of the Pixhawk in the correct order (see previous image) ![QAV250 Connect ESCs to Pixhawk PWM](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/12_escs_pixhawk.jpg) -1. Connect the receiver. - * If using a PPM receiver connect to the PPM port. - + +1. Connect the receiver. + - If using a PPM receiver connect to the PPM port. + ![QAV250 Connect Receiver PPM](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/13_rc_receiver_ppm.jpg) - * If using the SBUS receiver connect to the RC IN port - + + - If using the SBUS receiver connect to the RC IN port + ![QAV250 Connect Receiver SBUS](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/13_rc_receiver_sbus.jpg) + 1. Connect the telemetry module. Paste the module with double tape and connect on the port of the telemetry. ![QAV250 Telemetry module](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/14_telemetry.jpg) + 1. Connect the GPS module ![QAV250 Connect GPS](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/15a_connect_gps.jpg) Attach the module on the top plate (using provided 3M tape, or paste). Then put the top plate on the standoffs as shown - + ![QAV250 Connect GPS](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/15b_attach_gps.jpg) + 1. The last "mandatory" assembly step is to add the velcro to hold the battery ![QAV250 Velcro battery strap](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/16_velcro_strap.jpg) - -The "basic" frame build is now complete (though if you need them, you can find more information about connecting components in the [Pixhawk 4 Wiring Quickstart](../assembly/quick_start_pixhawk4.md)). +The "basic" frame build is now complete (though if you need them, you can find more information about connecting components in the [Pixhawk 4 Wiring Quickstart](../assembly/quick_start_pixhawk4.md)). If you have the "basic" version of the kit, you can now jump ahead to instructions on how to [Install/Configure PX4](#px4-configuration). - ### FPV Assembly The "Complete" version of the kit additionally comes with an FPV system, which is mounted on the front of the vehicle as shown. @@ -184,7 +188,7 @@ The steps to install the kit are: ![Camera Connection](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/fpv_camera_connection.jpg) The wires are: blue=voltage sensor, yellow=video out, black=ground, red=+voltage. - Connect the Video Transmitter (VTX) connector - ![Video Transmitter Connection](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/fpv_video_transmitter_connection.jpg) + ![Video Transmitter Connection](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/fpv_video_transmitter_connection.jpg) The wires are: yellow=video out, black=ground, red=+voltage. 1. Secure the Video Transmitter and OSD board to the frame using tape. @@ -195,8 +199,8 @@ If you have to wire the system yourself, the diagram below shows all the connect ## PX4 Configuration -*QGroundControl* is used to install the PX4 autopilot and configure/tune it for the QAV250 frame. -[Download and install](http://qgroundcontrol.com/downloads/) *QGroundControl* for your platform. +_QGroundControl_ is used to install the PX4 autopilot and configure/tune it for the QAV250 frame. +[Download and install](https://qgroundcontrol.com/downloads/) _QGroundControl_ for your platform. :::tip Full instructions for installing and configuring PX4 can be found in [Basic Configuration](../config/index.md). @@ -206,18 +210,18 @@ First update the firmware, airframe, and actuator mappings: - [Firmware](../config/firmware.md) - [Airframe](../config/airframe.md) - + ::: info - You will need to select the *HolyBro QAV250* airframe (**Quadrotor x > HolyBro QAV250**). + You will need to select the _HolyBro QAV250_ airframe (**Quadrotor x > HolyBro QAV250**). ![QGC - Select HolyBro QAV250 airframe](../../assets/airframes/multicopter/qav250_holybro_pixhawk4_mini/qgc_airframe_holybro_qav250.png) ::: - + - [Actuators](../config/actuators.md) - You should not need to update the vehicle geometry (as this is a preconfigured airframe). - Assign actuator functions to outputs to match your wiring. - For the Pixhawk 4 Mini, and other controllers that do not have an [I/O board](../hardware/reference_design.md#main-io-function-breakdown), you will need to assign actuators to outputs on the `PWM AUX` tab in the configuration screen. - - The Pix32 v6 has an I/O board, so you can assign to either AUX or MAIN. + - The Pix32 v6 has an I/O board, so you can assign to either AUX or MAIN. - Test the configuration using the sliders. Then perform the mandatory setup/calibration: @@ -235,15 +239,13 @@ Ideally you should also do: - [Battery Estimation Tuning](../config/battery.md) - [Safety](../config/safety.md) - ## Tuning -Airframe selection sets *default* autopilot parameters for the frame. +Airframe selection sets _default_ autopilot parameters for the frame. These may be good enough to fly with, but you should tune each frame build. For instructions on how, start from [Autotune](../config/autotune_mc.md). - ## Acknowledgements This build log was provided by the PX4 Test Team. diff --git a/docs/en/frames_multicopter/holybro_s500_v2_pixhawk4.md b/docs/en/frames_multicopter/holybro_s500_v2_pixhawk4.md index ff459f2de0..a11f05d17d 100644 --- a/docs/en/frames_multicopter/holybro_s500_v2_pixhawk4.md +++ b/docs/en/frames_multicopter/holybro_s500_v2_pixhawk4.md @@ -1,6 +1,6 @@ # Holybro S500 V2 + Pixhawk 4 Build -This topic provides full instructions for building the kit and configuring PX4 using *QGroundControl*. +This topic provides full instructions for building the kit and configuring PX4 using _QGroundControl_. ::: info Holybro initially supplied this kit with a [Holybro Pixhawk 4](../flight_controller/pixhawk4.md), but at time of writing this has been upgraded to a more recent Pixhawk (6C). @@ -19,77 +19,79 @@ This build log is still relevant as the kit assembly is virtually the same, and The Holybro [S500 V2 Kit](https://holybro.com/collections/s500/products/s500-v2-development-kit) includes almost all the required components: -* A recent Pixhawk autopilot +- A recent Pixhawk autopilot - For this log it was Pixhawk 4 but far more recent versions are now included. -* Power Management PM02（Assembled） -* ARM adopts high strength plastics -* Motors - 2216 KV880（ V2 Update） -* Propeller 1045（ V2 Update） -* Pixhawk4 GPS -* Fully assembled Power Management Board with ESCs -* 433 MHz / 915 MHz [Holybro Telemetry Radio](../telemetry/holybro_sik_radio.md) -* Power and Radio Cables -* Battery Straps -* Dimensions:383*385*240mm -* Wheelbase:480mm +- Power Management PM02（Assembled） +- ARM adopts high strength plastics +- Motors - 2216 KV880（ V2 Update） +- Propeller 1045（ V2 Update） +- Pixhawk4 GPS +- Fully assembled Power Management Board with ESCs +- 433 MHz / 915 MHz [Holybro Telemetry Radio](../telemetry/holybro_sik_radio.md) +- Power and Radio Cables +- Battery Straps +- Dimensions:383*385*240mm +- Wheelbase:480mm ::: info -No LiPo battery is included. +No LiPo battery is included. In addition, we use a FrSky Taranis controller. ::: ## Hardware -Item Description | Quantity ----|--- -Wheelbase: 480mm | 1 -Arms | 4 -Set of Landing Gear | 2 -M3*8 screws | 18 -M2 5*6 screws | 24 -Battery Straps | 1 -Propeller 1045 (V2 Update) | 1 +| Item Description | Quantity | +| -------------------------- | -------- | +| Wheelbase: 480mm | 1 | +| Arms | 4 | +| Set of Landing Gear | 2 | +| M3\*8 screws | 18 | +| M2 5\*6 screws | 24 | +| Battery Straps | 1 | +| Propeller 1045 (V2 Update) | 1 | ![S500 Hardware](../../assets/airframes/multicopter/s500_holybro_pixhawk4/s500_hardware.jpg) ## Package -Items | Package ----|--- -Pixhawk 4 | 1 -Pixhawk4 GPS MODULE | 1 -I2C splitter Board | 2 -6 to 6 pin cable (power) | 3 -4 to 4 pin cable (CAN) | 2 -6 to 4 pin cable (Data) | 1 -10 to 10 pin cable (PWM) | 2 -8 to 8 pin cable(AUX) | 1 -7 to 7 pin cable(SPI) | 1 -6 to 6 pin cable(Debug) | 1 -PPM/SBUS out cable | 1 -XSR receiver cable | 1 -DSMX receiver cable | 1 -SBUS receiver cable | 1 -USB cable | 1 -'X'type folding pedestal mount | 1 -70mm & 140mm carbon rod standoff | 2 -6*3 2.54mm pitch Horizontal Pin | 1 -8*3 2.54mm pitch Horizontal Pin | 2 -Foam Set | 1 -Pixhawk4 Quick Start Guide | 1 -Pixhawk4 Pinouts | 1 -GPS Quick Start Guide | 1 + +| Items | Package | +| -------------------------------- | ------- | +| Pixhawk 4 | 1 | +| Pixhawk4 GPS MODULE | 1 | +| I2C splitter Board | 2 | +| 6 to 6 pin cable (power) | 3 | +| 4 to 4 pin cable (CAN) | 2 | +| 6 to 4 pin cable (Data) | 1 | +| 10 to 10 pin cable (PWM) | 2 | +| 8 to 8 pin cable(AUX) | 1 | +| 7 to 7 pin cable(SPI) | 1 | +| 6 to 6 pin cable(Debug) | 1 | +| PPM/SBUS out cable | 1 | +| XSR receiver cable | 1 | +| DSMX receiver cable | 1 | +| SBUS receiver cable | 1 | +| USB cable | 1 | +| 'X'type folding pedestal mount | 1 | +| 70mm & 140mm carbon rod standoff | 2 | +| 6\*3 2.54mm pitch Horizontal Pin | 1 | +| 8\*3 2.54mm pitch Horizontal Pin | 2 | +| Foam Set | 1 | +| Pixhawk4 Quick Start Guide | 1 | +| Pixhawk4 Pinouts | 1 | +| GPS Quick Start Guide | 1 | ![S500 Package Contents](../../assets/airframes/multicopter/s500_holybro_pixhawk4/s500_package.jpg) ### Electronics -Item Description | Quantity ---- | --- -Pixhawk 4 autopilot (PM06 not included) | 1 -Power Management PM02 (Assembled) | 1 -Motors - 2216 KV880 (V2 Update) | 4 -Pixhawk 4 GPS | 1 -Fully assembled Power Management Board with ESCs | 1 -433MHz Telemetry Radio / 915MHz Telemetry Radio | 1 + +| Item Description | Quantity | +| ------------------------------------------------ | -------- | +| Pixhawk 4 autopilot (PM06 not included) | 1 | +| Power Management PM02 (Assembled) | 1 | +| Motors - 2216 KV880 (V2 Update) | 4 | +| Pixhawk 4 GPS | 1 | +| Fully assembled Power Management Board with ESCs | 1 | +| 433MHz Telemetry Radio / 915MHz Telemetry Radio | 1 | ![S500 Electronics](../../assets/airframes/multicopter/s500_holybro_pixhawk4/s500_electronics.jpg) @@ -121,13 +123,13 @@ Estimate time to assemble is 90 minutes, about 45 minutes for frame assembly and 1. Assemble the Power Management Board to the landing gear. Screw the landing gear with a vertical pole to the Fully assembled Power Management Board. - The Board has 4 holes (see arrows below). +The Board has 4 holes (see arrows below). - ![Figure 3](../../assets/airframes/multicopter/s500_holybro_pixhawk4/s500_fig3.jpg) +![Figure 3](../../assets/airframes/multicopter/s500_holybro_pixhawk4/s500_fig3.jpg) - Connect with the M3X8 screws, a total of 8 pieces, 4 on each side. - - ![Figure 4](../../assets/airframes/multicopter/s500_holybro_pixhawk4/s500_fig4.jpg) +Connect with the M3X8 screws, a total of 8 pieces, 4 on each side. + +![Figure 4](../../assets/airframes/multicopter/s500_holybro_pixhawk4/s500_fig4.jpg) 1. Assemble the arms to the Power Management Board. Attach the arm to the Power Management Board. @@ -169,7 +171,7 @@ Estimate time to assemble is 90 minutes, about 45 minutes for frame assembly and ![Figure 15](../../assets/airframes/multicopter/s500_holybro_pixhawk4/s500_fig15.jpg) After the 4 motors are mounted on the arm grab the cables(red, blue, black) and put them through the arm thread. - The 3 cables that are color-coded go connected to the ESC. + The 3 cables that are color-coded go connected to the ESC. ![Figure 16](../../assets/airframes/multicopter/s500_holybro_pixhawk4/s500_fig16.jpg) @@ -222,7 +224,7 @@ Estimate time to assemble is 90 minutes, about 45 minutes for frame assembly and For this, we will need the M2 5X6 screws. Align the plate to the frame and insert the screws. Before you mount the plate we recommend putting tape on the Power Module (that way it's tight). - + ![Figure 29](../../assets/airframes/multicopter/s500_holybro_pixhawk4/s500_fig29.jpg) ![Figure 30](../../assets/airframes/multicopter/s500_holybro_pixhawk4/s500_fig30.jpg) @@ -257,18 +259,16 @@ Estimate time to assemble is 90 minutes, about 45 minutes for frame assembly and ![Figure 37](../../assets/airframes/multicopter/s500_holybro_pixhawk4/s500_fig37.png) - Fully assembled, the kit looks as shown below: ![Pixhawk Assembled](../../assets/airframes/multicopter/s500_holybro_pixhawk4/s500_pixhawk.jpg) ![Fully Assembled](../../assets/airframes/multicopter/s500_holybro_pixhawk4/s500_assembled.jpg) - ## PX4 Configuration -*QGroundControl* is used to install the PX4 autopilot and configure/tune it for the QAV250 frame. -[Download and install](http://qgroundcontrol.com/downloads/) *QGroundControl* for your platform. +_QGroundControl_ is used to install the PX4 autopilot and configure/tune it for the QAV250 frame. +[Download and install](https://qgroundcontrol.com/downloads/) _QGroundControl_ for your platform. :::tip Full instructions for installing and configuring PX4 can be found in [Basic Configuration](../config/index.md). @@ -276,10 +276,10 @@ Full instructions for installing and configuring PX4 can be found in [Basic Conf First update the firmware and airframe: -* [Firmware](../config/firmware.md) -* [Airframe](../config/airframe.md) +- [Firmware](../config/firmware.md) +- [Airframe](../config/airframe.md) - You will need to select the *Holybro S500* airframe (**Quadrotor x > Holybro S500**). + You will need to select the _Holybro S500_ airframe (**Quadrotor x > Holybro S500**). ![QGroundControl - Select HolyBro X500 airframe](../../assets/airframes/multicopter/s500_holybro_pixhawk4/qgc_airframe_holybro_s500.png) @@ -292,23 +292,22 @@ Then set the actuator outputs: Then perform the mandatory setup/calibration: -* [Sensor Orientation](../config/flight_controller_orientation.md) -* [Compass](../config/compass.md) -* [Accelerometer](../config/accelerometer.md) -* [Level Horizon Calibration](../config/level_horizon_calibration.md) -* [Radio Setup](../config/radio.md) -* [Flight Modes](../config/flight_mode.md) +- [Sensor Orientation](../config/flight_controller_orientation.md) +- [Compass](../config/compass.md) +- [Accelerometer](../config/accelerometer.md) +- [Level Horizon Calibration](../config/level_horizon_calibration.md) +- [Radio Setup](../config/radio.md) +- [Flight Modes](../config/flight_mode.md) Ideally you should also do: -* [ESC Calibration](../advanced_config/esc_calibration.md) -* [Battery Estimation Tuning](../config/battery.md) -* [Safety](../config/safety.md) - +- [ESC Calibration](../advanced_config/esc_calibration.md) +- [Battery Estimation Tuning](../config/battery.md) +- [Safety](../config/safety.md) ## Tuning -Airframe selection sets *default* autopilot parameters for the frame. +Airframe selection sets _default_ autopilot parameters for the frame. These are good enough to fly with, but it is a good idea to tune the parameters for a specific frame build. For instructions on how, start from [Autotune](../config/autotune_mc.md). diff --git a/docs/en/frames_multicopter/holybro_x500V2_pixhawk5x.md b/docs/en/frames_multicopter/holybro_x500V2_pixhawk5x.md index f1e53b52f8..03a0b07e8f 100644 --- a/docs/en/frames_multicopter/holybro_x500V2_pixhawk5x.md +++ b/docs/en/frames_multicopter/holybro_x500V2_pixhawk5x.md @@ -5,7 +5,7 @@ Holybro initially supplied this kit with a [Pixhawk 5X](../flight_controller/pix This build log is still relevant as the kit assembly is virtually the same, and likely to remain so as the flight controller is upgraded. ::: -This topic provides full instructions for building the [Holybro X500 V2 ARF Kit](https://holybro.com/collections/x500-kits) and configuring PX4 using *QGroundControl*. +This topic provides full instructions for building the [Holybro X500 V2 ARF Kit](https://holybro.com/collections/x500-kits) and configuring PX4 using _QGroundControl_. The ARF ("Almost Ready to Fly") kit provides the shortest and straightforward assembly experience for those who want to jump into drone development and not spend that much time on setting up the hardware. It includes the frame, motors, ESCs, propellers and power distribution board. @@ -25,25 +25,26 @@ The ARF kit can be used with most flight controllers supported by PX4. The Holybro [X500 V2 Kit](https://holybro.com/collections/x500-kits) includes almost all the required components: -* X500V2 Frame Kit - * Body - Full Carbon Fiber Top & Bottom plate (144 x 144mm, 2mm thick) - * Arm - High strength & ultra-lightweight 16mm carbon fiber tubes - * Landing