Table of Contents¶
- Introducing Copter
- Key features
- Getting started
- Learn more about Copter
- How Multicopters Work
- Choosing a MultiCopter Frame
- Choosing an Autopilot
- Choosing a Ground Station
- Building Your Own Frame
- MultiCopter Safety
- Ready to Fly vehicles
- Supported vehicle types
- Use-Case Overview
- Overview
- Still and Video Photography
- First Person View (FPV)
- Disaster response
- Search (and rescue)
- Agricultural applications
- Forest fire mitigation
- Hazard/danger mitigation
- 3D Mapping and GIS (Geographic Information Systems)
- Inspection, Verification and Sample Collection
- Payload Based Applications
- Other applications
- AutoPilot Hardware Options
- Open hardware
- BBBMini* (Linux)
- Beagle Bone Blue (Linux)
- CUAV V5 Plus
- CUAV V5 Nano
- Drotek Pixhawk3
- F4BY
- Hex/ProfiCNC Cube Black
- Hex/ProfiCNC Cube Green
- Hex/ProfiCNC Cube Orange
- Hex/ProfiCNC Cube Purple
- Hex/ProfiCNC Cube Yellow
- mRo Pixhawk
- Specifications
- Purchase
- Pixhawk connector assignments
- Pixhawk top connectors
- Pixhawk PWM connectors for servos and ESCs and PPM-SUM in and SBUS out
- Pixhawk connector diagram
- Pixhawk connector pin assignments
- Connecting and disconnecting DF13 connectors
- Pixhawk analog input pins
- Pixhawk digital outputs and inputs (Virtual Pins 50-55)
- Powering
- See also
- mRo Pixracer
- mRo X2.1
- mRo X2.1-777
- OpenPilot Revolution
- PocketPilot* (Linux)
- TauLabs Sparky2
- Closed hardware
- Aerotenna Ocpoc-Zynq
- Emlid NAVIO2 (Linux)
- Furious FPV F-35 Lightning and Wing FC-10
- Holybro Durandal H7
- Holybro Kakute F4
- Holybro Kakute F7 AIO
- Holybro Pixhawk 4
- Holybro Pixhawk 4 Mini
- Mateksys F405-STD and variants
- Mateksys F405-Wing
- Mateksys F765-Wing
- mRo ControlZero F7
- Omnibus F4 AIO/Pro
- OmnibusNanoV6
- Omnibus F7V2
- Parrot Bebop Autopilot
- Parrot C.H.U.C.K
- RadioLink MiniPix
- SpeedyBee F4 (this board currently is non-verified)
- VR Brain 5
- VR uBrain 5.1
- Discontinued boards
- Open hardware
- First Time Setup
- Install Ground Station Software
- Autopilot System Assembly
- Loading Firmware to Pixhawk boards
- Loading Firmware to ChibiOS-only boards
- Connect Mission Planner to AutoPilot
- Configuration
- First Flight
- Flight Modes
- Pre-arm Safety Check
- Arming and Disarming
- Getting Off the Ground – Tips for New Operators
- Tuning
- Measuring Vibration
- Setting Hover Throttle
- Save Trim & Auto Trim
- Pre-Flight Checklist
- If A Problem Arises
- Advanced Configuration
- Autopilot Output Mapping
- The SERVOn_FUNCTION parameters
- Configuration
- GENERIC FUNCTIONS
- PLANE FUNCTIONS (Also applies to QuadPlanes)
- COPTER / QUADPLANE FUNCTIONS
- ROVER FUNCTIONS
- ANTENNA TRACKER FUNCTIONS
- CAMERA/GIMBAL FUNCTIONS
- INTERNAL COMBUSTION ENGINE FUNCTIONS
- NEOPIXEL LED STRINGS
- MISCELLANEOUS FUNCTIONS
- GENERAL PURPOSE LUA SCRIPTING OUTPUTS
- INTERNAL CONTROLLER ACCESS
- DEFAULT VALUES
- AutoTune
- Auxiliary Function Switches
- Auxiliary Function Switches (3.6 and earlier)
- Baro Temperature Compensation
- Boat mode
- CAN Bus Setup
- Compass Setup (Advanced)
- Current Limiting and Voltage Scaling
- Extended Kalman Filter (EKF)
- Flight Time Recorder
- GPIOs
- Ground Control Station Only Operation
- Ground Effect Compensation
- Independent Watchdog
- LUA Scripting
- Magnetic Interference
- Motor Thrust Scaling
- Non-GPS Navigation
- Notification Devices (LEDs,Buzzer,etc.)
