mirror of https://github.com/ArduPilot/ardupilot
147 lines
5.3 KiB
HTML
147 lines
5.3 KiB
HTML
|
<!DOCTYPE HTML>
|
||
|
|
<head>
|
||
|
|
<meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
|
||
|
|
<title>ArduPilot Firmware Download</title>
|
||
|
|
|
||
|
|
<!--CSS -->
|
||
|
|
<link href="css/main.css" rel="stylesheet" type="text/css" />
|
||
|
|
</head>
|
||
|
|
|
||
|
|
<body>
|
||
|
|
<div id="main">
|
||
|
|
<a href="http://firmware.diydrones.com/">
|
||
|
|
<div id="logo">
|
||
|
|
</div>
|
||
|
|
</a>
|
||
|
|
|
||
|
|
<h2>ArduPilot Firmware builds</h2>
|
||
|
|
|
||
|
|
These firmware builds are automatically generated by the
|
||
|
|
<a href="http://autotest.diydrones.com">ArduPilot autotest system</a>.
|
||
|
|
|
||
|
|
<l>
|
||
|
|
<a href="Plane"><img src="images/plane.png" width="80"
|
||
|
|
alt="Plane">ArduPlane</a> - for fixed wing aircraft<p>
|
||
|
|
|
||
|
|
<a href="Copter"><img src="images/copter.png" width="80"
|
||
|
|
alt="Copter">ArduCopter</a> - for multicopters and
|
||
|
|
traditional helicopters<p>
|
||
|
|
<a href="Rover"><img src="images/rover.png" width="80"
|
||
|
|
alt="Rover">APMrover2</a> - for land vehicles and boats<p>
|
||
|
|
<a href="PX4IO"><img src="images/PX4IO.png" width="80"
|
||
|
|
alt="PX4IO">PX4IO</a> - for the PX4IO board<p>
|
||
|
|
|
||
|
|
<h2>Types of firmware available</h2>
|
||
|
|
|
||
|
|
To choose a firmware to download you need to choose:
|
||
|
|
|
||
|
|
<ul>
|
||
|
|
<li>The type of board that you have</li>
|
||
|
|
<li>Whether you want the stable, beta or latest version of the
|
||
|
|
firmware</li>
|
||
|
|
<li>Whether you want a HIL (hardware in the loop) image</li>
|
||
|
|
</ul>
|
||
|
|
|
||
|
|
The meanings of the versions are
|
||
|
|
|
||
|
|
<ul>
|
||
|
|
<li><b>stable</b> - this is the version recommended for new users. It
|
||
|
|
has had the most testing</li>
|
||
|
|
<li><b>beta</b> - this is the firmware to choose if you want to be
|
||
|
|
part of beta testing of new versions prior to release as a stable
|
||
|
|
version. Note that during some development times the beta release
|
||
|
|
will be the same as the stable release</li>
|
||
|
|
<li><b>latest</b> - this is the latest version from our <a href="http://github.com/diydrones">git source
|
||
|
|
code repository</a>. This version is only for developers. The code
|
||
|
|
may have unknown bugs and extreme care should be taken by anyone
|
||
|
|
using it</li>
|
||
|
|
</ul>
|
||
|
|
|
||
|
|
For each vehicle type a firmware image is available for each type of
|
||
|
|
autopilot board supported by that vehicle type
|
||
|
|
|
||
|
|
<h2>How to load your firmware</h2>
|
||
|
|
|
||
|
|
After downloading a firmware image from one of the links above you will
|
||
|
|
need to load it into your board. If you are using
|
||
|
|
the <a href="http://code.google.com/p/ardupilot-mega/wiki/MPInstallation">APM
|
||
|
|
Mission Planner</a> then you can load a hex file using the
|
||
|
|
"Firmware" screen by clicking on the "Load custom firmware" button in
|
||
|
|
the bottom right corner of the screen.