gear - 16mm & 10mm diameter carbon fiber tubes - * Platform board - With mounting holes for GPS & popular companion computer - * Dual 10mm Ø rod x 250 mm long rail mounting system - * Battery mount with two Battery Straps - * Hand tools for installation -* Holybro Motors - 2216 KV880 x6 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version). -* Holybro BLHeli S ESC 20A x4 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version). -* Propellers - 1045 x4 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version). -* Power Distribution Board – XT60 plug for battery & XT30 plug for ESCs & peripherals -* Camera mount (optional and the 3D file can be downloaded from [here](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Holybro_X500_V2_3D_Print.rar?v=1665561017)) +- X500V2 Frame Kit + - Body - Full Carbon Fiber Top & Bottom plate (144 x 144mm, 2mm thick) + - Arm - High strength & ultra-lightweight 16mm carbon fiber tubes + - Landing gear - 16mm & 10mm diameter carbon fiber tubes + - Platform board - With mounting holes for GPS & popular companion computer + - Dual 10mm Ø rod x 250 mm long rail mounting system + - Battery mount with two Battery Straps + - Hand tools for installation +- Holybro Motors - 2216 KV880 x6 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version). +- Holybro BLHeli S ESC 20A x4 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version). +- Propellers - 1045 x4 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version). +- Power Distribution Board – XT60 plug for battery & XT30 plug for ESCs & peripherals +- Camera mount (optional and the 3D file can be downloaded from [here](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Holybro_X500_V2_3D_Print.rar?v=1665561017)) Other parts in this build(**Not included in the ARF kit**): -* [Pixhawk 5X autopilot](../flight_controller/pixhawk5x.md) -* [M8N GPS](https://holybro.com/products/m8n-gps) -* [Power Module - PM02D](../power_module/holybro_pm02d.md) -* [433/915 MHz Telemetry Radio](../telemetry/holybro_sik_radio.md) + +- [Pixhawk 5X autopilot](../flight_controller/pixhawk5x.md) +- [M8N GPS](https://holybro.com/products/m8n-gps) +- [Power Module - PM02D](../power_module/holybro_pm02d.md) +- [433/915 MHz Telemetry Radio](../telemetry/holybro_sik_radio.md) Additionally you will need a battery (Holybro recommends a 4S 5000mAh) and receiver ([compatible radio system](../getting_started/rc_transmitter_receiver.md)) if you want to control the drone manually. @@ -51,34 +52,34 @@ Additionally you will need a battery (Holybro recommends a 4S 5000mAh) and recei This section lists all hardware for the frame and the autopilot installation. -Item | Description | Quantity ----|---|--- -Bottom plate | Carbon fiber (2mm thick) | 1 -Top plate | Carbon fiber (1.5mm thick) | 1 -Arm | Carbon fiber tube (Assembled with motors mounted) | 4 -Landing gear - Vertical pole | Carbon fiber tube + engineering plastic | 2 -Landing gear - Cross bar | Carbon fiber tube + engineering plastic + foam | 2 -Mounting Rail | Diameter: 10mm length: 250mm | 2 -Battery mounting board | Thickness: 2mm | 1 -Battery pad | 3mm Silicone sheet black | 1 -Platform board | Thickness: 2mm | 1 -Hanger & rubber ring gasket | Inner hole diameter: 10mm black | 8 +| Item | Description | Quantity | +| ---------------------------- | ------------------------------------------------- | -------- | +| Bottom plate | Carbon fiber (2mm thick) | 1 | +| Top plate | Carbon fiber (1.5mm thick) | 1 | +| Arm | Carbon fiber tube (Assembled with motors mounted) | 4 | +| Landing gear - Vertical pole | Carbon fiber tube + engineering plastic | 2 | +| Landing gear - Cross bar | Carbon fiber tube + engineering plastic + foam | 2 | +| Mounting Rail | Diameter: 10mm length: 250mm | 2 | +| Battery mounting board | Thickness: 2mm | 1 | +| Battery pad | 3mm Silicone sheet black | 1 | +| Platform board | Thickness: 2mm | 1 | +| Hanger & rubber ring gasket | Inner hole diameter: 10mm black | 8 | - ![X500V2 ARF Kit Full Package Contents](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/x500_v2_whats_inside.png) +![X500V2 ARF Kit Full Package Contents](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/x500_v2_whats_inside.png) - _Figure 1_: X500 V2 ARF Kit what's inside +_Figure 1_: X500 V2 ARF Kit what's inside ### Electronics -Item Description | Quantity ---- | --- -Pixhawk5x & Assorted Cables | 1 -M8N GPS Module | 1 -Power Module PM02D (with pre-soldered ESC power cables) | 1 -Motors 2216 KV880（V2 Update) | 4 -Holybro BLHeli S ESC 20A x4 | 1 -Holybro BLHeli S ESC 20A x4 | 1 -433 MHz / 915 MHz [Holybro Telemetry Radio](../telemetry/holybro_sik_radio.md) | 1 +| Item Description | Quantity | +| ------------------------------------------------------------------------------ | -------- | +| Pixhawk5x & Assorted Cables | 1 | +| M8N GPS Module | 1 | +| Power Module PM02D (with pre-soldered ESC power cables) | 1 | +| Motors 2216 KV880（V2 Update) | 4 | +| Holybro BLHeli S ESC 20A x4 | 1 | +| Holybro BLHeli S ESC 20A x4 | 1 | +| 433 MHz / 915 MHz [Holybro Telemetry Radio](../telemetry/holybro_sik_radio.md) | 1 | ### Tools needed @@ -87,7 +88,6 @@ Tools are included to do the assembly, however you may need: - Wire cutters - Precision tweezers - ## Assembly Estimate time to assemble is 55 min (25 minutes for frame, 30 minutes for autopilot installation/configuration) @@ -121,7 +121,7 @@ Estimate time to assemble is 55 min (25 minutes for frame, 30 minutes for autopi ![PDB attachment](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/pdb_bottom_plate.png) _Figure 6_: Mounted pdb with nylon nuts - + ![Bottom plate Final](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/bottom_plate_holder_final.png) _Figure 7_: Mounted Plate on payload holder @@ -160,7 +160,6 @@ Estimate time to assemble is 55 min (25 minutes for frame, 30 minutes for autopi _Figure 12_: Mounted top plate - 1. Next you can mount your pixhawk on the top plate by using the stickers. It is recommended to have the direction of your Pixhawk's arrow the same as the one mentioned on the top plate. @@ -174,7 +173,6 @@ Estimate time to assemble is 55 min (25 minutes for frame, 30 minutes for autopi _Figure 14_: Secure GPS mount onto companion plate - 1. Use the tape and stick the GPS to the top of the GPS mast and mount the GPS mast. Make sure the arrow on the gps is pointing forward (Figure 15). @@ -182,7 +180,6 @@ Estimate time to assemble is 55 min (25 minutes for frame, 30 minutes for autopi _Figure 15_: GPS and mast - 1. Finally, you can connect the Pixhawk interfaces such as telemetry radio to 'TELEM1' and motors signal cables accordingly. Please refer to [Pixhawk 5X Quick Start](../assembly/quick_start_pixhawk5x.md) for more information. @@ -192,22 +189,21 @@ The fully assembled kit is shown below (Depth camera not included in the kit): ![Assembled Kit](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/finalized_x500v2_kit.png) - ## PX4 Configuration :::tip Full instructions for installing and configuring PX4 can be found in [Basic Configuration](../config/index.md). ::: -*QGroundControl* is used to install the PX4 autopilot and configure/tune it for the X500 frame. -[Download and install](http://qgroundcontrol.com/downloads/) *QGroundControl* for your platform. +_QGroundControl_ is used to install the PX4 autopilot and configure/tune it for the X500 frame. +[Download and install](https://qgroundcontrol.com/downloads/) _QGroundControl_ for your platform. First update the firmware, airframe, and actuator mappings: - [Firmware](../config/firmware.md) - [Airframe](../config/airframe.md) - You will need to select the *Holybro X500 V2* airframe (**Quadrotor x > Holybro 500 V2**) + You will need to select the _Holybro X500 V2_ airframe (**Quadrotor x > Holybro 500 V2**) ![QGroundControl - Select HolyBro 500 airframe](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/x500v2_airframe_qgc.png) @@ -231,10 +227,9 @@ Ideally you should also do: - [Battery Estimation Tuning](../config/battery.md) - [Safety](../config/safety.md) - ## Tuning -Airframe selection sets *default* autopilot parameters for the frame. +Airframe selection sets _default_ autopilot parameters for the frame. These are good enough to fly with, but it is a good idea to tune the parameters for a specific frame build. For instructions on how, start from [Autotune](../config/autotune_mc.md). diff --git a/docs/en/frames_multicopter/holybro_x500_pixhawk4.md b/docs/en/frames_multicopter/holybro_x500_pixhawk4.md index 43840104b1..6f23c05c1f 100644 --- a/docs/en/frames_multicopter/holybro_x500_pixhawk4.md +++ b/docs/en/frames_multicopter/holybro_x500_pixhawk4.md @@ -5,7 +5,7 @@ Holybro initially supplied this kit with a [Holybro Pixhawk 4](../flight_control This build log is still relevant as the kit assembly is virtually the same, and likely to remain so as the flight controller is upgraded. ::: -This topic provides full instructions for building the kit and configuring PX4 using *QGroundControl*. +This topic provides full instructions for building the kit and configuring PX4 using _QGroundControl_. ## Key information @@ -19,17 +19,17 @@ This topic provides full instructions for building the kit and configuring PX4 u The Holybro [X500 Kit](https://holybro.com/products/px4-development-kit-x500-v2) includes almost all the required components: -* [Pixhawk 4 autopilot](../flight_controller/pixhawk4.md) -* [Holybro M8N GPS](https://holybro.com/collections/gps/products/m8n-gps) -* [Power Management - PM07](../power_module/holybro_pm07_pixhawk4_power_module.md) -* Holybro Motors - 2216 KV880 x4 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version). -* Holybro BLHeli S ESC 20A x4 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version). -* Propellers - 1045 x4 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version). -* Battery Strap -* Power and Radio Cables -* Wheelbase - 500 mm -* Dimensions - 410x410x300 mm -* 433 MHz / 915 MHz [Holybro Telemetry Radio](../telemetry/holybro_sik_radio.md) +- [Pixhawk 4 autopilot](../flight_controller/pixhawk4.md) +- [Holybro M8N GPS](https://holybro.com/collections/gps/products/m8n-gps) +- [Power Management - PM07](../power_module/holybro_pm07_pixhawk4_power_module.md) +- Holybro Motors - 2216 KV880 x4 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version). +- Holybro BLHeli S ESC 20A x4 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version). +- Propellers - 1045 x4 (superseded - check [spare parts list](https://holybro.com/products/spare-parts-x500-v2-kit) for current version). +- Battery Strap +- Power and Radio Cables +- Wheelbase - 500 mm +- Dimensions - 410x410x300 mm +- 433 MHz / 915 MHz [Holybro Telemetry Radio](../telemetry/holybro_sik_radio.md) Additionally you will need a battery and receiver ([compatible radio system](../getting_started/rc_transmitter_receiver.md)) if you want to control the drone manually. @@ -37,32 +37,32 @@ Additionally you will need a battery and receiver ([compatible radio system](../ This section lists all hardware for the frame and the autopilot installation. -Item | Description | Quantity ----|---|--- -Bottom plate | Carbon fiber (2mm thick) | 1 -Top plate | Carbon fiber (1.5mm thick) | 1 -Arm | Carbon fiber tube (Diameter: 16mm length: 200mm) | 4 -Landing gear - Vertical pole | Carbon fiber tube + engineering plastic | 2 -Landing gear - Cross bar | Carbon fiber tube + engineering plastic + foam | 2 -Motor base | Consists of 6 parts and 4 screws 4 nuts | 4 -Slide bar | Diameter: 10mm length: 250mm | 2 -Battery mounting board | Thickness: 2mm | 1 -Battery pad | 3mm Silicone sheet black | 1 -Platform board | Thickness: 2mm | 1 -Hanger & rubber ring gasket | Inner hole diameter: 10mm black | 8 +| Item | Description | Quantity | +| ---------------------------- | ------------------------------------------------ | -------- | +| Bottom plate | Carbon fiber (2mm thick) | 1 | +| Top plate | Carbon fiber (1.5mm thick) | 1 | +| Arm | Carbon fiber tube (Diameter: 16mm length: 200mm) | 4 | +| Landing gear - Vertical pole | Carbon fiber tube + engineering plastic | 2 | +| Landing gear - Cross bar | Carbon fiber tube + engineering plastic + foam | 2 | +| Motor base | Consists of 6 parts and 4 screws 4 nuts | 4 | +| Slide bar | Diameter: 10mm length: 250mm | 2 | +| Battery mounting board | Thickness: 2mm | 1 | +| Battery pad | 3mm Silicone sheet black | 1 | +| Platform board | Thickness: 2mm | 1 | +| Hanger & rubber ring gasket | Inner hole diameter: 10mm black | 8 | ![X500 Full Package Contents](../../assets/airframes/multicopter/x500_holybro_pixhawk4/whats_inside_x500_labeled.jpg) ### Electronics -Item Description | Quantity ---- | --- -Pixhawk4 & Assorted Cables | 1 -Pixhawk4 GPS Module | 1 -Power Management PM07 (with pre-soldered ESC power cables) | 1 -Motors 2216 KV880（V2 Update) | 4 -Holybro BLHeli S ESC 20A x4 | 1 -433 MHz / 915 MHz [Holybro Telemetry Radio](../telemetry/holybro_sik_radio.md) | 1 +| Item Description | Quantity | +| ------------------------------------------------------------------------------ | -------- | +| Pixhawk4 & Assorted Cables | 1 | +| Pixhawk4 GPS Module | 1 | +| Power Management PM07 (with pre-soldered ESC power cables) | 1 | +| Motors 2216 KV880（V2 Update) | 4 | +| Holybro BLHeli S ESC 20A x4 | 1 | +| 433 MHz / 915 MHz [Holybro Telemetry Radio](../telemetry/holybro_sik_radio.md) | 1 | ### Tools needed @@ -76,7 +76,6 @@ The following tools are used in this assembly: - Wire cutters - Precision tweezers - ## Assembly Estimate time to assemble is 3.75 hours (180 minutes for frame, 45 minutes for autopilot installation/configuration) @@ -117,7 +116,7 @@ Estimate time to assemble is 3.75 hours (180 minutes for frame, 45 minutes for a ![ESC power module and signal wiring](../../assets/airframes/multicopter/x500_holybro_pixhawk4/pm07_pwm.jpg) _Figure 7_: ESC power module and signal wiring - + The color on top of the motor indicate the spin direction (figure 7-1), black tip is clockwise, and white tip is counter-clockwise. Make sure the follow the px4 quadrotor x airframe reference for motor direction (figure 7-2). @@ -187,7 +186,6 @@ Estimate time to assemble is 3.75 hours (180 minutes for frame, 45 minutes for a _Figure 15_: Landing Gear - 1. Use the tape and stick the GPS to the top of the GPS mast and mount the GPS mast. Make sure the arrow on the gps is pointing forward (Figure 16). @@ -195,7 +193,6 @@ Estimate time to assemble is 3.75 hours (180 minutes for frame, 45 minutes for a _Figure 16_: GPS and mast - 1. Mount the telemetry radio onto the top plate. Plug the telemetry cable into `TELEM1` port and GPS module to `GPS MODULE` port on the flight controller. Plug the cable from PM07 `FMU-PWM-in` to `I/O-PWM-out`on the FC and PM07 `PWR1` to `POWER1` on the FC, as shown in Figure 17. @@ -211,22 +208,21 @@ The fully assembled kit is shown below: ![Assembled Kit](../../assets/airframes/multicopter/x500_holybro_pixhawk4/X500_assembled_frame.jpg) - ## PX4 Configuration :::tip Full instructions for installing and configuring PX4 can be found in [Basic Configuration](../config/index.md). ::: -*QGroundControl* is used to install the PX4 autopilot and configure/tune it for the X500 frame. -[Download and install](http://qgroundcontrol.com/downloads/) *QGroundControl* for your platform. +_QGroundControl_ is used to install the PX4 autopilot and configure/tune it for the X500 frame. +[Download and install](https://qgroundcontrol.com/downloads/) _QGroundControl_ for your platform. First update the firmware, airframe, and actuator mappings: - [Firmware](../config/firmware.md) - [Airframe](../config/airframe.md) - You will need to select the *Holybro S500* airframe (**Quadrotor x > Holybro S500**). + You will need to select the _Holybro S500_ airframe (**Quadrotor x > Holybro S500**). ![QGroundControl - Select HolyBro X500 airframe](../../assets/airframes/multicopter/s500_holybro_pixhawk4/qgc_airframe_holybro_s500.png) @@ -250,10 +246,9 @@ Ideally you should also do: - [Battery Estimation Tuning](../config/battery.md) - [Safety](../config/safety.md) - ## Tuning -Airframe selection sets *default* autopilot parameters for the frame. +Airframe selection sets _default_ autopilot parameters for the frame. These are good enough to fly