固件

QGroundControl 桌面 版本可用于在 Pixhawk-系列 飞控板上安装 PX4 固件。

Before you start installing Firmware all USB connections to the vehicle must be disconnected (both direct or through a telemetry radio). The vehicle must not be powered by a battery.

安装稳定的PX4版本

Generally you should use the most recent released version of PX4, in order to benefit from bug fixes and get the latest and greatest features.

This is the version that is installed by default.

To install PX4:

1. Start QGroundControl and connect the vehicle.

2. Select "Q" icon > Vehicle Setup > Firmware (sidebar) to open Firmware Setup.

   
3. Connect the flight controller directly to your computer via USB.

4. Select the PX4 Flight Stack X.x.x Release option to install the latest stable version of PX4 for your hardware (autodetected).

   
5. Click the OK button to start the update.

   The firmware will then proceed through a number of upgrade steps (downloading new firmware, erasing old firmware etc.). Each step is printed to the screen and overall progress is displayed on a progress bar.

   

   Once the firmware has completed loading, the device/vehicle will reboot and reconnect.

If QGroundControl installs the FMUv2 target (see console during installation) and you have a newer board, you may need to update the bootloader in order to access all the memory on your flight controller.

Next you will need to specify the vehicle airframe (and then sensors, radio, etc.)

安装PX4 Master, Beta或自定义固件

To install a different version of PX4:

1. 如上所述连接飞行器，并选择 PX4 飞行栈 vX.x.x Stagable Release
2. 检查 高级设置 并从下拉列表中选择版本：

   • 标准版本 (稳定) 默认版本 (即不需要使用高级设置来安装!)

   • Beta 测试(beta)： 测试/候选版本。 只有当新版本准备完毕时才可用。

   • Developer Build (master): The latest build of PX4/PX4-Autopilot.

   • 自定义固件文件..: 自定义固件文件 (例如，您在本地构建)。 如果选择 Custom firmware file ，您需要在下一步中从文件系统中选择自定义固件。

Firmware update then continues as before.

FMUv2 Bootloader 更新

If QGroundControl installs the FMUv2 target (see console during installation), and you have a newer board, you may need to update the bootloader in order to access all the memory on your flight controller.

To update the bootloader:

1. 插入 SD 卡（启用引导日志记录，便于调试任何可能的问题。）

2. 更新固件 至PX4 master 版本（当更新固件时，查看 高级设置 并从下拉列表选择Developer Build (master) ）。 QGroundControl 会自动识别到硬件支持 FMUv2，并安装相应的固件。

   

   等待飞控重启。

3. 找到并启用 参数 SYS_BL_UPDATE。

4. 重新启动（断开/重新连接飞控板）。 Bootloader更新只需要几秒钟即可完成。

5. 然后再重新 更新固件 。 这一次 QGroundControl 会自动识别到硬件支持 FMUv3，并相应地安装固件。

   

For more information see Bootloader Update.

更多信息

• QGroundControl User Guide > Firmware.

• PX4 Setup Video (Youtube)