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[Docs] Update QGC Bootloader instructions (#25072)
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* [Docs] Update QGC Bootloader instructions * Add release note
This commit is contained in:
Hamish Willee
GitHub
@@ -9,11 +9,45 @@ This topic explains how to build the PX4 bootloader, and several methods for fla
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::: info
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- Most boards will need to use the [Debug Probe](#debug-probe-bootloader-update) to update the bootloader.
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- You can use [QGC Bootloader Update](#qgc-bootloader-update-sys-bl-update) with firmware that includes the [`bl-update` module](../modules/modules_command.md#bl-update).
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This is the easiest way to update the bootloader, provided the board is able to load firmware.
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- You can also use the [Debug Probe](#debug-probe-bootloader-update) to update the bootloader.
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This is useful for updating/fixing the bootloader when the board is bricked.
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- On [FMUv6X-RT](../flight_controller/pixhawk6x-rt.md) you can [install bootloader/unbrick boards via USB](bootloader_update_v6xrt.md).
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This is useful if you don't have a debug probe.
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- On FMUv2 and some custom firmware (only) you can use [QGC Bootloader Update](#qgc-bootloader-update).
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:::
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:::
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## QGC Bootloader Update (`SYS_BL_UPDATE`)
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The easiest way to update the bootloader is to first use _QGroundControl_ to install firmware that contains the desired/latest bootloader.
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You can then initiate bootloader update on next restart by setting the parameter: [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE).
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This approach can be used if the [`bl-update` module](../modules/modules_command.md#bl-update) is present in the firmware.
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The easiest way to check this is just to see if the [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE) parameter is [found in QGroundControl](../advanced_config/parameters.md#finding-a-parameter).
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:::warning
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Boards that include the module will have the line `CONFIG_SYSTEMCMDS_BL_UPDATE=y` in their `default.px4board` file (for examples [see this search](https://github.com/search?q=repo%3APX4%2FPX4-Autopilot+path%3A**%2Fdefault.px4board+CONFIG_SYSTEMCMDS_BL_UPDATE%3Dy&type=code)).
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You can enable this key in your own custom firmware if needed.
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:::
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The steps are:
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1. Insert an SD card (enables boot logging to debug any problems).
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1. [Update the Firmware](../config/firmware.md#custom) with an image containing the new/desired bootloader.
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::: info
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The updated bootloader might be included the default firmware for your board or supplied in custom firmware.
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:::
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1. Wait for the vehicle to reboot.
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1. [Find and enable](../advanced_config/parameters.md) the parameter [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE).
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1. Reboot (disconnect/reconnect the board).
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The bootloader update will only take a few seconds.
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Generally at this point you may then want to [update the firmware](../config/firmware.md) again using the correct/newly installed bootloader.
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An specific example of this process for updating the [FMUv2 bootloader](#fmuv2-bootloader-update) is given below.
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## Building the PX4 Bootloader
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@@ -49,11 +83,9 @@ The instructions in the repo README explain how to use it.
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The following steps explain how you can "manually" update the bootloader using a [compatible Debug Probe](../debug/swd_debug.md#debug-probes-for-px4-hardware):
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1. Get a binary containing the bootloader (either from dev team or [build it yourself](#building-the-px4-bootloader)).
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1. Get a [Debug Probe](../debug/swd_debug.md#debug-probes-for-px4-hardware).
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2. Get a [Debug Probe](../debug/swd_debug.md#debug-probes-for-px4-hardware).
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Connect the probe your PC via USB and setup the `gdbserver`.
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1. Go into the directory containing the binary and run the command for your target bootloader in the terminal:
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3. Go into the directory containing the binary and run the command for your target bootloader in the terminal:
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- FMUv6X
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@@ -78,7 +110,7 @@ The following steps explain how you can "manually" update the bootloader using a
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Bootloaders from [PX4/PX4-Bootloader](https://github.com/PX4/PX4-Bootloader) are named with the pattern `*_bl.elf`.
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:::
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1. The _gdb terminal_ appears and it should display the following output:
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4. The _gdb terminal_ appears and it should display the following output:
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```sh
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GNU gdb (GNU Tools for Arm Embedded Processors 7-2017-q4-major) 8.0.50.20171128-git
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@@ -98,28 +130,27 @@ The following steps explain how you can "manually" update the bootloader using a
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Reading symbols from px4fmuv5_bl.elf...done.
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```
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1. Find your `<dronecode-probe-id>` by running an `ls` command in the **/dev/serial/by-id** directory.