- Notch Filter Configuration
- Object Avoidance
- Parameter List (Full)
- Parameter Reset
- RC Input Channel Mapping (RCMAP)
- Sensor Position Offset Compensation
- Sensor Testing
- Serial Port to Port Passthrough
- Serial Port Configuration
- Telemetry Port Setup
- Terrain Following (Non-Autonomous modes)
- Tuning
- UAVCAN Setup
- UBlox GPS Configuration
- Autopilot Output Mapping
- Mission Planning
- Planning a Mission with Waypoints and Events
- Copter Mission Command List
- Takeoff
- Waypoint
- Spline Waypoint
- Loiter_Time
- Loiter_Turns
- Loiter_Unlimited
- Return-To-Launch
- Land
- Delay
- Package Place
- Do-Set-ROI
- Condition-Delay
- Condition-Distance
- Condition-Yaw
- Do-Jump
- Do-Change-Speed
- Do-Set-Home
- Do-Set-Cam-Trigg-Dist
- Do-Set-Relay
- Do-Repeat-Relay
- Do-Set-Servo
- Do-Repeat-Servo
- Do-Digicam-Control
- Do-Mount-Control
- Do-Gripper
- Mission Command List
- Overview
- Commands supported by Copter
- Special Commands
- Navigation commands
- MAV_CMD_NAV_WAYPOINT
- MAV_CMD_NAV_TAKEOFF
- MAV_CMD_NAV_LOITER_UNLIM
- MAV_CMD_NAV_LOITER_TURNS
- MAV_CMD_NAV_LOITER_TIME
- MAV_CMD_NAV_RETURN_TO_LAUNCH
- MAV_CMD_NAV_LAND
- MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT
- MAV_CMD_NAV_SPLINE_WAYPOINT
- MAV_CMD_NAV_GUIDED_ENABLE
- MAV_CMD_NAV_ALTITUDE_WAIT
- MAV_CMD_NAV_LOITER_TO_ALT
- MAV_CMD_DO_JUMP
- Conditional commands
- DO commands
- MAV_CMD_DO_SET_MODE
- MAV_CMD_DO_CHANGE_SPEED
- MAV_CMD_DO_SET_HOME
- MAV_CMD_DO_SET_RELAY
- MAV_CMD_DO_REPEAT_RELAY
- MAV_CMD_DO_SET_SERVO
- MAV_CMD_DO_REPEAT_SERVO
- MAV_CMD_DO_LAND_START
- MAV_CMD_DO_SET_ROI
- MAV_CMD_DO_DIGICAM_CONFIGURE
- MAV_CMD_DO_DIGICAM_CONTROL
- MAV_CMD_DO_MOUNT_CONTROL
- MAV_CMD_DO_SET_CAM_TRIGG_DIST
- MAV_CMD_DO_FENCE_ENABLE
- MAV_CMD_DO_PARACHUTE
- MAV_CMD_DO_INVERTED_FLIGHT
- MAV_CMD_DO_GRIPPER
- MAV_CMD_DO_GUIDED_LIMITS
- MAV_CMD_DO_AUTOTUNE_ENABLE
- MAV_CMD_DO_ENGINE_CONTROL
- Camera Control in Auto Missions
- Rally Points
- Geotagging Images with Mission Planner
- Terrain Following
- Logs
- Optional Hardware
- ADS-B Receiver
- Battery Monitors (aka Power Modules)
- Barometer (external)
- Buzzer
- Cameras & Gimbals
- Gimbals
- Cameras with MAVLink interfaces
- Camera Control and GeoTagging
- Detail topics
- Gremsy Pixy U Gimbal
- Servo Gimbal
- SimpleBGC Gimbal Controller
- SToRM32 Gimbal Controller
- Tarot 2D Gimbal
- FLIR Vue Pro Thermal Camera
- Airpixel Entire Geotagger
- DROTAG x Geotagger
- Seagull IR Camera Trigger
- Seagull MAP2 Camera Trigger
- Seagull MAP-X2 Camera Trigger and Logger
- Seagull REC Camera Trigger
- Skysight Mono Camera Trigger
- StratosnapperV2 Camera Trigger
- Camera Trigger Directly from AUX Ports
- Camera Triggering Configuration
- Camera Triggering using CHDK
- Camera Triggering using CHDK Tutorial
- Companion Computers
- Crop Sprayer
- Display (Onboard)
- ESCs and Motors
- Fuel Flow and Level Sensors
- GPS/Compass
- Beitain BN-220 GPS / BN-880 GPS + Compass Module
- CUAV C-RTK 9P RTK Receiver
- CUAV Neo v2 Pro UAVCAN GPS
- Emlid Reach RTK Receiver
- Hex Here+ RTK Receiver
- Where to buy
- Connecting the vehicle and base station GPSs
- Installing the Drivers
- Upgrading to U-blox 1.30 Firmware
- Downloading U-centre UI and 1.30 Firmware