with, but it is a good idea to tune the parameters for a specific frame build. For instructions on how, start from [Autotune](../config/autotune_mc.md). diff --git a/docs/en/frames_multicopter/holybro_x500v2_pixhawk6c.md b/docs/en/frames_multicopter/holybro_x500v2_pixhawk6c.md index 0cf2b8584a..42049f32c9 100644 --- a/docs/en/frames_multicopter/holybro_x500v2_pixhawk6c.md +++ b/docs/en/frames_multicopter/holybro_x500v2_pixhawk6c.md @@ -4,28 +4,28 @@ This topic provides full instructions for building the [Holybro X500 V2 ARF Kit] ![The fully built vehicle with props removed](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/kit_no_props.jpg) - ## Assembly ::: info + - The images in this document can be selected to see a youtube video of the step. - Each section lists any required screws at the top. -::: + ::: ### Payload and Battery Holder -**Screw**- Sunk Screw M2.5*6 12pcs +**Screw**- Sunk Screw M2.5\*6 12pcs 1. Insert the hanger rubber ring gasket in each of their respective hangers. Do not use sharp objects to press the rubbers inside. [![Assembly1](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/assembly1.png)](https://www.youtube.com/watch?v=4Tid-FCP_aI) -1. Take the battery mounting board and screw it with the slide bar clip using the Sunk Screw M2.5*6. +1. Take the battery mounting board and screw it with the slide bar clip using the Sunk Screw M2.5\*6. [![Assembly2](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/assembly2.png)](https://youtu.be/9E-rld6tPWQ) -1. Screw 4 hangers to the Platform Board using Sunk Screw M2.5*6. +1. Screw 4 hangers to the Platform Board using Sunk Screw M2.5\*6. [![Assembly3](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/assembly3.png)](https://youtu.be/4qIBABc9KsY)) @@ -35,14 +35,13 @@ This topic provides full instructions for building the [Holybro X500 V2 ARF Kit] 1. Now insert the battery holder and payload holders assembled in step 2 & 3 - ### Power Module -**Screw**- Socket Cap Screw M2.5*6 8pcs | Locknut M3 4pcs |Nylon Standoff M3*5 4pcs | Screw M3*14 4pcs +**Screw**- Socket Cap Screw M2.5*6 8pcs | Locknut M3 4pcs |Nylon Standoff M3*5 4pcs | Screw M3\*14 4pcs - [![Assembly5](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/assembly5.png)](https://youtu.be/0knU3Q_opEo)) +[![Assembly5](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/assembly5.png)](https://youtu.be/0knU3Q_opEo)) -1. Take the bottom plate and insert 4 M3*14 screws and fasten the nylon standoffs on the same. +1. Take the bottom plate and insert 4 M3\*14 screws and fasten the nylon standoffs on the same. [![Assembly6](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/assembly6.png)](https://youtu.be/IfsMXTr3Uy4) @@ -50,7 +49,7 @@ This topic provides full instructions for building the [Holybro X500 V2 ARF Kit] [![Assembly7](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/assembly7.png)](https://youtu.be/Qjs6pqarRIY) -1. Use Socket Cap Screws M2.5*6 and screw the bottom plate on the 4 hangers (that we inserted in the 2 bars on the 3rd step of the payload holder assembly) +1. Use Socket Cap Screws M2.5\*6 and screw the bottom plate on the 4 hangers (that we inserted in the 2 bars on the 3rd step of the payload holder assembly) ### Landing Gear @@ -60,13 +59,12 @@ This topic provides full instructions for building the [Holybro X500 V2 ARF Kit] [![Assembly9](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/assembly9.png)](https://youtu.be/7REaF3YAqLg) -1. Use the Socket Cap Screw M3*8 to screw the landing gears to the bottom plate +1. Use the Socket Cap Screw M3\*8 to screw the landing gears to the bottom plate [![Assembly11](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/assembly11.png)](https://youtu.be/iDxzWeyCN54) [![Assembly12](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/assembly12.png)](https://youtu.be/3fNJQraCJx0) - Because it’s cumbersome to insert the wires once the top plate is assembled, do the wiring beforehand. Although the design is well built such that you can do this later as well. @@ -85,10 +83,9 @@ Note that the ESC connectors are color-coded and must be inserted in the PWM out ![esc_connector_pixhawk6c](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/esc_connector.jpg) - ### Arms -**Screw-** Socket Cap Screw M3*38 16pcs | Flange Locknut M3 16pcs +**Screw-** Socket Cap Screw M3\*38 16pcs | Flange Locknut M3 16pcs [![Assembly14](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/assembly14.png)](https://youtu.be/66Hfy6ysOpg) @@ -105,7 +102,7 @@ Note that the ESC connectors are color-coded and must be inserted in the PWM out [![Assembly16](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/assembly16.png)](https://youtu.be/GOTqmjq9_3s) -1. While inserting the top plate on top of this the 3 piece assembly (bottom plate, top plate & arms) have to screwed using Socket Cap Screw M3*38 and Flange Locknut M3. +1. While inserting the top plate on top of this the 3 piece assembly (bottom plate, top plate & arms) have to screwed using Socket Cap Screw M3\*38 and Flange Locknut M3. 1. Hold one side using the mini cross wrench provided in the developer kit. [![Assembly17](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/assembly17.png)](https://youtu.be/2rcNVekJQd0) @@ -127,15 +124,15 @@ The following parts can be placed as per usual. ### GPS -**Screw-** Locknut M3 4 pcs | Screw M3*10 4pcs - +**Screw-** Locknut M3 4 pcs | Screw M3\*10 4pcs 1. Assemble the GPS by following the video. [![Assembly20](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/assembly20.png)](https://youtu.be/aiFxVJFjlos) This guide uses the GPS mount location suggested in Holybro’s guide. -1. Screw the GPS mount’s bottom end on the payload holder side using Locknut M3 & Screw M3*10 + +1. Screw the GPS mount’s bottom end on the payload holder side using Locknut M3 & Screw M3\*10 [![Assembly21](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/assembly21.png)](https://youtu.be/uG5UKy3FrIc) @@ -152,7 +149,8 @@ The following parts can be placed as per usual. **Screw-** Socket Cap Screw M2.5*12 4pcs | Nylon Standoff M2.5*5 4pcs Locknut M2.5 4pcs The X500 kit is provides space for a companion computer, such as Raspberry Pi or Jetson nano can be placed here [TBD]. -- Insert 4 Socket Cap Screw M2.5*12 and put the standoffs on the same. + +- Insert 4 Socket Cap Screw M2.5\*12 and put the standoffs on the same. - Now place the companion computer and assemble it using Locknut M2.5 ### Camera @@ -162,22 +160,21 @@ The X500 kit is provides space for a companion computer, such as Raspberry Pi or ![payloads_x500v2](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk6c/payloads_x500v2.png) - ## Install/Configure PX4 :::tip Full instructions for installing and configuring PX4 can be found in [Basic Configuration](../config/index.md). ::: -*QGroundControl* is used to install the PX4 autopilot and configure/tune it for the X500 frame. -[Download and install](http://qgroundcontrol.com/downloads/) *QGroundControl* for your platform. +_QGroundControl_ is used to install the PX4 autopilot and configure/tune it for the X500 frame. +[Download and install](https://qgroundcontrol.com/downloads/) _QGroundControl_ for your platform. First update the firmware, airframe, and actuator mappings: - [Firmware](../config/firmware.md) - [Airframe](../config/airframe.md) - You will need to select the *Holybro X500 V2* airframe (**Quadrotor x > Holybro 500 V2**) + You will need to select the _Holybro X500 V2_ airframe (**Quadrotor x > Holybro 500 V2**) ![QGroundControl - Select HolyBro 500 airframe](../../assets/airframes/multicopter/x500_v2_holybro_pixhawk5x/x500v2_airframe_qgc.png) @@ -202,15 +199,13 @@ Ideally you should also do: - [Battery Estimation Tuning](../config/battery.md) - [Safety](../config/safety.md) - ## Tuning -Airframe selection sets *default* autopilot parameters for the frame. +Airframe selection sets _default_ autopilot parameters for the frame. These are good enough to fly with, but it is a good idea to tune the parameters for a specific frame build. For instructions on how, start from [Auto-tune](../config/autotune_mc.md). - ## Acknowledgements This build log was contributed by Akshata and Hamish Willee with many thanks to Holybro and Dronecode for Hardware and technical support. diff --git a/docs/en/frames_multicopter/omnicopter.md b/docs/en/frames_multicopter/omnicopter.md index aab3a92da3..0f466aed4e 100644 --- a/docs/en/frames_multicopter/omnicopter.md +++ b/docs/en/frames_multicopter/omnicopter.md @@ -15,14 +15,14 @@ The components needed for this build are: - Electronics: - Flight controller: [Holybro KakuteH7](../flight_controller/kakuteh7.md) - Coupled with 2x [Tekko32 F4 4in1 ESCs](https://holybro.com/products/tekko32-f4-4in1-50a-esc) - ::: info - You can select your own flight controller of choice, it just needs to support 8 DShot outputs. - ::: + ::: info + You can select your own flight controller of choice, it just needs to support 8 DShot outputs. + ::: - GPS: [ZED-F9P](https://www.gnss.store/gnss-gps-modules/105-ublox-zed-f9p-rtk-gnss-receiver-board-with-sma-base-or-rover.html?search_query=ZED-F9P&results=11) - [GPS helix antenna](https://www.gnss.store/rf-gps-antennas/28-high-performance-multi-band-gnss-active-quad-helix-antenna-for-rtk.html) - ::: info - Any other GPS may work as well, however a helix antenna is expected to perform better for inverted flights. - ::: + ::: info + Any other GPS may work as well, however a helix antenna is expected to perform better for inverted flights. + ::: - Any RC receiver - An external Magnetometer. We used the [RM-3100](https://store-drotek.com/893-professional-grade-magnetometer-rm3100.html). - Telemetry link, e.g. [WiFi](../telemetry/telemetry_wifi.md) @@ -39,7 +39,7 @@ The components needed for this build are: - rods: 12x328mm, 6x465mm - Screws: - Motors and standoffs: 40x M3x12mm - - FC mount: 4x M3x35mm, 4x M3 nuts + - FC mount: 4x M3x35mm, 4x M3 nuts - Standoffs: 4x 40mm - [3D model](https://cad.onshape.com/documents/eaff30985f1298dc6ce8ce13/w/2f662e604240c4082682e5e3/e/ad2b2245b73393cf369132f7) @@ -58,17 +58,19 @@ The components needed for this build are: - Test that it all works by connecting the frame pieces together: ![Frame](../../assets/airframes/multicopter/omnicopter/frame_only.jpg) + - Place the motors as far out as possible, without the propellers touching the rods. ### Electronics Solder the peripherals to the flight controller. We used the following assignments: + - ESCs: the 2 ESCs can be connected directly to the two connectors of the KakuteH7. To avoid conflicts we removed the power pin (right-most pin) from one of the connectors. - Telemetry to UART1 - GPS to UART4 - RC to UART6 -![FC closeup](../../assets/airframes/multicopter/omnicopter/fc_closeup.jpg) + ![FC closeup](../../assets/airframes/multicopter/omnicopter/fc_closeup.jpg) Remarks: @@ -78,7 +80,6 @@ Remarks: - We did not glue the frame. It is certainly advisible to do so after initial test flights, but it might work without. - ## Software Configuration ### ESC @@ -93,6 +94,7 @@ These are the settings: ![ESC settings](../../assets/airframes/multicopter/omnicopter/esc_settings.png) In particular: + - set the Motor Direction to **Bidirectional Soft** - increase the Rampup Power to **100%** (this is conservative and might reduce efficiency) @@ -113,7 +115,7 @@ Make sure the motors do not overheat with the changed settings. - Parameters: - Change the desaturation logic for better attitude tracking: set [CA_METHOD](../advanced_config/parameter_reference.md#CA_METHOD) to 0. - Disable failure detection: set [FD_FAIL_P](../advanced_config/parameter_reference.md#FD_FAIL_P) and [FD_FAIL_R](../advanced_config/parameter_reference.md#FD_FAIL_R) to 0. -- [This file](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/multicopter/omnicopter/omnicopter.params) contains all the relevant parameters. +- [This file](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/multicopter/omnicopter/omnicopter.params) contains all the relevant parameters. ## Video @@ -126,6 +128,7 @@ There is an omnicopter simulation target in Gazebo Classic: ```sh make px4_sitl gazebo-classic_omnicopter ``` + ![Gazebo Sim](../../assets/airframes/multicopter/omnicopter/gazebo.png) ## Remarks diff --git a/docs/en/frames_multicopter/qav_r_5_kiss_esc_racer.md b/docs/en/frames_multicopter/qav_r_5_kiss_esc_racer.md index 547cf2013a..85534aaea0 100644 --- a/docs/en/frames_multicopter/qav_r_5_kiss_esc_racer.md +++ b/docs/en/frames_multicopter/qav_r_5_kiss_esc_racer.md @@ -1,12 +1,12 @@ # Lumenier QAV-R 5" Racer (Pixracer) The Lumenier QAV-R 5" FPV Racing Quadcopter is a rigid, light, and fast FPV racer with removable arms. -This topic provides full build and configuration instructions for using the frame with the *Pixracer* flight controller and *KISS 24A Race Edition* ESCs. +This topic provides full build and configuration instructions for using the frame with the _Pixracer_ flight controller and _KISS 24A Race Edition_ ESCs. It also provides information on the (optional) FPV setup. Key information: -- **Frame:** [Lumenier QAV-R 5"](http://www.getfpv.com/qav-r-fpv-racing-quadcopter-5.html) +- **Frame:** [Lumenier QAV-R 5"](https://www.getfpv.com/qav-r-fpv-racing-quadcopter-5.html) - **Flight controller:** [Pixracer](../flight_controller/pixracer.md) @@ -14,29 +14,28 @@ Key information: ![QAV Racer complete](../../assets/airframes/multicopter/qav_r_5_kiss_esc_racer/preview.jpg) ![QAV Racer complete 2](../../assets/airframes/multicopter/qav_r_5_kiss_esc_racer/preview2.jpg) - ## Parts List ### Vehicle (needed for flying) -* Autopilot: [Pixracer](../flight_controller/pixracer.md) from [AUAV](https://store.mrobotics.io/mRo-PixRacer-R14-Official-p/auav-pxrcr-r14-mr.htm) including ESP8266 WiFi- and [ACSP5](https://store.mrobotics.io/product-p/auav-acsp5-mr.htm) power-module -* Frame: [Lumenier QAV-R 5"](http://www.getfpv.com/qav-r-fpv-racing-quadcopter-5.html) -* Motors: [Lumenier RX2206-11 2350KV](http://www.getfpv.com/lumenier-rx2206-11-2350kv-motor.html) -* ESCs: [KISS 24A Race Edition](http://www.getfpv.com/kiss-24a-esc-race-edition-32bit-brushless-motor-ctrl.html) -* Props: HQProp 5x4.5x3 [CW](http://www.getfpv.com/hqprop-5x4-5x3rg-cw-propeller-3-blade-2-pack-green-nylon-glass-fiber.html) [CCW](http://www.getfpv.com/hqprop-5x4-5x3g-ccw-propeller-3-blade-2-pack-green-nylon-glass-fiber.html) -* GPS / Ext. Mag.: M8N taken from a [Pixhawk Mini (Discontinued)](../flight_controller/pixhawk_mini.md) set and rewired -* Battery: [TATTU 1800mAh 4s 75c Lipo](http://www.getfpv.com/tattu-1800mah-4s-75c-lipo-battery.html) -* RC Receiver: [FrSky X4R-SB](http://www.getfpv.com/frsky-x4r-sb-3-16-channel-receiver-w-sbus.html) -* RC Transmitter: [FrSky Taranis](http://www.getfpv.com/frsky-taranis-x9d-plus-2-4ghz-accst-radio-w-soft-case-mode-2.html) -* FC dampening: [O-Rings](http://www.getfpv.com/multipurpose-o-ring-set-of-8.html) -* GPS Mount: [GPS mast](http://www.getfpv.com/folding-aluminum-gps-mast-for-dji.html) +- Autopilot: [Pixracer](../flight_controller/pixracer.md) from [AUAV](https://store.mrobotics.io/mRo-PixRacer-R14-Official-p/auav-pxrcr-r14-mr.htm) including ESP8266 WiFi- and [ACSP5](https://store.mrobotics.io/product-p/auav-acsp5-mr.htm) power-module +- Frame: [Lumenier QAV-R 5"](https://www.getfpv.com/qav-r-fpv-racing-quadcopter-5.html) +- Motors: [Lumenier RX2206-11 2350KV](https://www.getfpv.com/lumenier-rx2206-11-2350kv-motor.html) +- ESCs: [KISS 24A Race Edition](https://www.getfpv.com/kiss-24a-esc-race-edition-32bit-brushless-motor-ctrl.html) +- Props: HQProp 5x4.5x3 [CW](https://www.getfpv.com/hqprop-5x4-5x3rg-cw-propeller-3-blade-2-pack-green-nylon-glass-fiber.html) [CCW](https://www.getfpv.com/hqprop-5x4-5x3g-ccw-propeller-3-blade-2-pack-green-nylon-glass-fiber.html) +- GPS / Ext. Mag.: M8N taken from a [Pixhawk Mini (Discontinued)](../flight_controller/pixhawk_mini.md) set and rewired +- Battery: [TATTU 1800mAh 4s 75c Lipo](https://www.getfpv.com/tattu-1800mah-4s-75c-lipo-battery.html) +- RC Receiver: [FrSky X4R-SB](https://www.getfpv.com/frsky-x4r-sb-3-16-channel-receiver-w-sbus.html) +- RC Transmitter: [FrSky Taranis](https://www.getfpv.com/frsky-taranis-x9d-plus-2-4ghz-accst-radio-w-soft-case-mode-2.html) +- FC dampening: [O-Rings](https://www.getfpv.com/multipurpose-o-ring-set-of-8.html) +- GPS Mount: [GPS mast](https://www.getfpv.com/folding-aluminum-gps-mast-for-dji.html) ### FPV (optional) -* Camera: [RunCam Swift RR Edition](https://www.getfpv.com/runcam-swift-rotor-riot-special-edition-ir-block-black.html) **includes must-have high quality wide angle lens from GoPro!