mirror of https://github.com/ArduPilot/ardupilot
147 lines
5.3 KiB
HTML
147 lines
5.3 KiB
HTML
<!DOCTYPE HTML>
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<head>
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<meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
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<title>ArduPilot Firmware Download</title>
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<!--CSS -->
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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>.
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<l>
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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>How to load your firmware</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.
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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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</body>
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</html>
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