|
||
|
|
|
||
|
|
<h3>Loading firmware to a PX4FMU board</h3>
|
||
|
|
|
||
|
|
If you have
|
||
|
|
a <a href="https://pixhawk.ethz.ch/px4/modules/px4fmu">PX4FMU
|
||
|
|
board</a> then you can load firmware on Windows using the
|
||
|
|
px4uploader.exe utility, which you will find in the "APM Planner"
|
||
|
|
installation directory of your Windows machine. When you run that
|
||
|
|
utility it will ask you for the location of a px4fmu.px4 file to
|
||
|
|
load. It will then wait for your PX4 board to go into bootloader
|
||
|
|
mode. The PX4 board enters bootloader mode when it powers on, or when
|
||
|
|
the reset switch on the side of the PX4 is pressed. It may take a few
|
||
|
|
seconds for Windows to recognise your PX4 board and upload to
|
||
|
|
begin.<p>
|
||
|
|
|
||
|
|
The PX4 will exit bootloader mode and start the flight firmware 5
|
||
|
|
seconds after it boots, so if the firmware load hasn't started within
|
||
|
|
5 seconds of booting your PX4 then you should press the PX4 reset
|
||
|
|
switch and try again.
|
||
|
|
|
||
|
|
<h3>Loading firmware to a PX4IO board</h3>
|
||
|
|
|
||
|
|
If you have
|
||
|
|
a <a href="https://pixhawk.ethz.ch/px4/modules/px4io">PX4IO board</a>
|
||
|
|
attached to your PX4FMU then you will need to separately load the
|
||
|
|
latest firmware to that board. To load the PX4IO firmware you need to
|
||
|
|
download the px4io.bin file from the above link, then put it in the
|
||
|
|
root directory of the microSD card you have in your PX4FMU board.<p>
|
||
|
|
|
||
|
|
You then need to hold the arming switch while applying power to your
|
||
|
|
PX4FMU board. The PX4IO board detects that the arming switch is held
|
||
|
|
when it powers on, and will enter bootloader mode, which is indicated
|
||
|
|
by a rapidly flashing red light on your PX4IO board.<p>
|
||
|
|
|
||
|
|
The APM firmware for your PX4FMU board will check in the root
|
||
|
|
directory of your microSD card every time it boots, and if it finds a
|
||
|
|
new px4io.bin file it will attempt to load it to your PX4IO board. A
|
||
|
|
log of the firmware load attempt is placed in the APM directory of
|
||
|
|
your microSD card to aid with debugging.
|
||
|
|
|
||
|
|
<h2>Loading APM1 or APM2 firmware on Linux or MacOS</h2>
|
||
|
|
|
||
|
|
If you don't use Mission Planner on Linux then you can load firmware
|
||
|
|
using the avrdude command. A typical command for uploading a file
|
||
|
|
called ArduPlane.hex to an APM2 or APM1-2560 is:
|
||
|
|
|
||
|
|
<pre>
|
||
|
|
avrdude -patmega2560 -cstk500v2 -P /dev/ttyACM0 -b115200 -D -Uflash:w:ArduPlane.hex:i
|
||
|
|
</pre>
|
||
|
|
|
||
|
|
You will need to replace the /dev/ttyACM0 path with the path to your
|
||
|
|
APM device. You may wish to use the device paths in /dev/serial/by-id
|
||
|
|
so the path doesn't change.
|
||
|
|
|
||
|
|
If you have an APM1-1280 then the command would be:
|
||
|
|
|
||
|
|
<pre>
|
||
|
|
avrdude -patmega1280 -cstk500v1 -P /dev/ttyUSB1 -b115200 -D -Uflash:w:ArduPlane.hex:i
|
||
|
|
</pre>
|
||
|
|
|
||
|
|
<h2>Loading PX4FMU firmware on Linux or MacOS</h2>
|
||
|
|
|
||
|
|
To load a PX4FMU firmware on a Linux or MacOS machine you will need to
|
||
|
|
use
|
||
|
|
the <a href="https://raw.github.com/diydrones/PX4Firmware/master/Tools/px_uploader.py">px_uploader.py</a>
|
||
|
|
python script. You can run it like this:
|
||
|
|
|
||
|
|
<pre>
|
||
|
|
python px_uploader.py --port /dev/ttyACM0 px4fmu.px4
|
||
|
|
</pre>
|
||
|
|
|
||
|
|
After starting the script, press the reset button on your PX4FMU to
|
||
|
|
make it enter bootloader mode.
|
||
|
|
|
||
|
|
</body>
|
||
|
|
</html>
|