** -* Video Tx: [ImmersionRC Tramp HV 5.8GHz 600mW](https://www.getfpv.com/immersionrc-tramp-hv-5-8ghz-video-tx-us-version.html) (Discontinued). -* Video Antennas: [TBS Triumph 5.8GHz CP](http://www.getfpv.com/fpv/antennas/tbs-triumph-5-8ghz-cp-fpv-antenna-3275.html) (SMA port fits ImmercionRC Tx) -* FPV voltage source plug: [Male JST Battery Pigtail](http://www.getfpv.com/male-jst-battery-pigtail-10cm-10pcs-bag.html) +- Camera: [RunCam Swift RR Edition](https://www.getfpv.com/runcam-swift-rotor-riot-special-edition-ir-block-black.html) **includes must-have high quality wide angle lens from GoPro!** +- Video Tx: [ImmersionRC Tramp HV 5.8GHz 600mW](https://www.getfpv.com/immersionrc-tramp-hv-5-8ghz-video-tx-us-version.html) (Discontinued). +- Video Antennas: [TBS Triumph 5.8GHz CP](https://www.getfpv.com/fpv/antennas/tbs-triumph-5-8ghz-cp-fpv-antenna-3275.html) (SMA port fits ImmercionRC Tx) +- FPV voltage source plug: [Male JST Battery Pigtail](https://www.getfpv.com/male-jst-battery-pigtail-10cm-10pcs-bag.html) ::: info These parts cover the sending side for standard FPV 5.8GHz analog FM video. You need to have a compatible receiver and display device to actually consume the live video stream. @@ -85,7 +84,7 @@ Choosing this cable order resulted in all the motors spinning counter-clockwise ### Power Module -First I soldered the XT60 connector which comes with the frame to the labeled battery side of the *ACSP5 power module* that was shipped with the Pixracer and added the elco capacitor delivered with the power module with the correct polarity to the same side. +First I soldered the XT60 connector which comes with the frame to the labeled battery side of the _ACSP5 power module_ that was shipped with the Pixracer and added the elco capacitor delivered with the power module with the correct polarity to the same side. ![ACSP5 power module](../../assets/airframes/multicopter/qav_r_5_kiss_esc_racer/acsp5_power_module.jpg) @@ -94,7 +93,7 @@ Make sure to not have any cold solder joint here because the quad will not end u Using the additional power distribution board of the frame would make the job a lot easier but also takes too much space on such a small frame... :::tip -If you are also including the FPV parts don't forget to also solder your JST male power plug to the output side of the power module. +If you are also including the FPV parts don't forget to also solder your JST male power plug to the output side of the power module. You'll need it for your [FPV setup](#fpv-setup) later on. ::: @@ -174,14 +173,14 @@ Sadly the pin assignment was completely wrong and I rewired the connector again #### Pixracer GPS/I2C Port -| Pin | Assignment | -| ---- | ---------- | -| 1 | GND | -| 2 | SDA | -| 3 | SCL | -| 4 | RX | -| 5 | TX | -| 6 | +5V | +| Pin | Assignment | +| --- | ---------- | +| 1 | GND | +| 2 | SDA | +| 3 | SCL | +| 4 | RX | +| 5 | TX | +| 6 | +5V | #### M8N 3DR Pixhawk mini GPS Connector @@ -205,7 +204,7 @@ You'll need the additional FPV parts listed at the beginning. The FPV transmission described here is electronically independent of the flight controller, it only takes the battery voltage after the power module. I first did a bench test to make sure everything is working correctly. -For this connect the video signal cable that comes with your transmitter and plug it to the back of your FPV camera and to the matching plug of the transmitter. Screw the Then connect the JST power plug to your draft vehicle or to some other voltage source. +For this connect the video signal cable that comes with your transmitter and plug it to the back of your FPV camera and to the matching plug of the transmitter. Screw the Then connect the JST power plug to your draft vehicle or to some other voltage source. The transmitter LED should light up. Use your 5.8GHz receiver device tuned in to the correct channel to check for the video. To configure the transmitter to an other channel and adjust the transmission power please refer to the [Tramp HV User Manual](https://www.immersionrc.com/?download=5016). @@ -225,8 +224,8 @@ I mounted it like you can see in the next picture. The two screws and nuts to lo ## PX4 Configuration -*QGroundControl* is used to install the PX4 autopilot and configure/tune it for the frame. -[Download and install](http://qgroundcontrol.com/downloads/) *QGroundControl* for your platform. +_QGroundControl_ is used to install the PX4 autopilot and configure/tune it for the frame. +[Download and install](https://qgroundcontrol.com/downloads/) _QGroundControl_ for your platform. :::tip Full instructions for installing and configuring PX4 can be found in [Basic Configuration](../config/index.md). @@ -237,13 +236,12 @@ Always make sure to have either battery or propellers physically removed from yo Better safe than sorry! ::: - First update the firmware, airframe, and actuator mappings: - [Firmware](../config/firmware.md) - [Airframe](../config/airframe.md) - You will need to select the *Generic 250 Racer* airframe (**Quadrotor x > Generic 250 Racer**). + You will need to select the _Generic 250 Racer_ airframe (**Quadrotor x > Generic 250 Racer**). ![QGC airframe selection of generic 250 racer](../../assets/airframes/multicopter/qav_r_5_kiss_esc_racer/qgc_airframe_generic_250_racer.png) @@ -254,12 +252,12 @@ First update the firmware, airframe, and actuator mappings: Then perform the mandatory setup/calibration: -* [Sensor Orientation](../config/flight_controller_orientation.md) -* [Compass](../config/compass.md) -* [Accelerometer](../config/accelerometer.md) -* [Level Horizon Calibration](../config/level_horizon_calibration.md) -* [Radio Setup](../config/radio.md) -* [Flight Modes](../config/flight_mode.md) +- [Sensor Orientation](../config/flight_controller_orientation.md) +- [Compass](../config/compass.md) +- [Accelerometer](../config/accelerometer.md) +- [Level Horizon Calibration](../config/level_horizon_calibration.md) +- [Radio Setup](../config/radio.md) +- [Flight Modes](../config/flight_mode.md) Ideally you should also do: @@ -268,10 +266,9 @@ Ideally you should also do: - 4S (4 cell LiPo) with charged cell voltage 4.15V and empty cell voltage 3.5V (or appropriate values for your battery). - [Safety](../config/safety.md) - ### Tuning -Airframe selection sets *default* autopilot parameters for the frame. +Airframe selection sets _default_ autopilot parameters for the frame. These are good enough to fly with, but it is a good idea to tune the parameters for a specific frame build. For instructions on how, start from [Autotune](../config/autotune_mc.md). diff --git a/docs/en/frames_plane/reptile_dragon_2.md b/docs/en/frames_plane/reptile_dragon_2.md index ceed4a5854..e0e20d0889 100644 --- a/docs/en/frames_plane/reptile_dragon_2.md +++ b/docs/en/frames_plane/reptile_dragon_2.md @@ -1,14 +1,13 @@ # Reptile Dragon 2 (RD2) Build -The Reptile Dragon 2 is a twin motor RC airplane specifically designed for efficient FPV [(first person view)](https://en.wikipedia.org/wiki/First-person_view_(radio_control)) flying. -Being specific for FPV, the RD2 is optimized for easy mounting of cameras, sensors, logic electronics, large batteries, antennas, and other payload components which would be found on a typical FPV airplane. +The Reptile Dragon 2 is a twin motor RC airplane specifically designed for efficient FPV [(first person view)]() flying. +Being specific for FPV, the RD2 is optimized for easy mounting of cameras, sensors, logic electronics, large batteries, antennas, and other payload components which would be found on a typical FPV airplane. This emphasis on payload makes this airplane an ideal candidate for a PX4 installation. ![Finished Reptile Dragon 2 airframe front](../../assets/airframes/fw/reptile_dragon_2/airframe_front.jpg) ![Finished Reptile Dragon 2 airframe rear](../../assets/airframes/fw/reptile_dragon_2/airframe_rear.jpg) - ## Overview The goal of this build was to create an efficient, long endurance FPV platform to be used for general PX4 testing and development. @@ -26,7 +25,7 @@ Key airframe features: - Side "T" antenna mounts - Rear electronics tray - Front facing "action cam" cutout - - Front facing FPV camera cutout + - Front facing FPV camera cutout - Removable wings - Low stall speed - Gentle handling @@ -56,12 +55,12 @@ Key build features - [ExpressLRS Matek Diversity RX](http://www.mateksys.com/?portfolio=elrs-r24) - [5V BEC](https://www.readymaderc.com/products/details/rmrc-3a-power-regulator-5-to-6-volt-ubec) - [6s2p 18650 LiIon flight battery](https://www.upgradeenergytech.com/product-page/6s-22-2v-5600mah-30c-dark-lithium-liion-drone-battery) (select XT60 connector) -- [Custom designed 3D printed parts](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/fw/reptile_dragon_2/rd2_3d_printed_parts.zip) +- [Custom designed 3D printed parts](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/fw/reptile_dragon_2/rd2_3d_printed_parts.zip) - ARK6X carrier mount - Holybro Pixhawk 5x carrier mount - FPV pod and camera mount - Pitot static probe "plug" adapter -- [Custom designed power distribution PCB](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/fw/reptile_dragon_2/xt30_power_distro_pcb.zip) +- [Custom designed power distribution PCB](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/fw/reptile_dragon_2/xt30_power_distro_pcb.zip) - Misc hardware: M3 hardware (standoffs, washers, O-rings, bolts), M2.5 nylon standoffs and screws, XT30 connectors, hot glue, heatshrink, Molex Microfit connectors - Silicone wiring (14awg for high current, 16awg for low current, 22awg for low power and signals) @@ -133,7 +132,7 @@ Just get it close enough to 90 degrees, and the remaining offset will be removed ## GPS/Compass Module Mounting -The GPS/Compass should be mounted in the rear electronics shelf included with the RD2. +The GPS/Compass should be mounted in the rear electronics shelf included with the RD2. This location is far aft of power wiring (and anything else that might cause magnetic disturbances), which makes for an ideal location for the GPS/compass module ![GPS tray installed in the RD2 airframe](../../assets/airframes/fw/reptile_dragon_2/gps_tray.jpg) @@ -143,7 +142,6 @@ Then use the nylon M3 hardware to attach it to the rear electronics shelf. Two of the three required holes are already coincidentally located in the electronics tray, so I used a marker and a drill to mark and drill the third hole. - ## FPV Pod ### FPV Pod Assembly @@ -163,7 +161,7 @@ Use the servo tester to center the servo. Attach the camera carrier servo horn directly to the top of the servo and secure it with the included screw. Secure the DJI FPV camera into the carrier with the two side screws. -To finish the FPV pod assembly, install the Caddx Vista to the back of the pod using long M2 bolts, 1mm standoffs, and nylock nuts. +To finish the FPV pod assembly, install the Caddx Vista to the back of the pod using long M2 bolts, 1mm standoffs, and nylock nuts. ![FPV pod close up mounted on the RD2 airframe](../../assets/airframes/fw/reptile_dragon_2/fpv_pod.jpg) @@ -205,7 +203,6 @@ Finally, the ARK6X was installed on top of the mount. ![ARK6X carrier installed](../../assets/airframes/fw/reptile_dragon_2/ark_carrier_installed.jpg) - ### Holybro 5X Carrier (Optional) An alternative carrier board is the Holybro Pixhawk 5X carrier. @@ -232,7 +229,6 @@ The images above show the fully completed and connected Holybro 5X carrier insta ![Flight computer mount](../../assets/airframes/fw/reptile_dragon_2/holybro_electronics_0.jpg) ![Flight computer mount](../../assets/airframes/fw/reptile_dragon_2/holybro_electronics_1.jpg) - ## Electrical ### Battery Power Distribution @@ -248,7 +244,6 @@ The servo power BEC is also shown in this image. ![Alternative power distribution harness](../../assets/airframes/fw/reptile_dragon_2/alt_harness.jpg) - ### Servo Power Because the Holybro carrier does not include an onboard servo power supply, an external ["BEC"](https://en.wikipedia.org/wiki/Battery_eliminator_circuit) is used to provide power to the servos. @@ -260,15 +255,15 @@ The output of the BEC can be plugged into any unused servo output (I chose IO ou ![Esc and motor](../../assets/airframes/fw/reptile_dragon_2/esc_motor.jpg) Bullet connectors were soldered to 16awg leads, which were then soldered to each phase output on each ESC. -Heatshrink was shrunk over the finished ESCs and the bullet connectors from the ESCs were connected to their respective motors. +Heatshrink was shrunk over the finished ESCs and the bullet connectors from the ESCs were connected to their respective motors. Motor direction depends on the order of the motor leads connected to the ESC. -For now, take a guess on each side. If either motor is spinning the wrong way, the direction can be swapped by swapping any two connections. +For now, take a guess on each side. If either motor is spinning the wrong way, the direction can be swapped by swapping any two connections. Correct motor direction will be checked in the final preflight checks. ### Servos & ESC Signal Leads -Servos were wired to the FMU out port in the order left aileron, right aileron, left ESC, right ESC, elevator, rudder, FPV pan. +Servos were wired to the FMU out port in the order left aileron, right aileron, left ESC, right ESC, elevator, rudder, FPV pan. ::: info [DSHOT ESC](../peripherals/dshot.md#wiring-connections) were used (not PWM as for the servos). @@ -293,7 +288,7 @@ A custom cable was made to connect the ELRS RX to the JST GH `TELEM2` port of th ![ExpressLRS to telem port cable](../../assets/airframes/fw/reptile_dragon_2/elrs_cable.jpg) The other end of the cable was terminated to a Dupont connector to connect to the standard spaced headers on the ELRS RX. -The ELRS RX was connected to the cable, and then heatshrink was used to secure the two together. +The ELRS RX was connected to the cable, and then heatshrink was used to secure the two together. ![ExpressLRS RX attached to telem port cable](../../assets/airframes/fw/reptile_dragon_2/elrs_rx_cable.jpg) @@ -318,7 +313,7 @@ You can't use prebuilt PX4 release (or main) firmware for this vehicle, as it de These require some custom configuration to enable. -First, follow [this guide to setup a development environment](../dev_setup/dev_env.md ) and [this guide to get the PX4 source code](../dev_setup/building_px4.md). +First, follow [this guide to setup a development environment](../dev_setup/dev_env.md) and [this guide to get the PX4 source code](../dev_setup/building_px4.md). Once a build environment has been setup, open a terminal and `cd` into the `PX4-Autopilot` directory. To launch the [PX4 board config tool (`menuconfig`)](../hardware/porting_guide_config.md#px4-menuconfig-setup) run: @@ -366,8 +361,7 @@ make ark_fmu-v6x_default upload This param file contains the custom PX4 parameter configuration for this build, including radio setup, tuning and sensor config. Load the file via QGC using the instructions at [Parameters> Tools](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/parameters.html#tools) (QGC User Guide). -- [Snapshot of PX4 airframe params](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/fw/reptile_dragon_2/reptile_dragon_2_params.params) - +- [Snapshot of PX4 airframe params](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/fw/reptile_dragon_2/reptile_dragon_2_params.params) You may need to modify some parameters for your build In particular you should check: @@ -421,18 +415,17 @@ I recommend checking the following items: - Airspeed calibration - Level horizon calibration - Check control surface deflection - - Right stick -> Right aileron goes up, left aileron goes down - - Left stick -> Left aileron goes up, right aileron goes down - - Stick back -> elevator goes up - -Stick forward -> elevator goes down - - Left rudder -> Rudder goes left - - Right rudder -> Rudder goes right +- Right stick -> Right aileron