Source Code

Table of contents

  1. QGroundControl
  2. System Defaults
    1. MAVLink 1 Instance
    2. Safety Switch Disabled
  3. PX4 Parameter Files
  4. Serial Ports (WIP)

QGroundControl

Configuration of the FMUv5m is fully supported by QGroundControl.

Note: Firmware update support from QGroundControl is supported in TBD and newer. As a work around, updates over a serial port can be used

System Defaults

The following describe the system defaults, as specified by boards/modalai/fmu-v5m/init/rc.board_defaults

  • primary serial interface to communicate with VOXL using the MAVLINK_1 instance at 916.2kHz in normal mode using the TELEM2 serial port (J1)
MAV_1_CONFIG 102
MAV_1_MODE 0
SER_TEL2_BAUD 921600

Safety Switch Disabled

The saftety switch can be ‘pressed’ by pulling J13 pin 4 up to 3.3V (which is provided by J13 pin 1). By default, we have the safety switch disabled, but it can be enabled via QGroundControl by setting CBRK_IO_SAFETY to 0.

param set CBRK_IO_SAFETY 22027

PX4 Parameter Files

Additionally, parameter files are available for reference:

Serial Ports (WIP)

Connector Name
J1 TELEM 2 (default)
J4 TELEM 3 (configurable in QGroundControl)
J5 TELEM 1 (default)
J10 GPS 1 (default)

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