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1. Now connect to the debug probe with the following command:
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5. Find your `<dronecode-probe-id>` by running an `ls` command in the **/dev/serial/by-id** directory.
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6. Now connect to the debug probe with the following command:
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```sh
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tar ext /dev/serial/by-id/<dronecode-probe-id>
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```
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1. Power on the Pixhawk with another USB cable and connect the probe to the `FMU-DEBUG` port.
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7. Power on the Pixhawk with another USB cable and connect the probe to the `FMU-DEBUG` port.
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::: info
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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).
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:::
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1. Use the following command to scan for the Pixhawk`s SWD and connect to it:
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8. Use the following command to scan for the Pixhawk`s SWD and connect to it:
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```sh
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(gdb) mon swdp_scan
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(gdb) attach 1
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```
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1. Load the binary into the Pixhawk:
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9. Load the binary into the Pixhawk:
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```sh
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(gdb) load
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@@ -127,38 +158,10 @@ The following steps explain how you can "manually" update the bootloader using a
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After the bootloader has updated you can [Load PX4 Firmware](../config/firmware.md) using _QGroundControl_.
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## QGC Bootloader Update
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The easiest approach is to first use _QGroundControl_ to install firmware that contains the desired/latest bootloader.
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You can then initiate bootloader update on next restart by setting the parameter: [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE).
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This approach can only be used if [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE) is present in firmware.
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:::warning
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Currently only FMUv2 and some custom firmware includes the desired bootloader.
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:::
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The steps are:
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1. Insert an SD card (enables boot logging to debug any problems).
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1. [Update the Firmware](../config/firmware.md#custom) with an image containing the new/desired bootloader.
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::: info
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The updated bootloader might be supplied in custom firmware (i.e. from the dev team), or it or may be included in the latest main branch.
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:::
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1. Wait for the vehicle to reboot.
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1. [Find and enable](../advanced_config/parameters.md) the parameter [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE).
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1. Reboot (disconnect/reconnect the board).
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The bootloader update will only take a few seconds.
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Generally at this point you may then want to [update the firmware](../config/firmware.md) again using the correct/newly installed bootloader.
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An specific example of this process for updating the FMUv2 bootloader is given below.
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### FMUv2 Bootloader Update
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## FMUv2 Bootloader Update
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If _QGroundControl_ installs the FMUv2 target (see console during installation), and you have a newer board, you may need to update the bootloader in order to access all the memory on your flight controller.
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This example explains how you can use [QGC Bootloader Update](qgc-bootloader-update-sys-bl-update) to update the bootloader.
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::: info
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Early FMUv2 [Pixhawk-series](../flight_controller/pixhawk_series.md#fmu_versions) flight controllers had a [hardware issue](../flight_controller/silicon_errata.md#fmuv2-pixhawk-silicon-errata) that restricted them to using 1MB of flash memory.
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@@ -168,17 +171,17 @@ The problem is fixed on newer boards, but you may need to update the factory-pro
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To update the bootloader:
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1. Insert an SD card (enables boot logging to debug any problems).
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1. [Update the Firmware](../config/firmware.md) to PX4 _master_ version (when updating the firmware, check **Advanced settings** and then select **Developer Build (master)** from the dropdown list).
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2. [Update the Firmware](../config/firmware.md) to PX4 _master_ version (when updating the firmware, check **Advanced settings** and then select **Developer Build (master)** from the dropdown list).
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_QGroundControl_ will automatically detect that the hardware supports FMUv2 and install the appropriate Firmware.
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Wait for the vehicle to reboot.
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1. [Find and enable](../advanced_config/parameters.md) the parameter [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE).
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1. Reboot (disconnect/reconnect the board).
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3. [Find and enable](../advanced_config/parameters.md) the parameter [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE).
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4. Reboot (disconnect/reconnect the board).
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The bootloader update will only take a few seconds.
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1. Then [Update the Firmware](../config/firmware.md) again.
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5. Then [Update the Firmware](../config/firmware.md) again.
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This time _QGroundControl_ should autodetect the hardware as FMUv3 and update the Firmware appropriately.
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@@ -40,7 +40,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
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### Common
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- TBD
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- [QGroundControl Bootloader Update](../advanced_config/bootloader_update.md#qgc-bootloader-update-sys-bl-update) via the [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE) parameter has been re-enabled after being broken for a number of releases. ([PX4-Autopilot#25032: build: romf: fix generation of rc.board_bootloader_upgrade](https://github.com/PX4/PX4-Autopilot/pull/25032)).
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### Control
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