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<title>ArduPilot Firmware Download</title> |
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<link href="css/main.css" rel="stylesheet" type="text/css" /> |
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</head> |
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<body> |
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<div id="main"> |
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<a href="http://firmware.diydrones.com/"> |
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<div id="logo"> |
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</div> |
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</a> |
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<h2>ArduPilot Firmware builds</h2> |
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These firmware builds are automatically generated by the |
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<a href="http://autotest.diydrones.com">ArduPilot autotest system</a>.<p> |
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<h2>License</h2> |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version.<p> |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details.<p> |
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For details see <a href="http://www.gnu.org/licenses/gpl.html">http://www.gnu.org/licenses/gpl.html</a> |
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<h2>Safety</h2> |
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Operating a powered vehicle of any kind can be a lot of fun. However, |
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nothing will ruin your day at the park more quickly than an accident |
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or running afoul of the law. Since we want you to have a great |
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experience, please make sure that you do all of the following: |
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<ul> |
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<li><b>Operate within all local laws and regulations</b>. For |
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example, in the United States, current regulations require you to |
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operate most UAVs under 400 foot above ground level, within line of |
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site, and away from obstructions and populated areas. Since these |
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regulations vary from place to place, even within the same country, |
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ensure that you understand what you need to do to stay compliant.</li> |
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<li><b>Never operate the vehicle or software in a way that could be |
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dangerous to you, other people, or property</b>. Propellers, while |
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rotating, could easily cut you; if a UAV fell on a person or object, |
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it could cause a lot of pain and damage; a UAV caught in power lines |
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could cause an outage for many people. As Ben Franklin said, "An |
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ounce of prevention is worth a pound of cure."</li> |
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<li><b>Always keep in mind that software and hardware failures |
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happen</b>. Although we design our products to minimize such issues, |
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you should always operate with the understanding that a failure could |
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occur at any point of time and without warning. As such, you should |
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take the appropriate precautions to minimize danger in case of |
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failure.</li> |
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<li><b>Never use the software or hardware for manned vehicles</b>. |
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The software and hardware we provide is only for use in unmanned |
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vehicles.</li> |
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</ul> |
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<h2>Firmwares</h2> |
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<a href="Plane"><img src="images/plane.png" width="80" |
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alt="Plane">ArduPlane</a> - for fixed wing aircraft<p> |
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<a href="Copter"><img src="images/copter.png" width="80" |
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alt="Copter">ArduCopter</a> - for multicopters and |
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traditional helicopters<p> |
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<a href="Rover"><img src="images/rover.png" width="80" |
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alt="Rover">APMrover2</a> - for land vehicles and boats<p> |
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<a href="PX4IO"><img src="images/PX4IO.png" width="80" |
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alt="PX4IO">PX4IO</a> - for the PX4IO board<p> |
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<h2>Types of firmware available</h2> |
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To choose a firmware to download you need to choose: |
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<ul> |
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<li>The type of board that you have</li> |
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<li>Whether you want the stable, beta or latest version of the |
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firmware</li> |
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<li>Whether you want a HIL (hardware in the loop) image</li> |
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</ul> |
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The meanings of the versions are |
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<ul> |
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<li><b>stable</b> - this is the version recommended for new users. It |
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has had the most testing</li> |
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<li><b>beta</b> - this is the firmware to choose if you want to be |
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part of beta testing of new versions prior to release as a stable |
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version. Note that during some development times the beta release |
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will be the same as the stable release</li> |
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<li><b>latest</b> - this is the latest version from our <a href="http://github.com/diydrones">git source |
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code repository</a>. This version is only for developers. The code |
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may have unknown bugs and extreme care should be taken by anyone |
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using it</li> |
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</ul> |
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For each vehicle type a firmware image is available for each type of |
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autopilot board supported by that vehicle type |
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<h2>Load your firmware using QUpgrade</h2> |
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<p>QUpgrade is a standalone firmware upgrade tool. It can be used to download and flash the appropriate firmware for your autopilot.</p> |
