Book Image

Designing Purpose-Built Drones for Ardupilot Pixhawk 2.1

By : Ty Audronis
Book Image

Designing Purpose-Built Drones for Ardupilot Pixhawk 2.1

By: Ty Audronis

Overview of this book

The Ardupilot platform is an application ecosystem that encompasses various OS projects for drone programming, flight control, and advanced functionalities.The Ardupilot platform supports many Comms and APIs, such as DroneKit, ROS, and MAVLink. It unites OS drone projects to provide a common codebase. With the help of this book, you will have the satisfaction of building a drone from scratch and exploring its many recreational uses (aerial photography, playing, aerial surveillance, and so on). This book helps individuals and communities build powerful UAVs for both personal and commercial purposes. You will learn to unleash the Ardupilot technology for building, monitoring, and controlling your drones.This is a step-by-step guide covering practical examples and instructions for assembling a drone, building ground control unit using microcontrollers, QgroundControl, and MissionPlanner. You can further build robotic applications on your drone utilizing critical software libraries and tools from the ROS framework. With the help of DroneKit and MAVLink (for reliable communication), you can customize applications via cloud and mobile to interact with your UAV.
Table of Contents (16 chapters)
Title Page
About the Author
About the Reviewer
Customer Feedback

Final configuration before test flights

Before trying to fly this thing, we need to make sure that every motor is hooked up to the right spot and is turning in the right direction. Remember our chart from before? Here's just the Hex-X from it as well as the Pixhawk with the six-motor servo ports highlighted:

Back in Mission Planner (while connected to your powered-on drone), go into Initial Setup, and under the Option Hardware section you'll find Motor Test. It looks like the following screenshot:

And here's the weird part. This test does not test the motors in number sequence. Not the same numbers as in the graph on the previous page. That number sequence only represents which motors are plugged into which port. Instead, these motor test buttons start with motor number 5, and then go in sequence around the aircraft in a clockwise fashion. This means they go in this order for a Hex-X:

  • Button A = Motor #5
  • Button B = Motor #1
  • Button C = Motor #4
  • Button D = Motor #6
  • Button E = Motor #2
  • Button F = Motor...