Initializing the Flight Controller#

What you will need

  • A base station computer

  • Flight Controller

  • USB to USB-C cable

What you will get

  • An up-to-date, initialized Flight Controller

The Flight Controller (FC) implements several low-level behaviors, e.g., stabilizing the Duckiedrone around roll, pitch, and yaw through three different PID controllers. Correctly configuring the Flight Controller is critical for flying safely.

Installing Dependencies and Flashing Betaflight Firmware#

1. Install dfu-util and screen:#

  • Connect to the Raspberry Pi through ssh.

  • Update the package list:

sudo apt update

  • Install dfu-util and screen:

sudo apt install dfu-util screen

2. Connect to the serial Console:#

  • Make sure your SpeedyBee flight controller is connected to the Raspberry Pi via a USB cable.

  • Identify the serial port your flight controller is connected to by running ls /dev/ttyACM*, it’s commonly listed as /dev/ttyACM0, but it might differ.

  • In the terminal, run the following command to connect to the serial console using screen:

    screen /dev/ttyACM0 115200

    Replace /dev/ttyACM0 with the actual serial port of your flight controller if it’s different.

3. Entering DFU Mode:#

  • Once connected through screen, press the # key on your keyboard to enter the Betaflight command-line interface (CLI).

  • In the Betaflight CLI, type the command bl and press enter. This will reboot the board and put it into DFU (Device Firmware Update) mode.

4. Download and Flash the Firmware:#

Run the following command:

wget https://github.com/duckietown/duckiedrone-ardupilot-driver/blob/366b41b08dfdb905e40bb2c91e57c9704a313500/assets/arducopter_with_bl_v4_5_5.bin?raw=true

  • Run dfu-util to flash the firmware:

sudo dfu-util -a 0 -s 0x08000000:leave -d 0483:df11 -D arducopter_with_bl_v4_5_5.bin

5. Exit and Disconnect:#

  • The flashing process might take a few minutes. Once finished, the flight controller will reboot.

Connecting to the Flight Controller#

Here’s the updated version of the instructions, now including the first step to install QGroundControl on your laptop:

Attention

Unplug the battery from your drone!

Installing QGroundControl and Restoring the correct parameters#

By following these steps, you will be able to install QGroundControl, connect to your flight controller via TCP, and restore your vehicle’s parameters from a .param file. You can download the correct .param file from this link.

  1. Install QGroundControl:`

    • Go to the QGroundControl website and download the installer for your operating system (Windows, macOS, or Linux).

    • Follow the installation instructions for your OS:

      • Windows: Run the installer and follow the prompts.

      • macOS: Download the .dmg file, open it, and drag the QGroundControl icon into your Applications folder.

      • Linux: Follow the package manager or AppImage instructions provided on the QGroundControl download page.

    • Once installed, launch QGroundControl.

  2. Connect to Your Vehicle via TCP:

    • Open QGroundControl on your computer.

    • Go to the Comm Links section by clicking on the Q application icon in the top left corner.

    • Select Add to create a new communication link.

    • Choose TCP Link from the dropdown.

    • Set the Host Address to <robot_name>.local and the Port to 5760.

    • Click Connect to establish the connection with your flight controller.

  3. Access the Vehicle Setup:

    • Once connected, open the menu by clicking on the by clicking on the Q application icon in the top left corner and open the Vehicle Setup page from the popup menu that appears.

  4. Navigate to Parameters:

    • In the Vehicle Setup menu, select the Parameters tab to view the configurable parameters for your vehicle.

  5. Load the .param File:

    • In the Parameters screen, click on the Tools menu in the top right corner.

    • Select Load from file… from the dropdown menu.

    • Browse to the location of your .param file on your computer, select it, and click Open.

  6. Apply the Parameters:

    • QGroundControl will load and apply the parameters from the file to your vehicle. Progress indicators or messages will confirm that the parameters are being applied.

  7. Reboot the Vehicle:**

    • After loading the parameters, it is usually necessary to reboot the flight controller for changes to take effect.

    • You can reboot the vehicle by selecting Reboot Vehicle from the Tools menu.

Here is a video summing up how to restore the parameters after having connected to the Flight Controller:

Additional Tips#

  • Multiple Loads: Some parameters may require multiple loads until they are all applied correctly.

  • Check for Errors: Ensure QGroundControl does not report any errors during the parameter loading process.

Troubleshooting#

Troubleshooting

SYMPTOM

I am having issues following the instructions!

RESOLUTION

We’re happy to support and to hear your feedback! Please post a question on our StackOverflow, you can find the instructions on how to join it here.

You can also contact us via Slack at the following channel: duckietown-sky-help