- Connect your HERE+ Base and Rover to Computer
- Upgrading Process
- Check current Rover/Base firmware version
- Basic operating manual
- Base module setting using Mission Planner
- Rover Module and Autopilot Setup
- Use U-centre for live data recording/replaying
- Use U-Centre for debugging/advanced configuration
- Change Base Antenna and Testing
- JDrones GPS Options
- MRo M8N Gps+Compass Module
- Swift Navigation's Piksi Multi RTK GPS Receiver
- Septentrio AsteRx-mUAS RTK GPS
- Trimble BD930 RTK GPS
- Zubax GNSS 2: GNSS + Compass + Barometer
- GPS Blending (aka Dual GPS)
- GPS – How it Works
- Grippers
- Joystick or Gamepad
- Landing Gear/ Retractable Camera Mount
- LEDs (external)
- Multiple Radio Control Receivers
- Non-GPS navigation
- On-Screen Display (OSD)
- Optical Flow Sensor
- Cheerson CX-OF
- HereFlow
- PX4FLOW
- Overview
- Install Drivers (Windows only)
- Using MissionPlanner
- Using QGroundControl
- Connect to the Pixhawk
- Mounting to the Frame
- Enabling the sensor
- Testing the sensor
- Calibrating the sensor
- Range Sensor Check
- Pre-Arm checks
- First Flight (Copter Only)
- Second Flight (Copter only)
- Example Video (Copter-3.4)
- OpenMV
- ADNS3080 Mouse Sensor (no longer supported)
- Parachute
- Power Tether
- PPM Encoder
- Precision Landing and Loiter (IRLock)
- Rangefinders (Sonar, Lidar)
- Rangefinder Setup Overview
- Aerotenna US-D1 Radar Altimeter
- Attollo Engineering Wasp200
- Benewake TF02 / TF03
- Benewake TFmini / TFmini Plus
- Garman Lidar-Lite
- Leddar One Lidar
- LightWare SF20 / LW20 Lidar
- LightWare SF10 / SF11 Lidar
- Lightware SF02 Lidar
- Lightware SF40c (360 degree)
- Maxbotix I2C Sonar
- Maxbotix Analog Sonar
- RPLidar A2 360 degree laser scanner
- ST VL53L0X / VL53L1X Lidar
- TeraRanger One Rangefinder
- TerraRanger Tower (360 degree)
- Underwater Sonar
- Analog Sonar (AC3.1)
- Supported Sonars
- Building a cable to reduce sonar noise
- Connecting the Sonar Sensor on APM 2.x
- Connecting the Sonar Sensor on PX4FMU
- Mounting the Sonar Sensor
- Enabling the Sonar through Mission Planner
- Testing the sonar
- Tuning the gain
- Sonar Maximum Altitude
- Cold weather performance
- Other Potential Causes of Sonar Noise
- Received Signal Strength Indication (RSSI)
- Relay Switch
- RPM Sensor
- Safety Switch
- Servos
- Telemetry Radio
- UAVCAN Adapter Node
- Firmware
- Video
- Winch
- Traditional Helicopters
- Tricopter
- SingleCopter and CoaxCopter
- HeliQuads
- SkyRocket
- Solo
- Reference Frames
- Use-Cases and Applications
- Antenna Tracking
- Simulation
- Appendix
- Acknowledgments
- Advanced user tools (downloads)
- Tools
- Tarot Gimbal firmware
- Copter Firmware
- Rover Firmware
- 3DR PPM Encoder V3 Manual
- USB Driver for Pixhawk Boards
- 3DR-uBlox configuration file
- APM2 / Ublox passthrough
- ArduCAM OSD Config (For MinimOSD’s Firmware v2.0)
- ArduCopter APM 1.0 Firmware
- ArduCopter APM 2.x Firmware
- ArduPPM Encoder 3DR Manual v2.3.16.pdf
- ArduPPM v2.3.16 ATMega32U2 firmware for APM 2.x (recommended APM2.x)
- ArduPPM v2.3.16 ATMega328p firmware for APM1.x Copter and standalone PPM encoder.
- ArduPPM v2.3.16 ATMega328p firmware for APM1.x Plane and standalone PPM encoder.
