3DR Solo (Developer Information)

This page provides instructions for developers working with the 3DR Solo Ready-to-fly copter. The comprehensive 3DR solo dev guide can be found here.

../_images/SoloControllerVehiclePC2.jpg

Uploading custom firmware to the Pixhawk2

  • Solo can be flown with ardupilot/master but when shipped by 3DR it runs a modified version of APM:Copter3.3.

  • Compile instructions are the same as for master ardupilot for a Pixhawk with the exception that the modified repos should be used.

  • After modifying/building the firmware, turn on the Solo and connect your PC’s network to the Solo controller’s access point using the same login/password used by the Solo app (by default these are something like: SoloLink_XXXXXX/sololink).

  • Use scp to copy the ArduCopter-v2.px4 file from your PC to root@10.1.1.10:/firmware (i.e. the firmware directory on the IMX6 on the Solo vehicle). Windows users in particular may want to install Putty and use a command like below:

C:\Progra~2\PuTTY\pscp.exe -pw SSH-PASSWORD -scp ArduCopter-v2.px4 root@10.1.1.10:/firmware/

Note

The SSH-PASSWORD should be replaced with the actual ssh password for your vehicle. The default root password is TjSDBkAu.

  • Reboot the vehicle and the vehicle’s IMX6 should load the firmware onto the Pixhawk2 (you should see the regular rainbow colours on the arm LEDs as the upload proceeds).

  • After uploading the firmware is moved to the /firmware/loaded directory.

Changing the controller mode

  • ssh into the iMX6 board in your artoo (ssh root@10.1.1.1)

  • vi /firmware/cfg/stick-cfg-evt.cfg:

    Mode 1:

    throttle stick-id = 1, dir = 0
roll stick-id = 2, dir = 0
pitch stick-id = 3, dir = 1
yaw stick-id = 0, dir = 0

    Mode 3:

    throttle stick-id = 1, dir = 0
roll stick-id = 0, dir = 0
pitch stick-id = 3, dir = 1
yaw stick-id = 2, dir = 0

    Mode 4:

    throttle stick-id = 3, dir = 0
roll stick-id = 0, dir = 0
pitch stick-id = 1, dir = 1
yaw stick-id = 2, dir = 0

  • Copy /usr/bin/runStickCal.sh to a new file (in the same directory) called runStickMapper.sh

  • Edit runStickMapper.sh and replace:

    stick-cal.py /dev/ttymxc1

    with

    stick-axis-cfg.py /dev/ttymxc1 /firmware/cfg/stick-cfg-evt.cfg

User supplied teardown video