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Stavros Korokithakis 2022-03-28 03:27:13 +03:00
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content/ardupilot/ardupilot-setup-checklist.md
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@ -22,6 +22,7 @@ The values in this section are specific to the Omnibus F4, but the settings aren
- [ ] Connect GPS to UART 6 (SERIAL4). You don't need to do anything else for GPS, it should work out of the box. If it doesn't, set `SERIALn_PROTOCOL=5`.
- [ ] Change the FC's orientation with `AHRS_ORIENTATION` and monitor the artificial horizon to see if it moves correctly.
- [ ] Make sure the artificial horizon is level when the plane is level on the ground. Use the "calibrate level" button or `AHRS_TRIM_Y` to correct it if it's not.
- [ ] Calibrate the accelerometer. "Forward" here needs to be the forward direction of the plane, not the arrow on the FC.
- [ ] Connect Fport to a UART. I chose UART 3 (SERIAL2). If you want to use UART 1, you should set the RC input jumper to PPM on the F4 to disconnect the SBUS inverter from the pin.
- [ ] To get Fport working with UART 3, you need to set `BRD_ALT_CONFIG=1`, to get UART 3 to act like a UART instead of I2C on the Omnibus F4.
@ -51,6 +52,7 @@ The values in this section are specific to the Omnibus F4, but the settings aren
SERVO4_TRIM=1500
```
All these values are necessary, because usually the `SERVOn_TRIM` won't be at 1500.
- [ ] Switch to FBWA and validate that the control surfaces move correctly. If they don't, set `SERVOn_REVERSED=1`.
- [ ] Set `SERVO_BLH_OTYPE=4` for DShot150 and `SERVO_BLH_MASK=1` to enable it for the motor.
- [ ] Set `COMPASS_ENABLE=0` if you don't have a compass, otherwise calibrate it (not detailed here).
- [ ] Set `TERRAIN_ENABLE=0` to get rid of the terrain warning.
@ -111,6 +113,6 @@ _(Many thanks to Michel Pastor for his help with everything in this note.)_
* * *
<p style="font-size:80%; font-style: italic">
Last updated on March 23, 2022. For any questions/feedback,
Last updated on March 28, 2022. For any questions/feedback,
email me at <a href="mailto:hi@stavros.io">hi@stavros.io</a>.
</p>