Bootloader

The source code for the bootloaders can be found in AP_Bootloader but pre-compiled binaries are available for many boards in the Tools/Bootloaders directory on our firmware server. Please refer to the README text to see if one of the existing bootloaders is compatible for the new board.

Flash the bootloader

We have currently two ways to flash the ArduPilot bootloader : - flashing the one embedded into the firmware with MAVLink (recommended) - using DFU mode to flash

With DFU

Some boards come with a bootloader pre-installed while others rely on the board manufacturer to use dfu to install the firmware to the board. In either case, in order to conveniently load ArduPilot to the board over USB, an ArduPilot compatible bootloader must be uploaded to the board using dfu. “dfu” can be downloaded from here.

Note

Your board must be plugged into USB and in DFU mode. DFU mode is usually entered by shorting two pins together on the board. Please see your board’s documentation for details on how to accomplish this.

Upload the bootloader to the board dfu-util -a 0 --dfuse-address 0x08000000 -D new-board-bootloader.bin -R

Flash Firmware via UART (Telem Port)

Certain boards are capable of updating the firmware through a serial/UART connection in addition to the USB port on the autopilot. The boards capable of this will reference a UART in their respective ardupilot/libraries/AP_HAL_ChibiOS/hwdef/*your autopilot*/hwdef-bl.dat file. After verifying the board you want to flash is capable of this, navigate to the ardupilot/Tools/scripts directory.

Within this directory is a script called uploader.py which you will use to flash the firmware. Typing ./uploader.py --help will display the different arguments available to you. These will be modified depending on your specific hardware and baudrate configuration in your setup and autopilot. In this example a CubeBlack via a USB-TTL cable is used, with the baudrate set to 921600 on the Telem1 port.

Verify your device with a simple dmesg. The output should look something like this:

ftdi_sio 1-11.4:1.0: FTDI USB Serial Device converter detected
usb 1-11.4: Detected FT232RL
usb 1-11.4: FTDI USB Serial Device converter now attached to ttyUSB0

Now that we know which device to utilize for flashing, execute the script with the appropriate flags. The --baud-bootloader-flash "921600" is important to speed up the upload process. If left at the default "57600" you could be waiting some time for the firmware to upload. The --buad-flightstack "921600" needs to match your SERIALX_BAUDRATE in order to send the mavlink commands for the update. Successful execution should output to the terminal like this:

./uploader.py --port /dev/ttyUSB0 --baud-bootloader-flash "921600" --baud-flightstack "921600" ~/ardupilot/build/CubeBlack/bin/arducopter.apj
Loaded firmware for 9,0, size: 1710572 bytes, waiting for the bootloader...
If the board does not respond within 1-2 seconds, unplug and re-plug the USB connector.
Could not get external flash size, assuming 0
Found board 9,0 bootloader rev 5 on /dev/ttyUSB0
Bootloader Protocol: 5
OTP:
   type: Hex
   idtype: T
   vid: 6e686365
   pid: 676f6c6f
   coa: REM1MzYwNDQyNjFE//////////////////////////9DVTExTDk2MDA0NjIN/////////////////////////zA2LzE4LzE5IDA2OjI0OjA2////////////////////MkRBRToxMDEx//////////////////////////////8=
   sn: 003400483238511130313538
ChipDes:
   family: STM32F42x
   revision: 3
Chip:
   20016419 STM32F42x_43x rev3 (no 1M flaw)
Info:
   flash size: 2080768
   ext flash size: 0
   board_type: 9 (fmuv3)
   board_rev: 0
Identification complete
Setting baudrate to 921600

Erase  : [====================] 100.0%
Program: [====================] 100.0%
Verify : [====================] 100.0%
Rebooting.

Verify the firmware update by executing mavproxy.py --master /dev/ttyUSB0,921600.