PX4 Instructions

PX4 AutopilotPX4 Autopilot

Up to date PX4 Documentation

Flashing Firmware

QGroundControl (USB-C)

Firmware can be flashed over USB C using QGroundControl.

px4_uploader.py (USB or UART)

px4_uploader.py can flash firmware over USB or UART. For UART flashing, only the Telem1 port is supported.

Over USB:

python3 Tools/px4_uploader.py build/ark_fmu-v6x_default/ark_fmu-v6x_default.px4

Over UART (via Telem1):

python3 Tools/px4_uploader.py --port /dev/<your-uart> build/ark_fmu-v6x_default/ark_fmu-v6x_default.px4

Building Firmware

make ark_fmu-v6x_default

and optionally upload

make ark_fmu-v6x_default upload

Recovering the Bootloader (SWD)

The application is at 0x08020000 (128 KB sectors).

st-flash write ark_fmu-v6x_bootloader.bin 0x08000000

Use ark_fmu-v6x_bootloader.bin from boards/ark/fmu-v6x/extras/ in PX4-Autopilot, or from PX4 GitHub releases. Then flash ark_fmu-v6x_default.px4 over USB. Setup: ST-LINK Flashing Guide.