- ArduPPM v2.3.16 ATMega32U2 firmware for APM 2.x
- MediaTek GPS firmware update and utility
- MinimOSD Firmware v2.0
- MinimOSD Firmware v2.2 (Beta) - New Flight Modes
- OpticalFlow test sketch / APM2
- PX4Flow-KLT
- USB Driver for APM 2
- License
- Safety
- Tools
- Commercial Support
- Contact Us
- Developer tools (downloads)
- Tools
- Odroid Ubuntu 14.04 hostapd
- Arduino code to test an airspeed sensor
- Arduino 1.0.3 with modifications required for ArduPilot (Mac OS X)
- ArduPilot-Arduino-1.0.3-windows.zip
- CrossTrack demo (flash version)
- Data dump of three attitude solutions
- Declination Lookup - Test EMM
- mavproxybeta1.msi
- mavproxyBetaNoNeworkTest.msi
- Serial port test program
- License
- Safety
- Tools
- Donating to ArduPilot
- Firmware (downloads)
- Glossary
- History of ArduPilot
- Partners
- Partners Program
- Ready-To-Use vehicles
- Stores
- Top Contributors
- Training Centers
- Wiki Editing Guide
- Archived Topics
- Loading ChibiOS firmware onto Pixhawk
- NAVIO+ Overview
- APM 2.x
- PX4FMU
- PX4IO
- Qualcomm Snapdragon Flight Kit
- Open Camera Control Board
- VR Gimbal Controller (3-Axis Open Source)
- External GPS AP2.x
- GPS Module (External)
- External Compass (Magnetometer)
- Recording and Playing Back Missions
- AttoPilot Current/Voltage Sensor
- Erle-Brain2 Wiring Quick Start
- PXFmini Wiring Quick Start
- Edge Quick Start
- Using Xbee radios for telemetry with APM
- Quick Start for RTFs
- HIL Quad Simulator
- Traditional Helicopter Simulator – TradHeliHIL
- Installing the PX4FMU on a QuadCopter
- Overview
- PX4-FMU Only Wiring Diagram for QuadCopters using a PPM-SUM receiver
- Wiring the PX4FMU Board to Your QuadCopter
- PX4-FMU Only Wiring Schematic for QuadCopters using a PPM-SUM receiver
- Wiring your Motors for X or + mode configuration
- Using a Standard RC Radio Receiver with an 8 channel PPM Encoder
- There are Several Radio systems that support PPM-Sum or S-Bus directly
- GPS Failsafe
- Archived: Traditional Helicopter – Tuning with Copter 3.3 and earlier
- Hoverthings Flip Sport Quadcopter (detailed build)
- DJI F330 FlameWheel QuadCopter
- The DJI F330 FlameWheel is inexpensive, sturdy and small.
- The DJI F450 Flamewheel is an excellent larger alternative to the F330
- Components required in addition to the Flamewheel ARF kit
- Frame and Motor Assembly
- ESC Installation and Soldering the Power Distribution Board
- Reduced Vibration Installation of the Autopilot
- Getting Ready to Fly
- Build Your Own Multicopter
- Advanced MultiCopter Design
- Improving the Capabilities of Your Multicopter
- PDF Guides
- Copter Project News
- Troubleshooting
- I can’t get the motors to run and/or can’t arm the ESCs
- My APM 2 is locking up
- Copter tilts/flips over or wobbles crazily when I try to take off.
- My overpowered copter rockets into the air can’t be brought down unless I cut the throttle
- My copter motors spin but the copter wont take off (or motors may not spin at all)
- My radio setup isn’t reading the RC channels right or hangs
- My Copter isn’t as stable as I’d like or doesn’t Loiter/Hold Altitude/Navigate reliably
- My Copter flies okay, but it tends to tilt one way or another
- My Copter Moves In a Direction even though the Stick is Centered
- The quad always wants to yaw to the right or left when I take off
- The quad always wants to yaw when I pitch or roll
- My copter flies well, but then dips a motor arm in a fidgety manner while hovering
- One of my motors started shaking and then burned out!
- The APM board works when it’s plugged into the USB, but not when it’s powered by the RC rail (ESC/Lipo)
- In the “raw sensor view” of the Mission Planner, the Z accelerometer reading is always 1000, not 0, when it’s on the bench
- I can’t connect with the Mission Planner over Xbee
- I can’t connect with the Mission Planner with the 3DR Radios
- I’m having trouble connecting via MAVLink over USB
- Copter ESCs keep beeping
- I’m using a MediaTek GPS, and although the module’s blue lock LED goes solid, APM is not showing a lock or I’m getting “No GPS” on the Mission Planner display
- I’m not getting GPS lock at all
- I want to load the code in Arduino, but I’m having trouble
- My Copter just won’t rise/lift off
- My Copter feels sloppy on roll or pitch axis
- I’ve got a tricopter and I’m having trouble with the yaw
- The Mission Planner’s HUD display moves around even though my copter is motionless
- My copter’s is moving a lot on the Mission Planner map even though it’s sitting still in my house
- In Alt-Hold or loiter my copter is very bouncy or takes off into the sky
- My copter slowly rises or descends when I enable Alt-Hold or Loiter
- Mission planner displays enormous “Distance to Home” or “Dist to WP”
- Mission Planner displays Altitude of -21 million or NaN appearing in Advanced Parameter list
- Landing Gear
- Full Table of Contents