Autopilot Setup

1. Hardware Setup:

1.1. Install Autopilot module using the supplied screws and 4 holes located on the central chassis brace. (Ensure arrow is pointing toward the front of the rover)
_images/cube-arrow.jpg

1.2. Connect Servo cables

1.2.1. Autopilot “Main Out” Channel 1 -> Motor Controller “S1”

1.2.2. Autopilot “Main Out” Channel 3 -> Motor Controller “S2”

1.2.3. Autopilot RC IN -> FS-IA6B PPM/Channel 1

1.3. Install Power Brick Between the Male/Female XT60 connectors located on the Battery Harness

1.3.1. Using Power Cable, connect Power Brick -> Autopilot “Power1”

1.4. Connect Buzzer to “USB” port on Autopilot

1.5. Connect GPS plug to “CAN1” port

1.6. Telemetry Connection

  • If using [APSync] or AIONio to stream Mavlink over wifi, connect the companion computer to the “Telem2” port.
  • If using a long range telemetry radio such as RFD900, connect it to the “Telem1” port.

Note

  • Telem1 is “Serial 1” under firmware parameters and set at 921600 Baud. - Telem2 is “Serial 2” under firmware parameters and set at 921600 Baud.
_images/autopilot-wiring.jpg

2. Firmware Install:

Due to popularity, we recommend using Mission Planner for Windows or QGround Control works on Windows, Mac, IOS, Linux & Android.

  1. Parameter File

Tip

R1 UGVs come with firmware and parameters pre-installed and configured. This is for informational purposes only. Please skip to calibration.

1.1. R1 Parameter files and firmware can be obtained by customers by emailing info@aionrobotics.com
  1. Mission Planner GCS

2.1. Download & Install Mission Planner [HERE]

2.2. Open Mission Planner

2.3. Ensure Autopilot module is not powered

2.4. Connect your computer to the Autopilot module via Micro USB

2.5. Select “INITIAL SETUP” tab

2.6. Select “Install Firmware” (You must have internet connection)

2.7. Select “APM: Rover” vehicle type and follow flashing instructions

  1. Load Parameter File

3.1. Within Mission Planner, select the appropriate COM, Baud 9600 and click connect.

3.2. Select “CONFIG/TUNING” tab

3.3. Select “Full Parameter Tree”

3.4. Select “Load from file”

3.6. Select your parameter file

3.7. Select “Write Params”

3.8. Reboot the Pixhawk.