Mapping serial port
Mapping between switches and serial ports (TCP or UDP can be used instead of serial ports):
-A - serial 0 (always console; default baud rate 115200)
-C - serial 1 (normally telemetry 1; default baud rate 57600)
3DR Radios are configured for 57600 by default, so the simplest way to connect over them is to run with -C option.
-D - serial 2 (normally telemetry 2; default baud rate 57600)
-B - serial 3 (normally 1st GPS; default baud rate 38400)
-E - serial 4 (normally 2st GPS; default baud rate 38400)
-F - serial 5
Additionally take a look at list of serial parameters for Mission Planner.
When using UART for telemetry please keep in mind that serial ports have default baud rates.
Reload configuration¶
If you changed something in the previous step you need to reload configuration for systemd to work properly.
AC3.6系のパラメータ
Loiter with Breakの実装以降パラメータが変わっている。
ザックとみた感じで、これらが追加になって。
LOIT_ANG_MAX
LOIT_SPEED
LOIT_ACC_MAXLOIT_BRK_JERK
LOIT_BRK_DELAY
これらがなくなった。
WPNAV_LOIT_JERK
WPNAV_LOIT_JERK
WPNAV_LOIT_MAXA
WPNAV_LOIT_MINA
WPNAV_LOIT_SPEED
MissionPlanner->Configuration->extended画面でこれらのパラメータはグレーアウトされる。
これら以外にも変更になったパラメータがあるので、それらについては調査中。
Firmware Build from source code
Setting up the Build Environment
How to build firmware with make
http://ardupilot.org/dev/docs/building-px4-with-make.html
How to build firmware with waf
Pixhawk 4 Power Module (PM07) – Holybro
Battery Monitor on ac3.6.11
BATT_VOLT_PIN 0
BATT_CURR_PIN 1