goes up, left aileron goes down +- Left stick -> Left aileron goes up, right aileron goes down +- Stick back -> elevator goes up + -Stick forward -> elevator goes down +- Left rudder -> Rudder goes left +- Right rudder -> Rudder goes right - Check Px4 inputs (in `stabilized mode`) - - Roll right -> Right Aileron goes down - - Roll left -> Left aileron goes down - - Pitch up -> Elevator goes down - - Pitch down -> Elevator goes up - +- Roll right -> Right Aileron goes down +- Roll left -> Left aileron goes down +- Pitch up -> Elevator goes down +- Pitch down -> Elevator goes up ## First Flight diff --git a/docs/en/frames_plane/turbo_timber_evolution.md b/docs/en/frames_plane/turbo_timber_evolution.md index ae7691d0b5..8e9877fc68 100644 --- a/docs/en/frames_plane/turbo_timber_evolution.md +++ b/docs/en/frames_plane/turbo_timber_evolution.md @@ -28,12 +28,12 @@ Key airframe features: Key Build Features: -* Easy overall build with minimal airframe setup -* Easy access to Pixhawk USB and debug connector -* [First Person View (FPV)](https://en.wikipedia.org/wiki/First-person_view_(radio_control)) with camera pan mount +- Easy overall build with minimal airframe setup +- Easy access to Pixhawk USB and debug connector +- [First Person View (FPV)]() with camera pan mount -* Air data provided by wing slung pitot static pod -* Long flight times (with Liion battery option > 24 minutes) +- Air data provided by wing slung pitot static pod +- Long flight times (with Liion battery option > 24 minutes) ## Parts List @@ -47,7 +47,7 @@ Key Build Features: - [Caddx Vista FPV air unit](https://caddxfpv.com/products/caddx-vista-kit) - [DJI FPV Goggles](https://www.dji.com/fpv) - [ExpressLRS Matek Diversity RX](http://www.mateksys.com/?portfolio=elrs-r24) -- [Custom designed 3D printed parts](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/fw/turbo_timber_evolution/3d_printed_parts.zip) +- [Custom designed 3D printed parts](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/fw/turbo_timber_evolution/3d_printed_parts.zip) - Pixhawk 4 Mini mount and top GPS mount - FPV pod and camera mount - Pitot static pod and wing hardpoint hanger @@ -105,7 +105,7 @@ After the first flight, the lid was hot glued in place. ## Flight Computer Installation -A custom mount for the PX4 Mini was designed and 3d printed (see [3D printed parts](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/fw/turbo_timber_evolution/3d_printed_parts.zip) for all parts). +A custom mount for the PX4 Mini was designed and 3d printed (see [3D printed parts](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/fw/turbo_timber_evolution/3d_printed_parts.zip) for all parts). This mount was carefully designed to use internal foam mold features of the stock TTE airframe to be securely attached and well aligned. The mount consists of two parts in a double-decker configuration, bolted together with M3 threaded standoffs. The bottom mount carries the Pixhawk and attaches to the airframe while the top mount carries the GPS and ExpressLRS RX. @@ -123,7 +123,7 @@ The bottom mount carries the Pixhawk and attaches to the airframe while the top First, the Pixhawk 4 Mini was placed in the lower mount. Hot glue was added to rigidly connect the fcu to the mount with two zipties providing additional security. The standoff mounts for the upper mount were installed, and the bolts securely tightened. -Once the lower mount is installed, these screws are inaccessible, so attention was paid to making sure they were tightt enough so they cannot back out. +Once the lower mount is installed, these screws are inaccessible, so attention was paid to making sure they were tightt enough so they cannot back out. ## Electrical @@ -132,7 +132,7 @@ Once the lower mount is installed, these screws are inaccessible, so attention w The Holybro power module was wired inline with the ESC. A spare 16awg power lead was also broken out, terminated to an XT30. This spare lead will be used to provide power to the Caddx Vista FPV unit, but could also be connected to a splitter to power more peripherals. -Power for the servo and lighting will be provided by the "BEC" power supply in the ESC. +Power for the servo and lighting will be provided by the "BEC" power supply in the ESC. ![An image showing the completed power module](../../assets/airframes/fw/turbo_timber_evolution/power_module.jpg) @@ -159,7 +159,7 @@ Access to the Pixhawk 4 Mini requires removal of the upper mount. While this isn't too difficult, it was a consideration for wanting to streamline debugging in the field. A short right angle USB micro extension was used to allow easy access to the Pixhawk 4 Mini's USB interface. The USB-A end of this cable was left dangling in the battery bay. -Similarly, a JST PH to std spaced headers adapter was made, and it was also left easily accessible in the battery bay. +Similarly, a JST PH to std spaced headers adapter was made, and it was also left easily accessible in the battery bay. ### Peripherals @@ -203,7 +203,6 @@ I use full flaps on landing to slow the otherwise slippery airframe. ![Turbo Timber Evolution field setup](../../assets/airframes/fw/turbo_timber_evolution/field_setup.jpg) - ### Performance - Stall speed (no flaps): 14MPH indicated @@ -227,7 +226,7 @@ I use full flaps on landing to slow the otherwise slippery airframe. ### Parameter File -[Snapshot of PX4 airframe params](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/fw/turbo_timber_evolution/tteparams.params) +[Snapshot of PX4 airframe params](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/fw/turbo_timber_evolution/tteparams.params) This param file contains the custom PX4 parameter config for this build, including radio setup, tuning and sensor config. The param file can be loaded via QGC using the instructions at [Parameters> Tools ](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/parameters.html#tools) (QGC User Guide). diff --git a/docs/en/frames_rover/rover_position_control.md b/docs/en/frames_rover/rover_position_control.md index e69ea72403..89c320c1e6 100644 --- a/docs/en/frames_rover/rover_position_control.md +++ b/docs/en/frames_rover/rover_position_control.md @@ -133,7 +133,7 @@ Tests showed that a better vibration insulation should be used, especially for t For this particular mounting we chose to use the clip supplied with the rover to attach the upper plate. For this, two supports were 3D printed. -The CAD files are provided [here](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/rover/traxxas_stampede_vxl/plane_holders.zip). +The CAD files are provided [here](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/rover/traxxas_stampede_vxl/plane_holders.zip). ::: warning It is **HIGHLY RECOMMENDED** to set the ESC in training mode (see Traxxas Stampede Manual), which reduces power to 50%. diff --git a/docs/en/frames_vtol/vtol_quadplane_falcon_vertigo_hybrid_rtf_dropix.md b/docs/en/frames_vtol/vtol_quadplane_falcon_vertigo_hybrid_rtf_dropix.md index 40cd5f1408..d37c727c23 100644 --- a/docs/en/frames_vtol/vtol_quadplane_falcon_vertigo_hybrid_rtf_dropix.md +++ b/docs/en/frames_vtol/vtol_quadplane_falcon_vertigo_hybrid_rtf_dropix.md @@ -4,7 +4,7 @@ The Falcon Venturi FPV Wing frame on which this vehicle is based is no longer available. ::: -The *Falcon Vertigo Hybrid VTOL* is a quadplane VTOL aircraft that has been designed to work with PX4 and the Dropix (Pixhawk compatible) flight controller. It can carry a small GoPro camera. +The _Falcon Vertigo Hybrid VTOL_ is a quadplane VTOL aircraft that has been designed to work with PX4 and the Dropix (Pixhawk compatible) flight controller. It can carry a small GoPro camera. The RTF kit contains everything needed for a full system except an RC receiver and telemetry module. The components can also be purchased separately. @@ -17,27 +17,26 @@ Key information: ![Falcon Vertigo Hybrid VTOL RTF](../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_complete.jpg) - ## Bill of Materials Almost everything you need is provided in the RTF kit (the links next to components below are provided in case you wished to purchase any component separately): -* Pre laminated EPP wings -* Wingtips and full hardware -* Dropix flight controller (discontinued) with - * GPS u-blox M8N - * Power Sensor - * [Airspeed Sensor](https://store-drotek.com/793-digital-differential-airspeed-sensor-kit-.html) -* Quad power set [Tiger Motor MT-2216-11 900kv V2](https://www.getfpv.com/tiger-motor-mt-2216-11-900kv-v2.html) (discontinued) -* 4 x propeller 10”x 5” (quad motors) -* 4 x [ESC 25A](http://www.getfpv.com/tiger-motor-flame-25a-esc.html) -* 1 x propeller 10” x 5” (pusher motor) -* 1 x ESC 30A -* Pusher motor power system -* Carbon fiber tubes and mounts -* G10 motor mounts -* 1 x [3700mah 4S 30C Lipo battery](https://www.overlander.co.uk/batteries/lipo-batteries/power-packs/3700mah-4s-14-8v-25c-lipo-battery-overlander-sport.html) -* Dropix power distribution board and cable +- Pre laminated EPP wings +- Wingtips and full hardware +- Dropix flight controller (discontinued) with + - GPS u-blox M8N + - Power Sensor + - [Airspeed Sensor](https://store-drotek.com/793-digital-differential-airspeed-sensor-kit-.html) +- Quad power set [Tiger Motor MT-2216-11 900kv V2](https://www.getfpv.com/tiger-motor-mt-2216-11-900kv-v2.html) (discontinued) +- 4 x propeller 10”x 5” (quad motors) +- 4 x [ESC 25A](https://www.getfpv.com/tiger-motor-flame-25a-esc.html) +- 1 x propeller 10” x 5” (pusher motor) +- 1 x ESC 30A +- Pusher motor power system +- Carbon fiber tubes and mounts +- G10 motor mounts +- 1 x [3700mah 4S 30C Lipo battery](https://www.overlander.co.uk/batteries/lipo-batteries/power-packs/3700mah-4s-14-8v-25c-lipo-battery-overlander-sport.html) +- Dropix power distribution board and cable The kit does not come with a radio receiver or (optional) telemetry modules. For this build we used the following components: @@ -45,23 +44,21 @@ For this build we used the following components: - Receiver: [FrSSKY D4R-II](https://www.frsky-rc.com/product/d4r-ii/) - Telemetry: [Holybro 100mW 915MHz modules](https://www.getfpv.com/holybro-100mw-fpv-transceiver-telemetry-radio-set-915mhz.html) (Discontinued) - -## Tools needed +## Tools needed The following tools were used to assemble the airframe: -* Philips screwdriver -* 5.5 mm Hex Socket Screwdriver -* Wire cutters -* Soldering iron and solder -* Hobby stainless steel tweezer -* Gorilla glue -* Fiberglass reinforced tape +- Philips screwdriver +- 5.5 mm Hex Socket Screwdriver +- Wire cutters +- Soldering iron and solder +- Hobby stainless steel tweezer +- Gorilla glue +- Fiberglass reinforced tape ![Build tools](../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_build_tools.jpg) - -## Assembly steps +## Assembly steps The RTF kit requires the following assembly. @@ -70,7 +67,7 @@ The RTF kit requires the following assembly. 1. Spread gorilla glue inside the wing brackets as shown. ![Add glue on wing brackets](../../assets/airframes/vtol/falcon_vertigo/wing_brackets_glue.jpg) - + 1. Attach the carbon tube in the brackets. The bracket and tube must be aligned using the white mark (as shown in the picture). ::: info @@ -84,35 +81,33 @@ The RTF kit requires the following assembly. ![quad motor frame rod alignment from bottom](../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_9_bottom_view_rod_alignment.jpg) ![quad motor frame rod alignment schematic](../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_11_rod_alignment_schamatic.jpg) - - ### Step 2: Attach the wings - -1. Insert both carbon tubes into the fuselage. + +1. Insert both carbon tubes into the fuselage. 1. Spread gorilla glue between the two white marks on each tube (indicated by the red arrows). The white mark in the center (blue arrow) will be placed in the center of the fuselage and the other marks on the sides. - + 1. Once the carbon tubes are inside the fuselage, spread gorilla glue on the rest of the tube and attach the wings. 1. The fuselage has two holes for the motor and servo cables. Pass the cables through the holes and then join the wings to the fuselage. - + 1. Within the fuselage connect the signal cables you just passed through from the wings to the ESC using the provided connectors. The ESC are already connected to the motors and set up to turn in the correct order (you will need to connect the ESC PDB to a power module in a later step). - -1. As with the ESCs, the servos are already installed. Connect the signal cable from the wing (passed through the fuselage) to the flight controller. + +1. As with the ESCs, the servos are already installed. Connect the signal cable from the wing (passed through the fuselage) to the flight controller. - + 1. Repeat these steps for the other wing. -### Step 3: Connect the electronics +### Step 3: Connect the electronics This kit includes Dropix flight controller with most of the required electronics pre-connected (if you use another Pixhawk-compatible flight controller the connections are similar). @@ -127,11 +122,10 @@ General information about connecting Dropix can be found in [Dropix Flight Contr 1. Connect the ESC to the power module using the XT60 connector - -1. Pass the signals cables through to the flight controller - - +1. Pass the signals cables through to the flight controller + + #### Motor Wiring @@ -140,18 +134,17 @@ The geometry and output assignment can be configured in the [Actuators Configura For example, you might wire it up like this example (orientation as if "sitting in the plane"): -Port | Connection ---- | --- -MAIN 1 | Front right motor, CCW -MAIN 2 | Back left motor, CCW -MAIN 3 | Front left motor, CW -MAIN 4 | Back right motor, CW -AUX 1 | Left aileron -AUX 2 | Right aileron -AUX 3 | Elevator -AUX 4 | Rudder -AUX 5 | Throttle - +| Port | Connection | +| ------ | ---------------------- | +| MAIN 1 | Front right motor, CCW | +| MAIN 2 | Back left motor, CCW | +| MAIN 3 | Front left motor, CW | +| MAIN 4 | Back right motor, CW | +| AUX 1 | Left aileron | +| AUX 2 | Right aileron | +| AUX 3 | Elevator | +| AUX 4 | Rudder | +| AUX 5 | Throttle | @@ -169,8 +162,7 @@ The image below shows back of the dropix flight controller, highlighting the out -1. Connect the receiver (RC IN). - +1. Connect the receiver (RC IN). @@ -184,10 +176,9 @@ The sensor inputs, telemetry, buzzer and safety switch are located in the front +#### Flight Controller: Connect power module and external USB -#### Flight Controller: Connect power module and external USB - -The inputs for the USB port, power module and external USB are located on the right side of the flight controller. +The inputs for the USB port, power module and external USB are located on the right side of the flight controller. 