PX4 User Guide Original Version
===

[TOC]

:::info
**Official Website: [PX4 User Guide](https://docs.px4.io/main/en/)**
:::

PX4 Setting
---

### Download bootloader on laptop

* Follow the instruction: [PX4-Bootloader](https://github.com/PX4/PX4-Bootloader)

>Reference: https://hackmd.io/VYuIrmeMRSy2pcKGMvT15Q?view

### Download st-link on laptop

1. Download st-link

git clone http://github.com/texane/stlink.git
cd stlink
mkdir build
cd build
cmake ..
make -j4
sudo make install

2. Copy 49-stlinkv2.rules

cd stlink/config/udev/rules.d
sudo cp 49-stlinkv2.rules /etc/udev/rules.d/

>Reference: https://github.com/shengwen-tw/stm32f4-examples

### Bootloader program(only px4fmuv2_bl)

1. Connect st-link and check

2. 燒錄程式

cd PX4-Bootloader/build/px4fmuv2_bl
st-flash write px4fmuv2_bl.bin 0x8000000

>Reference: https://hackmd.io/VYuIrmeMRSy2pcKGMvT15Q?view

### Download Mavros

:::info
**You can download mavros on upboard or laptop**
:::

1. Download Mavors

* Follow the instruction: [Install Mavros](https://hackmd.io/iOtCxeZtSSqi2rCyHt2dyg#Install-Mavros)

2. Test

* Connect px4 & upboard

* Command

    roslaunch mavros px4.launch

* Result

* Topic

3. IMU data

* Command

    rostopic echo /mavros/imu/data

* Result

* Frame

Implement
---

### Basic Assembly

* Follow the instruction: [無人機組裝](https://hackmd.io/E-y2BgvjTOKLia2niLHndQ)

* Additional: You can mount upboard on multicopter

* 

### Basic Configuration

#### RC sysyem

* Connection of RC system has already done by lab member

#### Xbee Moudle

* Follow the instruction: [天線設定](https://hackmd.io/TNvNXB9sQoilNvrLHINYDw#%E5%A4%A9%E7%B7%9A%E8%A8%AD%E5%AE%9A)

#### OptiTrack

* Follow the instruction: [OptiTrack](https://hackmd.io/TNvNXB9sQoilNvrLHINYDw#optiTrack)

### QGroundControl

#### Download QGroundControl(QGC)
* Follow the instruction: [QGC](https://docs.qgroundcontrol.com/master/en/getting_started/download_and_install.html#ubuntu)

#### Connection through usb

* Connection
* 

* Add a link
* Serial port & baud rate need to change according to your device.

* Interface
* Connection success, you will see the user interface.

#### Connection through WiFi
* Upboard need to use network interface card to connect wifi.
* Follow the instruction: [QGC通過mavros連接到飛控](https://blog.csdn.net/qq_38649880/article/details/88342904)

#### Configuration

* Firmware
* Follow the instruction: [Install Stable PX4](https://docs.px4.io/main/en/config/firmware.html#install-stable-px4)

* Airframe
* Choose the best fit airframe according to your multicopter. For instance, [Quadrotor-X](https://docs.px4.io/main/en/airframes/airframe_reference.html#quadrotor-x) F450 is suitable for our drone.

* Follow the instruction: [Airframe](https://docs.px4.io/main/en/config/airframe.html )


* Power moudal:
* Follow the instruction: [Battery and Power Module Setup](https://docs.px4.io/main/en/config/battery.html)

* Safety:
* Follow the instruction: [Low Battery](https://docs.px4.io/main/en/config/safety.html#low-battery-failsafe)

* Follow the instruction: [RC Loss](https://docs.px4.io/main/en/config/safety.html#rc-loss-failsafe)

* Actuators:
* Choose appropriate ==**Airframe**== by instruction above.

* Follow the instruction: [Motor Geometry](https://docs.px4.io/main/en/config/actuators.html#motor-geometry)
* Rotation and order of motor according to Quadrotor-X.

* Follow the instruction: [Actuator Outputs](https://docs.px4.io/main/en/config/actuators.html#actuator-outputs)
* It is better to choose AUX output.

* Follow the instruction: [Actuator Testing](https://docs.px4.io/main/en/config/actuators.html#actuator-testing)
* Make sure rotation of each motor is accurate before flying.

* If you have problem, check [Actuator Configuration and Testing](https://docs.px4.io/main/en/config/actuators.html#actuator-configuration-and-testing)

#### Calibration


* Compass
* Follow the instruction: [Compass Calibration](https://docs.px4.io/main/en/config/compass.html#compass-calibration)

* Gyroscope
* Follow the instruction: [Gyroscope Calibration](https://docs.px4.io/main/en/config/gyroscope.html#gyroscope-calibration)

* Accelerometer
* Follow the instruction: [Accelerometer](https://docs.px4.io/main/en/config/accelerometer.html#accelerometer)
==Above three is done, click level to update.==

* ESC
* Follow the instruction: [ESC Calibration](https://docs.px4.io/main/en/advanced_config/esc_calibration.html#esc-calibration)

#### Tuning
* Follow the instruction: [Auto-tuning](https://docs.px4.io/main/en/config/autotune.html#auto-tuning)

#### Serial Setting
* Concept: [Serial Port Configuration](https://docs.px4.io/main/en/peripherals/serial_configuration.html#serial-port-configuration)
* Instruction: [MAVLink Peripherals (GCS/OSD/Companion)](https://docs.px4.io/main/en/peripherals/mavlink_peripherals.html#mavlink-peripherals-gcs-osd-companion)

#### Parameters

:::info
**All setting can modify here**
:::


### Flying

#### Flight Mode
* Concept: [Flight Modes](https://docs.px4.io/main/en/flight_modes/)

* Configuration
* Notice, Arm switch & Emergency kill switch must setup.
* Arm switch: motor will not rotate until switch on.
* Emergency kill switch: Force motor to stop.

#### Manual Mode

{%youtube Kml9Gl0oOMA %}

#### Offboard Mode

:::danger
Test of this mode is fail, probably due to nonlinearity of multicopter, PID tune is not suffieient to control our multicopter.
:::

* Procedure

* Usage: On-board processor and wifi link to ROS
* Ground Station: Laptop(ROS + mavros)
* Protocol: MAVlink
* Commuciation medium: Wifi
* Vehicle: Upboard & PX4
Upboard with ROS & mavros, connect to PX4 through usb.
* GPS / Pose estimate
* [Using Vision or Motion Capture Systems for Position Estimation](https://docs.px4.io/main/en/ros/external_position_estimation.html#specific-system-setups)
* [基於PX4、樹莓派和Mocap（Optitrack）的室內飛行環境搭建](https://blog.csdn.net/qq_42879437/article/details/117514082?fbclid=IwAR0ST33CtXGXvtWUF2k2PrrCwiGSPqj0ZcK3VUGFmPOsyznJo8lpeypD7Yw#t14)

* Image

* Control Objective:

* Position: x、y、z
* Velocity: vx、vy、vz
* Attitude: quaternion、roll/yaw/pitch rate、thrust

* Parameter:


* Example Code:
[Official Example Code](https://github.com/PX4/PX4-Devguide/blob/master/en/ros/mavros_offboard.md)
[mavros_offboard_control](https://github.com/raaslab/mavros_offboard_control)
[offboard_control](https://github.com/TIERS/offboard-control)

###### tags: `PX4`