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Flashing our custom firmware

Getting the firmware

If you have our simulation, you already have the firmware cloned under simulation/ros_packages/px4 and the build dependencies satisfied.

If you don’t have it, just clone as

git clone https://github.com/ctu-mrs/px4_firmware.git

and install its dependencies according to the manual.

Compiling the firmware

  1. go into the root of the firmware repository
  2. make <target>, where the depends on the version of the hardware:
    • Pixhawk 6x: make px4_fmu-v6x_default
    • Pixhawk 6c: make px4_fmu-v6c_default
    • Pixhawk 4: make px4_fmu-v5_default
    • Pixracer: make px4_fmu-v4_default
    • Pixhawk 3 Pro: make px4_fmu-v4pro_default
    • Pixhawk Mini: make px4_fmu-v3_default
    • Pixhawk 2: make px4_fmu-v3_default
    • mRo Pixhawk: make px4_fmu-v3_default (supports 2MB Flash)
    • HKPilot32: make px4_fmu-v2_default
    • Pixfalcon: make px4_fmu-v2_default
    • Dropix: make px4_fmu-v2_default
    • MindPX/MindRacer: make airmind_mindpx-v2_default
    • mRo X-2.1: make auav_x21_default
    • Crazyflie 2.0: make bitcraze_crazyflie_default
    • Intel® Aero Ready to Fly Drone: make intel_aerofc-v1_default
    • Pixhawk 1: make px4_fmu-v2_default

Uploading the firmware

The firmware file with the extension .px4 can be found in the build subfolder. Upload it using the Qgroundcontrol utility.