1. Connect power and USB as shown @@ -200,7 +191,7 @@ It should be used if access to the USB port is difficult once the flight control #### Install the pitot tube (airspeed sensor) -The pitot tube is installed on the front of the plane and connected to the airspeed sensor via a tube. +The pitot tube is installed on the front of the plane and connected to the airspeed sensor via a tube. :::warning It is important that nothing obstructs airflow to the Pitot tube. This is critical for fixed-wing flight and for transitioning from quad to plane. @@ -211,27 +202,25 @@ It is important that nothing obstructs airflow to the Pitot tube. This is critic 1. Secure the connecting tubing and ensure that it is not bent/kinked. - + - -1. Connect the tubes to the airspeed sensor. + +1. Connect the tubes to the airspeed sensor. - #### Install/connect receiver and telemetry module - + 1. Paste the receiver and telemetry module to the outside of the vehicle frame. - + -1. Connect the receiver to the RC IN port on the *back* of the dropix, as shown above (also see the [flight controller instructions](#dropix_back)). - -1. Connect the telemetry module to the *front* of the flight controller as shown below (see the [flight controller instructions](#dropix_front) for more detail on the pins). +1. Connect the receiver to the RC IN port on the _back_ of the dropix, as shown above (also see the [flight controller instructions](#dropix_back)). + +1. Connect the telemetry module to the _front_ of the flight controller as shown below (see the [flight controller instructions](#dropix_front) for more detail on the pins). - #### GPS/Compass module @@ -240,17 +229,15 @@ The GPS/Compass module is already mounted on the wing, in the default orientatio - #### Mount and orient the flight controller 1. Set your flight controller orientation to 270 degrees. - + - -1. Secure the controller in place using vibration damping foam. - + +1. Secure the controller in place using vibration damping foam. ### Step 4: Final Assembly Checks @@ -263,17 +250,15 @@ The final assembly step is to check the vehicle is stable and that the motors ha ::: info If necessary the servo direction can be reversed using the `Rev Range (for servos)` checkbox associated with each servo output in the QGroundControl [Actuator Output](../config/actuators.md#actuator-outputs) configuration (for servos only) (this sets the [PWM_AUX_REV](../advanced_config/parameter_reference.md#PWM_AUX_REV) or [PWM_AUX_MAIN](../advanced_config/parameter_reference.md#PWM_MAIN_REV) parameter). ::: - + 1. Check the vehicle is balanced around the expected centre of gravity + - Hold the vehicle with your fingers at the center of gravity and check that the vehicle remains stable. - * Hold the vehicle with your fingers at the center of gravity and check that the vehicle remains stable. + ![Level Centre of Gravity](../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_57_level_centre_of_gravity.jpg) - ![Level Centre of Gravity](../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_57_level_centre_of_gravity.jpg) - - * If the vehicle leans forward or backwards, move the motors to balance it. - - ![Level Motors](../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_55_level_motors.jpg) + - If the vehicle leans forward or backwards, move the motors to balance it. + ![Level Motors](../../assets/airframes/vtol/falcon_vertigo/falcon_vertigo_55_level_motors.jpg) ## Configuration @@ -281,7 +266,7 @@ Perform the normal [Basic Configuration](../config/index.md). Notes: -1. For [Airframe](../config/airframe.md) select the vehicle group/type as *Standard VTOL* and the specific vehicle as [Generic Standard VTOL](../airframes/airframe_reference.md#vtol_standard_vtol_generic_standard_vtol) as shown below. +1. For [Airframe](../config/airframe.md) select the vehicle group/type as _Standard VTOL_ and the specific vehicle as [Generic Standard VTOL](../airframes/airframe_reference.md#vtol_standard_vtol_generic_standard_vtol) as shown below. ![QCG - Select Generic Standard VTOL](../../assets/qgc/setup/airframe/px4_frame_generic_standard_vtol.png) @@ -289,7 +274,7 @@ Notes: 1. Configure the outputs and geometry following the instructions in [Actuators Configuration](../config/actuators.md) 1. The default parameters are often sufficient for stable flight. For more detailed tuning information see [Standard VTOL Wiring and Configuration](../config_vtol/vtol_quad_configuration.md). -After you finish calibration the VTOL is ready to fly. +After you finish calibration the VTOL is ready to fly. ## Video diff --git a/docs/en/frames_vtol/vtol_quadplane_foxtech_loong_2160.md b/docs/en/frames_vtol/vtol_quadplane_foxtech_loong_2160.md index ab1bd1da3b..ed886284f5 100644 --- a/docs/en/frames_vtol/vtol_quadplane_foxtech_loong_2160.md +++ b/docs/en/frames_vtol/vtol_quadplane_foxtech_loong_2160.md @@ -51,7 +51,7 @@ The following options have been tested: - [Groundstation and Radio link](https://holybro.com/collections/rc-radio-transmitter-receiver/products/skydroid-h12?variant=42940989931709) - [USB-C extension cable](https://www.digitec.ch/en/s1/product/powerguard-usb-c-usb-c-025-m-usb-cables-22529949?dbq=1&gclid=Cj0KCQjw2cWgBhDYARIsALggUhrh-z-7DSU0wKfLBVa8filkXLQaxUpi7pC0ffQyRzLng8Ph01h2R1gaAp0mEALw_wcB&gclsrc=aw.ds) - [I2C Splitter](https://www.3dxr.co.uk/autopilots-c2/the-cube-aka-pixhawk-2-1-c9/cube-cables-accessories-sensors-c15/cubepilot-i2c-can-splitter-jst-gh-4pin-p2840) -- [3D-Printed mounts](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/vtol/foxtech_loong_2160/loong-3d-prints.zip) +- [3D-Printed mounts](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/vtol/foxtech_loong_2160/loong-3d-prints.zip) - 1x Baseplate - 1x Stack-fixture - 1x Fan-Mount @@ -287,12 +287,12 @@ If you wish connect the actuators to different outputs you will need to modify t ### Load Parameters File -Next we load a [parameter file](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/vtol/foxtech_loong_2160/loong.params) that contains parameters that define the frame geometry, output mappings, and tuning values — so you don't have to! +Next we load a [parameter file](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/vtol/foxtech_loong_2160/loong.params) that contains parameters that define the frame geometry, output mappings, and tuning values — so you don't have to! If you have followed the wiring instructions for the motors you probably won't need to do much further configuration other than sensor calibration and fixing the trims. To load the file: -1. Download the [parameter file](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/vtol/foxtech_loong_2160/loong.params). +1. Download the [parameter file](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/vtol/foxtech_loong_2160/loong.params). 1. Select the [Parameters](../advanced_config/parameters.md#finding-updating-parameters) tab and then click on **Tools** in the top right corner. 1. Select **Load from file** and then choose the `loong.params` file you just downloaded. 1. Reboot the vehicle. diff --git a/docs/en/frames_vtol/vtol_tailsitter_caipiroshka_pixracer.md b/docs/en/frames_vtol/vtol_tailsitter_caipiroshka_pixracer.md index 999a31f068..c3880cbf69 100644 --- a/docs/en/frames_vtol/vtol_tailsitter_caipiroshka_pixracer.md +++ b/docs/en/frames_vtol/vtol_tailsitter_caipiroshka_pixracer.md @@ -1,10 +1,10 @@ # TBS Caipiroshka -The Caipiroshka VTOL is a slightly modified *TBS Caipirinha*. +The Caipiroshka VTOL is a slightly modified _TBS Caipirinha_. ::: info -The *TBS Caipirinha* has been superseded and is no longer available. -These instructions *should* work with the updated vehicle: [TBS Caipirinha 2](https://team-blacksheep.com/products/prod:tbs_caipi2_pnp). +The _TBS Caipirinha_ has been superseded and is no longer available. +These instructions _should_ work with the updated vehicle: [TBS Caipirinha 2](https://team-blacksheep.com/products/prod:tbs_caipi2_pnp). A number of other components have been updated in the parts list too. ::: @@ -12,22 +12,21 @@ A number of other components have been updated in the parts list too. ## Parts List -* TBS Caipirinha Wing (no longer available - try [TBS Caipirinha 2](https://team-blacksheep.com/products/prod:tbs_caipi2_pnp)) -* Left and right 3D-printed motor mount (design files) -* CW 8045 propeller ([Eflight store](https://www.banggood.com/GEMFAN-Carbon-Nylon-8045-CWCCW-Propeller-For-Quadcopters-1-Pair-p-950874.html)) -* CCW 8045 propeller ([Eflight store](https://www.banggood.com/GEMFAN-Carbon-Nylon-8045-CWCCW-Propeller-For-Quadcopters-1-Pair-p-950874.html)) -* 2x 1800 kV 120-180W motors - * [ePower 2208](https://www.galaxus.ch/en/s5/product/epower-22081400-fuer-2-3-lipo-imax-rc-motors-8355913) - * [Armattan 2208 1800kV Multirotor Motor](https://www.amazon.com/Armattan-2208-1800kV-Multirotor-Motor/dp/B00UWLW0C8) +- TBS Caipirinha Wing (no longer available - try [TBS Caipirinha 2](https://team-blacksheep.com/products/prod:tbs_caipi2_pnp)) +- Left and right 3D-printed motor mount (design files) +- CW 8045 propeller ([Eflight store](https://www.banggood.com/GEMFAN-Carbon-Nylon-8045-CWCCW-Propeller-For-Quadcopters-1-Pair-p-950874.html)) +- CCW 8045 propeller ([Eflight store](https://www.banggood.com/GEMFAN-Carbon-Nylon-8045-CWCCW-Propeller-For-Quadcopters-1-Pair-p-950874.html)) +- 2x 1800 kV 120-180W motors + - [ePower 2208](https://www.galaxus.ch/en/s5/product/epower-22081400-fuer-2-3-lipo-imax-rc-motors-8355913) + - [Armattan 2208 1800kV Multirotor Motor](https://www.amazon.com/Armattan-2208-1800kV-Multirotor-Motor/dp/B00UWLW0C8) -* 2x 20-30S ESC - * [GetFPV](https://www.getfpv.com/lumenier-30a-blheli-s-esc-opto-2-4s.html) -* BEC (3A, 5-5.3V) (only needed if you are using ESCs which cannot act as a 5V power supply for the output rail) -* 3S 2200 mA LiPo battery - * Team Orion 3S 11.1V 50 C ([Hobbyshop store](https://www.hobbyshop.ch/modellbau-elektronik/akku/team-orion-lipo-2200-3s-11-1v-50c-xt60-ori60163.html)) -* [Pixracer autopilot board + power module](../flight_controller/pixracer.md) -* [Digital airspeed sensor](https://hobbyking.com/en_us/hkpilot-32-digital-air-speed-sensor-and-pitot-tube-set.html) - +- 2x 20-30S ESC + - [GetFPV](https://www.getfpv.com/lumenier-30a-blheli-s-esc-opto-2-4s.html) +- BEC (3A, 5-5.3V) (only needed if you are using ESCs which cannot act as a 5V power supply for the output rail) +- 3S 2200 mA LiPo battery + - Team Orion 3S 11.1V 50 C ([Hobbyshop store](https://www.hobbyshop.ch/modellbau-elektronik/akku/team-orion-lipo-2200-3s-11-1v-50c-xt60-ori60163.html)) +- [Pixracer autopilot board + power module](../flight_controller/pixracer.md) +- [Digital airspeed sensor](https://hobbyking.com/en_us/hkpilot-32-digital-air-speed-sensor-and-pitot-tube-set.html) ## Assembly @@ -47,7 +46,7 @@ Print the motor mount (2 times) of which the link to the STL file was specified Attach one motor mount on each wing side such that the motor axis will be roughly going through the center of the elevons (see picture). In the upper picture the horizontal distance between the two motor mounts is 56cm. Once you have marked the correct position on the wing you can cover the area which will be in contact with the mount with standard transparent tape on both the upper and lower wing side. -Then apply a layer of hot glue onto this area and glue the motor mount onto the wing. +Then apply a layer of hot glue onto this area and glue the motor mount onto the wing. The reason for having tape in between the wing surface and the hot glue is that you can very easily remove the motor mount by ripping of the tape from the wing without any damage. This is useful when trying to replace a damaged motor mount. @@ -55,27 +54,27 @@ This is useful when trying to replace a damaged motor mount. The motor controllers can be directly mounted on a flat surface of the motor mounts using glue or a cable binder. You will have to route the power cables to the battery bay. You can use an old soldering iron to melt channels into the foam. -Connect the power cables of both motor controllers in the battery bay and solder a plug to the end. +Connect the power cables of both motor controllers in the battery bay and solder a plug to the end. This will enable you to connect both the motor controllers to the power module. If you don't have motor controllers which can provide 5V for the output rail of the autopilot then you will have to use an external power supply (BEC). ### GPS -The GPS can be mounted in the middle at the very back of the airframe. This helps shifting the weight of the plane to the back since the two motors, a camera and a potentially bigger battery can make it quite nose heavy. +The GPS can be mounted in the middle at the very back of the airframe. This helps shifting the weight of the plane to the back since the two motors, a camera and a potentially bigger battery can make it quite nose heavy. Also the large distance to the 12V power cables is beneficial for reducing magnetic interference of the external magnetometer. ### Airspeed sensor -Attach the pitot tube close to the outside edge of one of the wing sides. -Make sure that the pitot is not affected by the airflow of the propeller. -You should be fine if the horizontal distance from the tube to the axis of the motors is larger than the radius of the propeller. -Use e.g. an old soldering iron to create a recess for the pitot tube, the tubing and the actual sensor (see picture). +Attach the pitot tube close to the outside edge of one of the wing sides. +Make sure that the pitot is not affected by the airflow of the propeller. +You should be fine if the horizontal distance from the tube to the axis of the motors is larger than the radius of the propeller. +Use e.g. an old soldering iron to create a recess for the pitot tube, the tubing and the actual sensor (see picture). Create a channel for routing the cable across the wing to the other components. ### Sensor connection to the I2C bus -Both the airspeed sensor and the external magnetometer (located in the gps housing) need to be connected to the I2C bus of the autopilot. -Therefore, you will have to use an I2C splitter like the one indicated in the part list. +Both the airspeed sensor and the external magnetometer (located in the gps housing) need to be connected to the I2C bus of the autopilot. +Therefore, you will have to use an I2C splitter like the one indicated in the part list. Connect the splitter board with the I2C bus of the autopilot. Then connect both the external magnetometer and the airspeed sensor to the splitter board with a standard I2C cable. In the upper picture the splitter board is located on the left side of the GPS unit. @@ -91,21 +90,20 @@ Depending on the additional components you want to have onboard (e.g. GoPro in f ## Airframe configuration -Switch to the configuration section in [QGroundControl](../config/airframe.md) and select the airframe tab. -Scroll down the list to find the *VTOL Duo Tailsitter* icon. Select the *Caipiroshka Duo Tailsitter* from the drop-down list. +Switch to the configuration section in [QGroundControl](../config/airframe.md) and select the airframe tab. +Scroll down the list to find the _VTOL Duo Tailsitter_ icon. Select the _Caipiroshka Duo Tailsitter_ from the drop-down list. ![caipiroshka](../../assets/airframes/vtol/caipiroshka/airframe_px4_vtol_caipiroshka_duo_tailsitter.jpg) - ## Servo Connections The descriptions in the table below are referring to the user facing the front of the vehicle when it lies flat on its belly on a table. -Output | Rate | Actuator ---- | --- | --- -MAIN1 | 400 Hz | Right (starboard) motor controller -MAIN2 | 400 Hz | Left (port) motor controller -MAIN3 | 400 Hz | Empty -MAIN4 | 400 Hz | Empty -MAIN5 | 50 Hz | Right (starboard) aileron servo -MAIN6 | 50 Hz | Left (port) aileron servo +| Output | Rate | Actuator | +| ------ | ------ | ---------------------------------- | +| MAIN1 | 400 Hz | Right (starboard) motor controller | +| MAIN2 | 400 Hz | Left (port) motor controller | +| MAIN3 | 400 Hz | Empty | +| MAIN4 | 400 Hz | Empty | +| MAIN5 | 50 Hz | Right (starboard) aileron servo | +| MAIN6 | 50 Hz | Left (port) aileron servo | diff --git a/docs/en/frames_vtol/vtol_tiltrotor_omp_hobby_zmo_fpv.md b/docs/en/frames_vtol/vtol_tiltrotor_omp_hobby_zmo_fpv.md index 2fa66ec43f..2182a3190a 100644 --- a/docs/en/frames_vtol/vtol_tiltrotor_omp_hobby_zmo_fpv.md +++ b/docs/en/frames_vtol/vtol_tiltrotor_omp_hobby_zmo_fpv.md @@ -52,7 +52,7 @@ The approximate maximum size of the FC is: 50x110x22mm - [Servo cable extension cable male 30cm 10 pcs](https://www.getfpv.com/male-to-male-servo-extension-cable-twisted-22awg-jr-style-5-pcs.html) - [USB-C extension cable](https://www.digitec.ch/en/s1/product/powerguard-usb-c-usb-c-025-m-usb-cables-22529949?dbq=1&gclid=Cj0KCQjw2cWgBhDYARIsALggUhrh-z-7DSU0wKfLBVa8filkXLQaxUpi7pC0ffQyRzLng8Ph01h2R1gaAp0mEALw_wcB&gclsrc=aw.ds) - [3M VHB tape](https://www.amazon.in/3M-VHB-Tape-4910-Length/dp/B00GTABM3Y) -- [3D-Printed mounts](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/vtol/omp_hobby_zmo_fpv/omp_hobby_zmo_3d_prints.zip) +- [3D-Printed mounts](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/vtol/omp_hobby_zmo_fpv/omp_hobby_zmo_3d_prints.zip) - 2x wing connector mount - 1x Airspeed sensor mount - 1x GPS-Mount @@ -155,7 +155,6 @@ The connector glued into the fuselage. Make sure to properly align the connector If you own a crimp tool, then you can also directly add the connectors without soldering. 