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<h3>Download QUpgrade</h3> |
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<ul> |
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<li><b>Windows: </b><a href="https://pixhawk.ethz.ch/px4/_media/downloads/qupgrade-v0.2.exe.zip">QUpgrade Installer (exe, zipped) v0.2 BETA</a></li> |
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<li><b>Mac: </b><a href="https://pixhawk.ethz.ch/px4/_media/downloads/qupgrade-v0.2.dmg.zip">QUpgrade Installer (dmg, zipped) v0.2 BETA</a></li> |
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<li><b>Linux: </b>Soon available, or build from <a href="https://github.com/LorenzMeier/qupgrade/">Source</a></li> |
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</ul> |
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<h2>Load your firmware using APM Mission Planner</h2> |
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After downloading a firmware image from one of the links above you will |
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need to load it into your board. If you are using |
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the <a href="http://code.google.com/p/ardupilot-mega/wiki/MPInstallation">APM |
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Mission Planner</a> then you can load a hex file using the |
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"Firmware" screen by clicking on the "Load custom firmware" button in |
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the bottom right corner of the screen. |
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<h3>Loading firmware to a PX4FMU board</h3> |
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If you have |
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a <a href="https://pixhawk.ethz.ch/px4/modules/px4fmu">PX4FMU |
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board</a> then you can load firmware on Windows using the |
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px4uploader.exe utility, which you will find in the "APM Planner" |
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installation directory of your Windows machine. When you run that |
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utility it will ask you for the location of a px4fmu.px4 file to |
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load. It will then wait for your PX4 board to go into bootloader |
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mode. The PX4 board enters bootloader mode when it powers on, or when |
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the reset switch on the side of the PX4 is pressed. It may take a few |
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seconds for Windows to recognise your PX4 board and upload to |
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begin.<p> |
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The PX4 will exit bootloader mode and start the flight firmware 5 |
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seconds after it boots, so if the firmware load hasn't started within |
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5 seconds of booting your PX4 then you should press the PX4 reset |
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switch and try again.<p> |
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You will also need a <a href="PX4_Windows_Driver">Windows driver</a> |
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for your PX4FMU board in order to connect over USB. |
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<h3>Loading firmware to a PX4IO board</h3> |
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If you have |
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a <a href="https://pixhawk.ethz.ch/px4/modules/px4io">PX4IO board</a> |
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attached to your PX4FMU then you will need to separately load the |
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latest firmware to that board. To load the PX4IO firmware you need to |
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download the px4io.bin file from the above link, then put it in the |
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root directory of the microSD card you have in your PX4FMU board.<p> |
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You then need to hold the arming switch while applying power to your |
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PX4FMU board. The PX4IO board detects that the arming switch is held |
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when it powers on, and will enter bootloader mode, which is indicated |
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by a rapidly flashing red light on your PX4IO board.<p> |
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The APM firmware for your PX4FMU board will check in the root |
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directory of your microSD card every time it boots, and if it finds a |
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new px4io.bin file it will attempt to load it to your PX4IO board. A |
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log of the firmware load attempt is placed in the APM directory of |
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your microSD card to aid with debugging. |
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<h2>Loading APM1 or APM2 firmware on Linux or MacOS</h2> |
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If you don't use Mission Planner on Linux then you can load firmware |
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using the avrdude command. A typical command for uploading a file |
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called ArduPlane.hex to an APM2 or APM1-2560 is: |
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<pre> |
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avrdude -patmega2560 -cstk500v2 -P /dev/ttyACM0 -b115200 -D -Uflash:w:ArduPlane.hex:i |
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</pre> |
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You will need to replace the /dev/ttyACM0 path with the path to your |
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APM device. You may wish to use the device paths in /dev/serial/by-id |
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so the path doesn't change. |
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If you have an APM1-1280 then the command would be: |
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<pre> |
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avrdude -patmega1280 -cstk500v1 -P /dev/ttyUSB1 -b115200 -D -Uflash:w:ArduPlane.hex:i |
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</pre> |
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<h2>Loading PX4FMU firmware on Linux or MacOS</h2> |
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To load a PX4FMU firmware on a Linux or MacOS machine you will need to |
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use |
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the <a href="https://raw.github.com/diydrones/PX4Firmware/master/Tools/px_uploader.py">px_uploader.py</a> |
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python script. You can run it like this: |
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<pre> |
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python px_uploader.py --port /dev/ttyACM0 px4fmu.px4 |
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</pre> |
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After starting the script, press the reset button on your PX4FMU to |
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make it enter bootloader mode. |
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</div> |
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</body> |
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</html>
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