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Advanced User Guide

PX4 Flight Controller Commissioning

The FlyCore flight controller provides two PX4 firmware versions: closed source firmware customized for use with FlyCore, and open source firmware based on the official PX4 code…

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The FlyCore flight controller provides two PX4 firmware versions: closed-source firmware customized for use with FlyCore, and open-source firmware based on the official PX4 code. This chapter describes the relevant board configuration and debugging methods.

Firmware and Parameter Downloads

FlyCore PX4 Custom Firmware

PX4 Open-Source Firmware

Before use, confirm that the target board is the FlyCore flight controller and back up the current parameters. Parameter sets for different firmware versions must not be used interchangeably. After importing the parameters from the downloaded package, recalibrate them for the actual equipment and complete a ground check with the propellers removed.

  1. Serial Port and MAVLink Configuration: Verify the serial port wiring, MAVLink instance, and baud rate.
  2. IMU and Compass Configuration: Configure the mounting orientation compensation and compass.
  3. UM982 RTK Configuration: Configure the onboard positioning module and dual-antenna RTK.
  4. EKF2 and VIO Configuration: Configure the system for the positioning source and verify state estimation.
  5. Control Allocation and Motor Testing: Configure control allocation and complete propeller-free testing.
  6. ULog and Vibration Analysis: Download logs and check vibration.
  7. NSH Debugging: Perform debugging through NSH.

When using PX4 v1.18.0 open-source firmware, the general debugging workflow ends here.

Features Specific to BSA-PX4 Custom Firmware

  1. Remote ID Configuration (BSA-PX4 Custom Firmware Only): This applies only to FlyCore BSA-PX4 v1.15.4 custom firmware and the corresponding broadcast module; it does not apply to PX4 v1.18.0 open-source firmware.

For wiring and interface pin order, see Appendix: FlyCore-FC Interface and Pin Definitions.