1. Plug the servo cables into the adapter IO board in the following order: - - 1 - Aileron left - 2 - Aileron right - 3 - V-Tail left @@ -164,7 +163,6 @@ The connector glued into the fuselage. Make sure to properly align the connector - 6 - Tilt right 1. Plug in the motor signal cables into the FMU adapter board in the following order: - - 1 - Front left - 2 - Front right - 3 - Rear @@ -276,12 +274,12 @@ An inexpensive example would be a [SiK Telemetry Radio](../telemetry/sik_radio.m ### Load Parameters File -Next we load a [parameter file](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/vtol/omp_hobby_zmo_fpv/omp_hobby_zmo.params) that contains parameters that define the frame geometry, output mappings, and tuning values — so you don't have to! +Next we load a [parameter file](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/vtol/omp_hobby_zmo_fpv/omp_hobby_zmo.params) that contains parameters that define the frame geometry, output mappings, and tuning values — so you don't have to! If you have followed the wiring instructions for the motors you probably won't need to do much further configuration other than sensor calibration and fixing the trims. To load the file: -1. Download the [parameter file](https://github.com/PX4/PX4-user_guide/raw/main/assets/airframes/vtol/omp_hobby_zmo_fpv/omp_hobby_zmo.params). +1. Download the [parameter file](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/airframes/vtol/omp_hobby_zmo_fpv/omp_hobby_zmo.params). 1. Select the [Parameters](../advanced_config/parameters.md#finding-updating-parameters) tab and then click on **Tools** in the top right corner. 1. Select **Load from file** and then choose the `omp_hobby_zmo.params` file you just downloaded. 1. Reboot the vehicle. diff --git a/docs/en/getting_started/flight_reporting.md b/docs/en/getting_started/flight_reporting.md index 23482c5c19..cc2a22a990 100644 --- a/docs/en/getting_started/flight_reporting.md +++ b/docs/en/getting_started/flight_reporting.md @@ -9,7 +9,7 @@ Keeping flight logs is a legal requirement in some jurisdictions. ## Downloading Logs from the Flight Controller -Logs can be downloaded using [QGroundControl](http://qgroundcontrol.com/): **[Analyze View > Log Download](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/log_download.html)**. +Logs can be downloaded using [QGroundControl](https://qgroundcontrol.com/): **[Analyze View > Log Download](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/log_download.html)**. ![Flight Log Download](../../assets/qgc/analyze/log_download.jpg) diff --git a/docs/en/getting_started/px4_basic_concepts.md b/docs/en/getting_started/px4_basic_concepts.md index 4961252207..a2eb70e4a7 100644 --- a/docs/en/getting_started/px4_basic_concepts.md +++ b/docs/en/getting_started/px4_basic_concepts.md @@ -74,9 +74,9 @@ A subset of the products that are known to work with PX4 are listed below. ### QGroundControl {#qgc} -The Dronecode GCS software is called [QGroundControl](http://qgroundcontrol.com/) ("QGC"). +The Dronecode GCS software is called [QGroundControl](https://qgroundcontrol.com/) ("QGC"). It runs on Windows, Android, MacOS or Linux hardware, and supports a wide range of screen form factors. -You can download it (for free) from [here](http://qgroundcontrol.com/downloads/). +You can download it (for free) from [here](https://qgroundcontrol.com/downloads/). ![QGC Main Screen](../../assets/concepts/qgc_fly_view.png) diff --git a/docs/en/getting_started/rc_transmitter_receiver.md b/docs/en/getting_started/rc_transmitter_receiver.md index 59c4922710..af96213ed0 100644 --- a/docs/en/getting_started/rc_transmitter_receiver.md +++ b/docs/en/getting_started/rc_transmitter_receiver.md @@ -97,11 +97,11 @@ _PX4_ and _Pixhawk_ have been validated with: - PPM sum receivers - S.BUS and S.BUS2 receivers from: - - Futaba - FrSky S.BUS and PPM models - TBS Crossfire with SBUS as output protocol - Herelink + - TBS Crossfire with ([CRSF protocol](../telemetry/crsf_telemetry.md)) - Express LRS with ([CRSF protocol](../telemetry/crsf_telemetry.md)) @@ -111,13 +111,11 @@ _PX4_ and _Pixhawk_ have been validated with: Receivers from other vendors that use a supported protocol are likely to work but have not been tested. - ::: info Historically there were differences and incompatibilities between receiver models, largely due to a lack of detailed specification of protocols. The receivers we have tested all now appear to be compatible, but it is possible that others may not be. ::: - ## Connecting Receivers As general guidance, receivers connect to the flight controller using the port appropriate to their supported protocol: @@ -127,7 +125,7 @@ As general guidance, receivers connect to the flight controller using the port a - Graupner HoTT receivers: SUMD output must connect to a **SPKT/DSM** input (as above). - PPM-Sum and S.BUS receivers must connect directly to the **RC** ground, power and signal pins. This is typically labeled: `RC IN`, `RCIN` or `RC`, but has in some FCs has been labeled `PPM RC` or `PPM`. -- PPM receivers that have an individual wire for each channel must connect to the RCIN channel _via_ a PPM encoder [like this one](http://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels). +- PPM receivers that have an individual wire for each channel must connect to the RCIN channel _via_ a PPM encoder [like this one](https://www.getfpv.com/radios/radio-accessories/holybro-ppm-encoder-module.html) (PPM-Sum receivers use a single signal wire for all channels). - TBS Crossfire/Express LRS Receivers using [CRSF Telemetry](../telemetry/crsf_telemetry.md) connect via a spare UART. Flight controllers usually include appropriate cables for connecting common receiver types. diff --git a/docs/en/gps_compass/index.md b/docs/en/gps_compass/index.md index 77cada36d1..dbd9514aec 100644 --- a/docs/en/gps_compass/index.md +++ b/docs/en/gps_compass/index.md @@ -47,7 +47,7 @@ These have been tested by the PX4 dev team, or which are popular within the PX4 | [mRo GPS u-blox Neo-M8N Dual Compass][mro_neo8mn_dual_mag] | M8N | LIS3MDL, IST8308 | | ✘ | | | [RaccoonLab L1 GNSS NEO-M8N][RccnLabGNSS250] | NEO-M8N | RM3100 | ✓ | ✘✘✓ | + Baro | | [Sky-Drones SmartAP GPS](../gps_compass/gps_smartap.md) | M8N | HMC5983, IST8310, LIS3MDL | | ✓ | + Baro | -| [Zubax GNSS 2](https://zubax.com/products/gnss_2) | MAX-M8Q | LIS3MDL | | ✘ | + Baro | +| [Zubax GNSS 2](https://shop.zubax.com/products/zubax-gnss-2) | MAX-M8Q | LIS3MDL | | ✘ | + Baro | @@ -145,7 +145,6 @@ To ensure the port is set up correctly perform a [Serial Port Configuration](../ The following steps show how to configure a secondary GPS on the `GPS 2` port in _QGroundControl_: 1. [Find and set](../advanced_config/parameters.md) the parameter [GPS_2_CONFIG](../advanced_config/parameter_reference.md#GPS_2_CONFIG) to **GPS 2**. - - Open _QGroundControl_ and navigate to the **Vehicle Setup > Parameters** section. - Select the **GPS** tab, then open the [GPS_2_CONFIG](../advanced_config/parameter_reference.md#GPS_2_CONFIG) parameter and select `GPS 2` from the dropdown list. diff --git a/docs/en/gps_compass/rtk_gps.md b/docs/en/gps_compass/rtk_gps.md index ed1a3474c6..fcaea1c01b 100644 --- a/docs/en/gps_compass/rtk_gps.md +++ b/docs/en/gps_compass/rtk_gps.md @@ -14,47 +14,47 @@ Some RTK GNSS setups can provide yaw/heading information, as an alternative to t ## Supported Devices -PX4 supports the [u-blox M8P](https://www.u-blox.com/en/product/neo-m8p), [u-blox F9P](https://www.u-blox.com/en/product/zed-f9p-module) and the [Trimble MB-Two](https://www.trimble.com/Precision-GNSS/MB-Two-Board.aspx) GPS, and products that incorporate them. +PX4 supports the [u-blox M8P](https://www.u-blox.com/en/product/neo-m8p), [u-blox F9P](https://www.u-blox.com/en/product/zed-f9p-module) and the [Trimble MB-Two](https://oemgnss.trimble.com/en/products/receiver-modules/mb-two) GPS, and products that incorporate them. The RTK compatible devices below that are expected to work with PX4 (it omits discontined devices). The table indicates devices that also output yaw, and that can provide yaw when two on-vehicle units are used. It also highlights devices that connect via the CAN bus, and those which support PPK (Post-Processing Kinematic). -Device | GPS | Compass | [DroneCAN](../dronecan/index.md) | [GPS Yaw](#configuring-gps-as-yaw-heading-source) | PPK -:--- | :---: | :---: | :---: | :---: | :---: -[ARK RTK GPS](../dronecan/ark_rtk_gps.md) | F9P | BMM150 | ✓ | [Dual F9P][DualF9P] | -[ARK MOSAIC-X5 RTK GPS](../dronecan/ark_mosaic__rtk_gps.md) | Mosaic-X5 | IIS2MDC | ✓ | [Septentrio Dual Antenna][SeptDualAnt] | -[CUAV C-RTK GPS](../gps_compass/rtk_gps_cuav_c-rtk.md) | M8P/M8N | ✓ | | | -[CUAV C-RTK2](../gps_compass/rtk_gps_cuav_c-rtk2.md) | F9P | ✓ | | [Dual F9P][DualF9P] | -[CUAV C-RTK 9Ps GPS](../gps_compass/rtk_gps_cuav_c-rtk-9ps.md) | F9P | RM3100 | | [Dual F9P][DualF9P] | -[CUAV C-RTK2 PPK/RTK GNSS](../gps_compass/rtk_gps_cuav_c-rtk.md) | F9P | RM3100 | | | ✓ -[CubePilot Here+ RTK GPS](../gps_compass/rtk_gps_hex_hereplus.md) | M8P | HMC5983 | | | -[CubePilot Here3 CAN GNSS GPS (M8N)](https://www.cubepilot.org/#/here/here3) | M8P | ICM20948 | ✓ | | -[Drotek SIRIUS RTK GNSS ROVER (F9P)](https://store-drotek.com/911-sirius-rtk-gnss-rover-f9p.html) | F9P | RM3100 | | [Dual F9P][DualF9P] | -[DATAGNSS NANO HRTK Receiver](../gps_compass/rtk_gps_datagnss_nano_hrtk.md) | [D10P](https://docs.datagnss.com/gnss/gnss_module/D10P_RTK) | IST8310 | | ✘ | -[DATAGNSS GEM1305 RTK Receiver](../gps_compass/rtk_gps_gem1305.md) | TAU951M | IST8310 | | ✘ | -[Femtones MINI2 Receiver](../gps_compass/rtk_gps_fem_mini2.md) | FB672, FB6A0 | ✓ | | | -[Freefly RTK GPS](../gps_compass/rtk_gps_freefly.md) | F9P | IST8310 | | | -[Holybro H-RTK ZED-F9P RTK Rover (DroneCAN variant)](../dronecan/holybro_h_rtk_zed_f9p_gps.md) | F9P | RM3100 | ✓ | [Dual F9P][DualF9P] | -[Holybro H-RTK ZED-F9P RTK Rover](https://holybro.com/collections/h-rtk-gps/products/h-rtk-zed-f9p-rover) | F9P | RM3100 | | [Dual F9P][DualF9P] | -[Holybro H-RTK F9P Ultralight](https://holybro.com/products/h-rtk-f9p-ultralight) | F9P | IST8310 | | [Dual F9P][DualF9P]| -[Holybro H-RTK F9P Helical or Base](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md) | F9P | IST8310 | | [Dual F9P][DualF9P]| -[Holybro DroneCAN H-RTK F9P Helical](https://holybro.com/products/dronecan-h-rtk-f9p-helical) | F9P | BMM150 | ✓ | [Dual F9P][DualF9P] | -[Holybro H-RTK F9P Rover Lite](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md) | F9P | IST8310 | | | | -[Holybro DroneCAN H-RTK F9P Rover](https://holybro.com/products/dronecan-h-rtk-f9p-rover) | F9P | BMM150 | | [Dual F9P][DualF9P] | -[Holybro H-RTK M8P GNSS](../gps_compass/rtk_gps_holybro_h-rtk-m8p.md) | M8P | IST8310 | | -[Holybro H-RTK Unicore UM982 GPS](../gps_compass/rtk_gps_holybro_unicore_um982.md) | UM982 | IST8310 | | [Unicore Dual Antenna][UnicoreDualAnt] | -[LOCOSYS Hawk R1](../gps_compass/rtk_gps_locosys_r1.md) | MC-1612-V2b | | | | -[LOCOSYS Hawk R2](../gps_compass/rtk_gps_locosys_r2.md) | MC-1612-V2b | IST8310 | | | -[mRo u-blox ZED-F9 RTK L1/L2 GPS](https://store.mrobotics.io/product-p/m10020d.htm) | F9P | ✓ | | [Dual F9P][DualF9P] | -[Navisys L1/L2 ZED-F9P RTK - Base only](https://www.navisys.com.tw/productdetail?name=GR901&class=RTK) | F9P | | | | -[RaccoonLab L1/L2 ZED-F9P][RaccoonLab L1/L2 ZED-F9P] | F9P | RM3100 | ✓ | | | -[RaccoonLab L1/L2 ZED-F9P with external antenna][RaccnLabL1L2ZED-F9P ext_ant] | F9P | RM3100 | ✓ | | -[Septentrio AsteRx-m3 Pro](../gps_compass/septentrio_asterx-rib.md) | AsteRx | ✓ | | [Septentrio Dual Antenna][SeptDualAnt] | ✓ | -[Septentrio mosaic-go](../gps_compass/septentrio_mosaic-go.md) | mosaic X5 / mosaic H | ✓ | | [Septentrio Dual Antenna][SeptDualAnt] | ✓ | -[SIRIUS RTK GNSS ROVER (F9P)](https://store-drotek.com/911-sirius-rtk-gnss-rover-f9p.html) | F9P | ✓ | | [Dual F9P][DualF9P] | -[SparkFun GPS-RTK2 Board - ZED-F9P](https://www.sparkfun.com/products/15136) | F9P | ✓ | | [Dual F9P][DualF9P] | -[Trimble MB-Two](../gps_compass/rtk_gps_trimble_mb_two.md) | F9P | ✓ | | ✓ | | +| Device | GPS | Compass | [DroneCAN](../dronecan/index.md) | [GPS Yaw](#configuring-gps-as-yaw-heading-source) | PPK | +| :-------------------------------------------------------------------------------------------------------- | :---------------------------------------------------------: | :------: | :------------------------------: | :-----------------------------------------------: | :-: | +| [ARK RTK GPS](../dronecan/ark_rtk_gps.md) | F9P | BMM150 | ✓ | [Dual F9P][DualF9P] | +| [ARK MOSAIC-X5 RTK GPS](../dronecan/ark_mosaic__rtk_gps.md) | Mosaic-X5 | IIS2MDC | ✓ | [Septentrio Dual Antenna][SeptDualAnt] | +| [CUAV C-RTK GPS](../gps_compass/rtk_gps_cuav_c-rtk.md) | M8P/M8N | ✓ | | | +| [CUAV C-RTK2](../gps_compass/rtk_gps_cuav_c-rtk2.md) | F9P | ✓ | | [Dual F9P][DualF9P] | +| [CUAV C-RTK 9Ps GPS](../gps_compass/rtk_gps_cuav_c-rtk-9ps.md) | F9P | RM3100 | | [Dual F9P][DualF9P] | +| [CUAV C-RTK2 PPK/RTK GNSS](../gps_compass/rtk_gps_cuav_c-rtk.md) | F9P | RM3100 | | | ✓ | +| [CubePilot Here+ RTK GPS](../gps_compass/rtk_gps_hex_hereplus.md) | M8P | HMC5983 | | | +| [CubePilot Here3 CAN GNSS GPS (M8N)](https://www.cubepilot.org/#/here/here3) | M8P | ICM20948 | ✓ | | +| [Drotek SIRIUS RTK GNSS ROVER (F9P)](https://store-drotek.com/911-sirius-rtk-gnss-rover-f9p.html) | F9P | RM3100 | | [Dual F9P][DualF9P] | +| [DATAGNSS NANO HRTK Receiver](../gps_compass/rtk_gps_datagnss_nano_hrtk.md) | [D10P](https://docs.datagnss.com/gnss/gnss_module/D10P_RTK) | IST8310 | | ✘ | +| [DATAGNSS GEM1305 RTK Receiver](../gps_compass/rtk_gps_gem1305.md) | TAU951M | IST8310 | | ✘ | +| [Femtones MINI2 Receiver](../gps_compass/rtk_gps_fem_mini2.md) | FB672, FB6A0 | ✓ | | | +| [Freefly RTK GPS](../gps_compass/rtk_gps_freefly.md) | F9P | IST8310 | | | +| [Holybro H-RTK ZED-F9P RTK Rover (DroneCAN variant)](../dronecan/holybro_h_rtk_zed_f9p_gps.md) | F9P | RM3100 | ✓ | [Dual F9P][DualF9P] | +| [Holybro H-RTK ZED-F9P RTK Rover](https://holybro.com/collections/h-rtk-gps/products/h-rtk-zed-f9p-rover) | F9P | RM3100 | | [Dual F9P][DualF9P] | +| [Holybro H-RTK F9P Ultralight](https://holybro.com/products/h-rtk-f9p-ultralight) | F9P | IST8310 | | [Dual F9P][DualF9P] | +| [Holybro H-RTK F9P Helical or Base](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md) | F9P | IST8310 | | [Dual F9P][DualF9P] | +| [Holybro DroneCAN H-RTK F9P Helical](https://holybro.com/products/dronecan-h-rtk-f9p-helical) | F9P | BMM150 | ✓ | [Dual F9P][DualF9P] | +| [Holybro H-RTK F9P Rover Lite](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md) | F9P | IST8310 | | | | +| [Holybro DroneCAN H-RTK F9P Rover](https://holybro.com/products/dronecan-h-rtk-f9p-rover) | F9P | BMM150 | | [Dual F9P][DualF9P] | +| [Holybro H-RTK M8P GNSS](../gps_compass/rtk_gps_holybro_h-rtk-m8p.md) | M8P | IST8310 | | +| [Holybro H-RTK Unicore UM982 GPS](../gps_compass/rtk_gps_holybro_unicore_um982.md) | UM982 | IST8310 | | [Unicore Dual Antenna][UnicoreDualAnt] | +| [LOCOSYS Hawk R1](../gps_compass/rtk_gps_locosys_r1.md) | MC-1612-V2b | | | | +| [LOCOSYS Hawk R2](../gps_compass/rtk_gps_locosys_r2.md) | MC-1612-V2b | IST8310 | | | +| [mRo u-blox ZED-F9 RTK L1/L2 GPS](https://store.mrobotics.io/product-p/m10020d.htm) | F9P | ✓ | | [Dual F9P][DualF9P] | +| [Navisys L1/L2 ZED-F9P RTK - Base only](https://www.navisys.com.tw/productdetail?name=GR901&class=RTK) | F9P | | | | +| [RaccoonLab L1/L2 ZED-F9P][RaccoonLab L1/L2 ZED-F9P] | F9P | RM3100 | ✓ | | | +| [RaccoonLab L1/L2 ZED-F9P with external antenna][RaccnLabL1L2ZED-F9P ext_ant] | F9P | RM3100 | ✓ | | +| [Septentrio AsteRx-m3 Pro](../gps_compass/septentrio_asterx-rib.md) | AsteRx | ✓ | | [Septentrio Dual Antenna][SeptDualAnt] | ✓ | +| [Septentrio mosaic-go](../gps_compass/septentrio_mosaic-go.md) | mosaic X5 / mosaic H | ✓ | | [Septentrio Dual Antenna][SeptDualAnt] | ✓ | +| [SIRIUS RTK GNSS ROVER (F9P)](https://store-drotek.com/911-sirius-rtk-gnss-rover-f9p.html) | F9P | ✓ | | [Dual F9P][DualF9P] | +| [SparkFun GPS-RTK2 Board - ZED-F9P](https://www.sparkfun.com/products/15136) | F9P | ✓ | | [Dual F9P][DualF9P] | +| [Trimble MB-Two](../gps_compass/rtk_gps_trimble_mb_two.md) | F9P | ✓ | | ✓ | | @@ -141,7 +141,6 @@ The RTK GPS connection is essentially plug and play: ![survey-in](../../assets/qgc/setup/rtk/qgc_rtk_survey-in.png) 1. Once Survey-in completes: - - The RTK GPS icon changes to white and _QGroundControl_ starts to stream position data to the vehicle: ![RTK streaming](../../assets/qgc/setup/rtk/qgc_rtk_streaming.png) diff --git a/docs/en/gps_compass/rtk_gps_trimble_mb_two.md b/docs/en/gps_compass/rtk_gps_trimble_mb_two.md index 2344d2bba3..cb9e7321ce 100644 --- a/docs/en/gps_compass/rtk_gps_trimble_mb_two.md +++ b/docs/en/gps_compass/rtk_gps_trimble_mb_two.md @@ -1,6 +1,6 @@ # Trimble MB-Two -The [Trimble MB-Two RTK GPS receiver](https://www.trimble.com/Precision-GNSS/MB-Two-Board.aspx) is a high-end, dual-frequency [RTK GPS module](../gps_compass/rtk_gps.md) that can be configured as either base or rover. +The [Trimble MB-Two RTK GPS receiver](https://oemgnss.trimble.com/en/products/receiver-modules/mb-two) is a high-end, dual-frequency [RTK GPS module](../gps_compass/rtk_gps.md) that can be configured as either base or rover. In addition to providing precise position information, the MB-Two can estimate heading angle (it has dual-antenna support). This is useful for situations where a compass cannot provide reliable heading information, for example when flying close to metal constructs. diff --git a/docs/en/hardware/porting_guide_nuttx.md b/docs/en/hardware/porting_guide_nuttx.md index 62c929b76f..502959d117 100644 --- a/docs/en/hardware/porting_guide_nuttx.md +++ b/docs/en/hardware/porting_guide_nuttx.md @@ -53,7 +53,7 @@ First you will need a bootloader, which depends on the hardware target: - STM32H7: the bootloader is based on NuttX, and is included in the PX4 Firmware. See [here](https://github.com/PX4/PX4-Autopilot/tree/main/boards/holybro/durandal-v1/nuttx-config/bootloader) for an example. -- For all other targets, https://github.com/PX4/Bootloader is used. See [here](https://github.com/PX4/Bootloader/pull/155/files) for an example how to add a new target. +- For all other targets, https://github.com/PX4/PX4-Bootloader is used. See [here](https://github.com/PX4/PX4-Bootloader/pull/155/files) for an example how to add a new target. Then checkout the [building and flashing instructions](../software_update/stm32_bootloader.md). ### Firmware Porting Steps diff --git a/docs/en/hardware/reference_design.md b/docs/en/hardware/reference_design.md index 635c50790b..7fa6a6c45c 100644 --- a/docs/en/hardware/reference_design.md +++ b/docs/en/hardware/reference_design.md @@ -12,13 +12,13 @@ FMU generations 1-3 were designed as open hardware, while FMU generations 4 and ## Reference Design Generations -- FMUv1: Development board \(STM32F407, 128 KB RAM, 1MB flash, [schematics](https://github.com/PX4/Hardware/tree/master/FMUv1)\) (no longer supported by PX4) -- FMUv2: Pixhawk \(STM32F427, 168 MHz, 192 KB RAM, 1MB flash, [schematics](https://github.com/PX4/Hardware/tree/master/FMUv2)\) -- FMUv3: Pixhawk variants with 2MB flash \(3DR Pixhawk 2 \(Solo\), Hex Pixhawk 2.1, Holybro Pixfalcon, 3DR Pixhawk Mini, STM32F427, 168 MHz, 256 KB RAM, 2 MB flash, [schematics](https://github.com/PX4/Hardware/tree/master/FMUv3_REV_D)\) +- FMUv1: Development board \(STM32F407, 128 KB RAM, 1MB flash, [schematics](https://github.com/pixhawk/Hardware/tree/master/FMUv1)\) (no longer supported by PX4) +- FMUv2: Pixhawk \(STM32F427, 168 MHz, 192 KB RAM, 1MB flash, [schematics](https://github.com/pixhawk/Hardware/tree/master/FMUv2)\) +- FMUv3: Pixhawk variants with 2MB flash \(3DR Pixhawk 2 \(Solo\), Hex Pixhawk 2.1, Holybro Pixfalcon, 3DR Pixhawk Mini, STM32F427, 168 MHz, 256 KB RAM, 2 MB flash, [schematics](https://github.com/pixhawk/Hardware/tree/master/FMUv3_REV_D)\) - FMUv4: Pixracer \(STM32F427, 168 MHz, 256 KB RAM, 2 MB flash, [pinout](https://docs.google.com/spreadsheets/d/1raRRouNsveQz8cj-EneWG6iW0dqGfRAifI91I2Sr5E0/edit#gid=1585075739)\) - FMUv4 PRO: Drotek Pixhawk 3 PRO \(STM32F469, 180 MHz, 384 KB RAM, 2 MB flash, [pinout](https://docs.google.com/spreadsheets/d/1raRRouNsveQz8cj-EneWG6iW0dqGfRAifI91I2Sr5E0/edit#gid=1585075739)\) - FMUv5: Holybro Pixhawk 4 \(STM32F765, 216 MHz, 512 KB RAM, 2 MB flash, [pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165)\) -- FMUv5X: (Multiple Products) \(STM32F765, 400 MHz, 512KB RAM, 2 MB flash\) ([standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-011%20Pixhawk%20Autopilot%20v5X%20Standard.pdf)) +- FMUv5X: (Multiple Products) \(STM32F765, 400 MHz, 512KB RAM, 2 MB flash\) ([standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-011%20Pixhawk%20Autopilot%20v5X%20Standard.pdf)) - FMUv6X: (Multiple Products) \(STM32H753, 480 MHz, 1 MB RAM, 2 MB flash\) and variant 6i \(i.MX RT1050, 600 MHz, 512 KB RAM, external flash\) ([standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-012%20Pixhawk%20Autopilot%20v6X%20Standard.pdf)) - FMUv6C: (Multiple Products) \(STM32H743V, 480 MHz, 1 MB RAM, 2 MB flash\) ([standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-018%20Pixhawk%20Autopilot%20v6C%20Standard.pdf)) - FMUv6U: (Multiple Products) \(STM32H753, 400 MHz, 1 MB RAM, 2 MB flash\) ([standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-016%20Pixhawk%20Autopilot%20v6U%20Standard.pdf)) diff --git a/docs/en/index.md b/docs/en/index.md index 0b5193758c..a2b1579943 100644 --- a/docs/en/index.md +++ b/docs/en/index.md @@ -101,7 +101,7 @@ You can access these from the Languages menu (top right): ## License -PX4 code is free to use and modify under the terms of the permissive [BSD 3-clause license](https://opensource.org/licenses/BSD-3-Clause). +PX4 code is free to use and modify under the terms of the permissive [BSD 3-clause license](https://opensource.org/license/BSD-3-Clause). This documentation is licensed under [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/). For more information see: [Licences](contribute/licenses.md). diff --git a/docs/en/log/plotjuggler_log_analysis.md b/docs/en/log/plotjuggler_log_analysis.md index 6a9dfce20e..be9b0be76f 100644 --- a/docs/en/log/plotjuggler_log_analysis.md +++ b/docs/en/log/plotjuggler_log_analysis.md @@ -66,7 +66,7 @@ This shows the position / velocity relationship described above in detail. ::: info Try out the boat testing log analysis yourself by downloading the ULog and Layout file used above! -- [Boat testing ULog](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_log_analysis/plot_juggler/sample_log_boat_testing_2022-7-28-13-31-16.ulg) +- [Boat testing ULog](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/flight_log_analysis/plot_juggler/sample_log_boat_testing_2022-7-28-13-31-16.ulg) - [Boat testing Analysis Layout](https://raw.githubusercontent.com/PX4/PX4-user_guide/main/assets/flight_log_analysis/plot_juggler/sample_log_boat_testing_layout.xml) ::: diff --git a/docs/en/peripherals/frsky_telemetry.md b/docs/en/peripherals/frsky_telemetry.md index c4277ccf61..85c0091acf 100644 --- a/docs/en/peripherals/frsky_telemetry.md +++ b/docs/en/peripherals/frsky_telemetry.md @@ -214,7 +214,7 @@ The Pixracer includes electronics for converting between S.PORT and UART signals These can be sourced from: - [FrSky FUL-1](https://www.frsky-rc.com/product/ful-1/): [unmannedtech.co.uk](https://www.unmannedtechshop.co.uk/frsky-transmitter-receiver-upgrade-adapter-ful-1/) -- SPC: [getfpv.com](http://www.getfpv.com/frsky-smart-port-converter-cable.html), [unmannedtechshop.co.uk](https://www.unmannedtechshop.co.uk/frsky-smart-port-converter-spc/) +- SPC: [getfpv.com](https://www.getfpv.com/frsky-smart-port-converter-cable.html), [unmannedtechshop.co.uk](https://www.unmannedtechshop.co.uk/frsky-smart-port-converter-spc/) More information about the connections for different boards is given below. diff --git a/docs/en/releases/1.16.md b/docs/en/releases/1.16.md index 4e6b46ca56..9bd562fdfe 100644 --- a/docs/en/releases/1.16.md +++ b/docs/en/releases/1.16.md @@ -171,9 +171,9 @@ This release contains a major rework for the rover support in PX4: - New module dedicated to [Ackermann rovers](../frames_rover/index.md#ackermann): - The module currently supports [manual mode](../flight_modes_rover/manual.md#manual-mode), [acro mode](../flight_modes_rover/manual.md#acro-mode), [stabilized mode](../flight_modes_rover/manual.md#stabilized-mode), [position mode](../flight_modes_rover/manual.md#position-mode) and [auto modes](../flight_modes_rover/auto.md). - New module dedicated to [differential rovers](../frames_rover/index.md#differential): - - The module currently supports [manual mode](../flight_modes_rover/manual.md#manual-mode), [acro mode](../flight_modes_rover/manual.md#acro-mode), [stabilized mode](../flight_modes_rover/manual.md#stabilized-mode), [position mode](../flight_modes_rover/manual.md#position-mode) and [auto modes](../flight_modes_rover/auto.md). + - The module currently supports [manual mode](../flight_modes_rover/manual.md#manual-mode), [acro mode](../flight_modes_rover/manual.md#acro-mode), [stabilized mode](../flight_modes_rover/manual.md#stabilized-mode), [position mode](../flight_modes_rover/manual.md#position-mode) and [auto modes](../flight_modes_rover/auto.md). - New module dedicated to [mecanum rovers](../frames_rover/index.md#mecanum): - - The module currently supports [manual mode](../flight_modes_rover/manual.md#manual-mode), [acro mode](../flight_modes_rover/manual.md#acro-mode), [stabilized mode](../flight_modes_rover/manual.md#stabilized-mode), [position mode](../flight_modes_rover/manual.md#position-mode) and [auto modes](../flight_modes_rover/auto.md). + - The module currently supports [manual mode](../flight_modes_rover/manual.md#manual-mode), [acro mode](../flight_modes_rover/manual.md#acro-mode), [stabilized mode](../flight_modes_rover/manual.md#stabilized-mode), [position mode](../flight_modes_rover/manual.md#position-mode) and [auto modes](../flight_modes_rover/auto.md). - Added rover-specific firmware build (`50000–52000`) for Ackermann, differential and mecanum rovers - Restructure of the [rover airframe](../airframes/airframe_reference.md#rover) numbering convention ([PX4-Autopilot#23506](https://github.com/PX4/PX4-Autopilot/pull/23506)). This also introduces several [new rover airframes](../airframes/airframe_reference.md#rover): @@ -183,7 +183,7 @@ This release contains a major rework for the rover support in PX4: - Generic Mecanum Rover `52000`. - Library for the [pure pursuit guidance algorithm](../config_rover/position_tuning.md#pure-pursuit-guidance-logic-info-only) that is shared by all the rover modules. - [Simulation](../frames_rover/index.md#simulation) for differential-steering and Ackermann rovers in gazebo (for release notes see `r1_rover` and `rover_ackermann` in [simulation](#simulation)). -- Deprecation of the [rover position control](../frames_rover/rover_position_control.md) module: Note that the legacy rover module still exists but has been superseded by the new dedicated modules. +- Deprecation of the `rover position control` module: Note that the legacy rover module still exists but has been superseded by the new dedicated modules. ### Infrastructure diff --git a/docs/en/sim_sih/index.md b/docs/en/sim_sih/index.md index a5520f73b3..63842dd2c7 100644 --- a/docs/en/sim_sih/index.md +++ b/docs/en/sim_sih/index.md @@ -308,7 +308,7 @@ For specific examples see the `_sihsim_` airframes in [ROMFS/px4fmu_common/init. The dynamic models for the various vehicles are: -- Quadcopter: [pdf report](https://github.com/PX4/PX4-user_guide/raw/main/assets/simulation/SIH_dynamic_model.pdf). +- Quadcopter: [pdf report](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/simulation/SIH_dynamic_model.pdf). - Hexacopter: Equivalent to the Quadcopter but with a symmetric hexacopter x actuation setup. - Fixed-wing: Inspired by the PhD thesis: "Dynamics modeling of agile fixed-wing unmanned aerial vehicles." Khan, Waqas, supervised by Nahon, Meyer, McGill University, PhD thesis, 2016. - Tailsitter: Inspired by the master's thesis: "Modeling and control of a flying wing tailsitter unmanned aerial vehicle." Chiappinelli, Romain, supervised by Nahon, Meyer, McGill University, Masters thesis, 2018. diff --git a/docs/en/software_update/stm32_bootloader.md b/docs/en/software_update/stm32_bootloader.md index ca95806e16..cbb0d2648d 100644 --- a/docs/en/software_update/stm32_bootloader.md +++ b/docs/en/software_update/stm32_bootloader.md @@ -1,20 +1,20 @@ # STM32 Bootloader -The code for the PX4 bootloader is available from the Github [Bootloader](https://github.com/px4/bootloader) repository. +The code for the PX4 bootloader is available from the Github [Bootloader](https://github.com/PX4/PX4-Bootloader) repository. ## Supported Boards -* FMUv2 (Pixhawk 1, STM32F4) -* FMUv3 (Pixhawk 2, STM32F4) -* FMUv4 (Pixracer 3 and Pixhawk 3 Pro, STM32F4) -* FMUv5 (Pixhawk 4, STM32F7) -* TAPv1 (TBA, STM32F4) -* ASCv1 (TBA, STM32F4) +- FMUv2 (Pixhawk 1, STM32F4) +- FMUv3 (Pixhawk 2, STM32F4) +- FMUv4 (Pixracer 3 and Pixhawk 3 Pro, STM32F4) +- FMUv5 (Pixhawk 4, STM32F7) +- TAPv1 (TBA, STM32F4) +- ASCv1 (TBA, STM32F4) ## Building the Bootloader ```sh -git clone https://github.com/PX4/Bootloader.git +git clone https://github.com/PX4/PX4-Bootloader.git cd Bootloader git submodule init git submodule update @@ -26,25 +26,26 @@ After this step a range of elf files for all supported boards are present in the ## Flashing the Bootloader :::warning -The right power sequence is critical for some boards to allow JTAG / SWD access. Follow these steps exactly as described. +The right power sequence is critical for some boards to allow JTAG / SWD access. Follow these steps exactly as described. ::: -The instructions below are valid for a Blackmagic / Dronecode probe. +The instructions below are valid for a Blackmagic / Zubax BugFace BF1 probe. Other JTAG probes will need different but similar steps. Developers attempting to flash the bootloader should have the required knowledge. If you do not know how to do this you probably should reconsider if you really need to change anything about the bootloader. The sequence is + 1. Disconnect the JTAG cable 1. Connect the USB power cable 1. Connect the JTAG cable -### Black Magic / Dronecode Probe +### Black Magic / Zubax BugFace BF1 Probe #### Using the right serial port -* On LINUX: `/dev/serial/by-id/usb-Black_Sphere_XXX-if00` -* On MAC OS: Make sure to use the cu.xxx port, not the tty.xxx port: `tar ext /dev/tty.usbmodemDDEasdf` +- On LINUX: `/dev/serial/by-id/usb-Black_Sphere_XXX-if00` +- On MAC OS: Make sure to use the cu.xxx port, not the tty.xxx port: `tar ext /dev/tty.usbmodemDDEasdf` ```sh arm-none-eabi-gdb @@ -77,11 +78,10 @@ JLinkGDBServer -select USB=0 -device STM32F427VI -if SWD-DP -speed 20000 The `--device`/SoC for common targets is: -* **FMUv2, FMUv3, FMUv4, aerofc-v1, mindpx-v2:** STM32F427VI -* **px4_fmu-v4pro:** STM32F469II -* **px4_fmu-v5:** STM32F765II -* **crazyflie:** STM32F405RG - +- **FMUv2, FMUv3, FMUv4, aerofc-v1, mindpx-v2:** STM32F427VI +- **px4_fmu-v4pro:** STM32F469II +- **px4_fmu-v5:** STM32F765II +- **crazyflie:** STM32F405RG #### Connect GDB @@ -93,15 +93,16 @@ arm-none-eabi-gdb ### Troubleshooting -If any of the commands above are not found, you are either not using a Blackmagic probe or its software is outdated. +If any of the commands above are not found, you are either not using a Blackmagic probe or its software is outdated. Upgrade the on-probe software first. If this error message occurs: + ``` Error erasing flash with vFlashErase packet ``` -Disconnect the target (while leaving JTAG connected) and run +Disconnect the target (while leaving JTAG connected) and run ```sh mon tpwr disable @@ -109,4 +110,5 @@ swdp_scan attach 1 load tapv1_bl.elf ``` + This will disable target powering and attempt another flash cycle. diff --git a/docs/en/telemetry/microhard_serial.md b/docs/en/telemetry/microhard_serial.md index f852852345..61ec2edffb 100644 --- a/docs/en/telemetry/microhard_serial.md +++ b/docs/en/telemetry/microhard_serial.md @@ -59,7 +59,7 @@ The screen shots below show the default radio configuration settings for connect -The [Pico Series P900.Operating Manual.v1.8.7](https://github.com/PX4/PX4-user_guide/raw/main/assets/hardware/telemetry/Pico-Series-P900.Operating-Manual.v1.8.7.pdf) has additional information on radio configuration (including mesh and multipoint modes). +The [Pico Series P900.Operating Manual.v1.8.7](https://github.com/PX4/PX4-Autopilot/raw/main/docs/assets/hardware/telemetry/Pico-Series-P900.Operating-Manual.v1.8.7.pdf) has additional information on radio configuration (including mesh and multipoint modes). ### Mesh and Multipoint Modes